update Google Colab links, Makefile directions

murrayrm · murrayrm · commit cf10d956dfb9 · 2024-08-10T07:21:56.000-07:00
diff --git a/doc/examples.rst b/doc/examples.rst
@@ -62,3 +62,19 @@ online sources.
    simulating_discrete_nonlinear
    steering
    stochresp
+
+Google Colab Notebooks
+======================
+
+A collection of Jupyter notebooks are available on [Google Colab](),
+where they can be executed through a web browser:
+
+* [Caltech CDS 110/112 Google Colab
+  notebooks](https://drive.google.com/drive/folders/1LI2xWVn1kqrZ5lIcM5Ktxr2B7X730cCj?usp=share_link):
+  Jupyter notebooks created by Richard Murray for CDS 110 (Analysis
+  and Design of Feedback Systems) and CDS 112 (Optimization-Based
+  Control) at Caltech.
+
+Note: in order to execute the Jupyter notebooks in this collection,
+you will need a Google account that has access to the Google
+Colaboratory application.
diff --git a/examples/Makefile b/examples/Makefile
@@ -3,9 +3,15 @@
 #
 # This makefile allows cleanup and posting of Jupyter notebooks into
 # Google Colab.
+#
+# Files are copied to Google Colab using rclone.  In order to copy files to
+# Google Colab, you should edit the GDRIVE variable to use the name of the
+# drive you have configured in rclone and the path where you want to place
+# the files.  The default location is set up for the fbsbook.org@gmail.com
+# Google Drive account, currently maintained by Richard Murray.
 
 NOTEBOOKS = cds110-L*_*.ipynb cds112-L*_*.ipynb
-GDRIVE= gdrive:projects/python-control/public/notebooks
+GDRIVE= fbsbook-gdrive:python-control/public/notebooks
 
 # Clean up notebooks to remove output
 clean: .ipynb-clean
@@ -21,4 +27,3 @@ clean: .ipynb-clean
 # Post Jupyter notebooks on course website
 post: .ipynb-clean
 	rclone copy . $(GDRIVE) --include /cds110-L\*_\*.ipynb
-	rclone copy . $(GDRIVE) --include /cds112-W\*_\*.ipynb
diff --git a/examples/cds110-L1_servomech-python.ipynb b/examples/cds110-L1_servomech-python.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1a9ECA-g4Vfi-D3LtbN21xtV9dLzA2RrF)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1GKRYwtbHWSWc21EIYYIZUnbJqUorhY8w)\n",
     "\n",
     "In this lecture we show how to model an input/output system and design a controller for the system (using eigenvalue placement).  This main intent of this lecture is to introduce the Python Control Systems Toolbox ([python-control](https://python-control.org)) and how it can be used to design a control system.\n",
     "\n",
diff --git a/examples/cds110-L2_invpend-dynamics.ipynb b/examples/cds110-L2_invpend-dynamics.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1rAFZyV5XrLrqTpCJ83ow7QBJBJy8yy3u)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1is083NiFdHcHX8Hq56oh_AO35nQGO4bh)\n",
     "\n",
     "In this lecture we investigate the nonlinear dynamics of an inverted pendulum system.  More information on this example can be found in [FBS2e](https://fbswiki.org/wiki/index.php?title=FBS), Examples 3.3 and 5.4.  This lecture demonstrates how to use [python-control](https://python-control.org) to analyze nonlinear systems, including creating phase plane plots.\n"
    ]
diff --git a/examples/cds110-L3_lti-systems.ipynb b/examples/cds110-L3_lti-systems.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1ZJUAOXFR6VXQ9xfba9KT99N4FbEraQMM)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/164yYvB86c2EvEcIHpUPNXCroiN9nnTAa)\n",
     "\n",
     "In this lecture we describe tools in the Python Control Systems Toolbox ([python-control](https://python-control.org]) that can be used to analyze linear systems, including some of the options available to present the information in different ways.\n"
    ]
diff --git a/examples/cds110-L4a_predprey-statefbk.ipynb b/examples/cds110-L4a_predprey-statefbk.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1Xi-BErGhxYUkJfx3XD_b3PAAR0eIHV8d)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1yMOSRNDDNtm-TJGMXX3NS7F4XybOuch-)\n",
     "\n",
     "In this lecture we describe the use of state space control concepts to analyze and stabilize the dynamics of a nonlinear model of a predator-prey system.\n"
    ]
diff --git a/examples/cds110-L4b_lqr-tracking.ipynb b/examples/cds110-L4b_lqr-tracking.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray and Natalie Bernat, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1hMR9YfmWJZ72r9_eObeA9JKkpTt-jDtM)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1Q6hXokOO_e3-wl6_ghigpxGJRUrGcHp3)\n",
     "\n",
     "This example uses a linear system to show how to implement LQR based tracking and some of the tradeoffs between feedfoward and feedback.  Integral action is also implemented."
    ]
diff --git a/examples/cds110-L5_kincar-estimation.ipynb b/examples/cds110-L5_kincar-estimation.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1SzTlvNUQIlOyQuNNu-SqQ8cFM3d1r2m-)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1TESB0NzWS3XBxJa_hdOXMifICbBEDRz8)\n",
     "\n",
     "In this lecture, we will show how to construct an observer for a system in the presence of noise and distrubances.\n",
     "\n",
diff --git a/examples/cds110-L6a_kincar-trajgen.ipynb b/examples/cds110-L6a_kincar-trajgen.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1zDllxX3q--nmElAaCGAuEl0taVNJ-8UF)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1vBFjCU2W6fSavy8loL0JfgZyO6UC46m3)\n",
     "\n",
     "This notebook contains an example of using (optimal) trajectory generation for a vehicle steering system.  It illustrates different methods of setting up optimal control problems and solving them using python-control."
    ]
diff --git a/examples/cds110-L6b_kincar-tracking.ipynb b/examples/cds110-L6b_kincar-tracking.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/17ZtYB2wQDl_cS1VaQwo62c8UU05lNAg6)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/12VSFMqM6HVyj8TY_3zb0AnsJrG6UeLKF)\n",
     "\n",
     "This notebook contains an example of using trajectory tracking for a (nonlinear) state space system.  The controller is of the form\n",
     "\n",
diff --git a/examples/cds110-L6c_doubleint-rhc.ipynb b/examples/cds110-L6c_doubleint-rhc.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1c_Af8KVRhfyMFOT3WtLALBjEI6A0pTWK)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1AufRjpbdKcOEoWO5NEiczF3C8Rc4JuTL)\n",
     "\n",
     "To illustrate the implementation of a receding horizon controller, we consider a linear system corresponding to a double integrator with bounded input:\n",
     "\n",
diff --git a/examples/cds110-L7_bode-nyquist.ipynb b/examples/cds110-L7_bode-nyquist.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1K4J9ljR4cw9WBjlYQZ2a1cK0XLH6Vhrf)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1-BIaln1nF41fGqavzliuWT74nBkAnM3x)\n",
     "\n",
     "The purpose of this lecture is to introduce tools that can be used for frequency domain modeling and analysis of linear systems.  It illustrates the use of a variety of frequency domain analysis and plotting tools."
    ]
diff --git a/examples/cds110-L8a_maglev-limits.ipynb b/examples/cds110-L8a_maglev-limits.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/16ZYDXSU7aBNcDiWiYrGU3iMCjXvDY2aN)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1MuDZfw72UkI4_Ji_AsEDTPi7IaSURsYP)\n",
     "\n",
     "This notebook contains the code used to create the magnetic levitation example in Lecture 8-1 of CDS 110, Winter 2024."
    ]
diff --git a/examples/cds110-L8b_pvtol-complete-limits.ipynb b/examples/cds110-L8b_pvtol-complete-limits.ipynb
@@ -13,7 +13,7 @@
     "<h3>Richard M. Murray, Winter 2024</h4>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1ZdY0Xq7k6pOksM6DW1q4iPN6rQ9yeLn7)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1XulsQqbthMkr3g58OTctIYKYpqirOgns)\n",
     "\n",
     "The purpose of this lecture is to introduce tools that can be used for frequency domain modeling and analysis of linear systems."
    ]
diff --git a/examples/cds110-L9_servomech-pid.ipynb b/examples/cds110-L9_servomech-pid.ipynb
@@ -12,7 +12,7 @@
     "<h3>Richard M. Murray, Winter 2024</h3>\n",
     "</center>\n",
     "\n",
-    "[Open in Google Colab](https://colab.research.google.com/drive/1UTFFAQckiPEiGUvmQTAAJLUmoVpXymzz)\n",
+    "[Open in Google Colab](https://colab.research.google.com/drive/1BP0DFHh94tSxAyQetvOEbBEHKrSoVGQW)\n",
     "\n",
     "In this lecture we will use a variety of methods to design proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) controllers for a cart pendulum system."
    ]

Original file line number	Diff line number	Diff line change
`@@ -12,7 +12,7 @@`
`12`	`12`	`"<h3>Richard M. Murray, Winter 2024</h3>\n",`
`13`	`13`	`"</center>\n",`
`14`	`14`	`"\n",`
`15`		`- "[Open in Google Colab](https://colab.research.google.com/drive/1rAFZyV5XrLrqTpCJ83ow7QBJBJy8yy3u)\n",`
	`15`	`+ "[Open in Google Colab](https://colab.research.google.com/drive/1is083NiFdHcHX8Hq56oh_AO35nQGO4bh)\n",`
`16`	`16`	`"\n",`
`17`	`17`	`"In this lecture we investigate the nonlinear dynamics of an inverted pendulum system. More information on this example can be found in [FBS2e](https://fbswiki.org/wiki/index.php?title=FBS), Examples 3.3 and 5.4. This lecture demonstrates how to use [python-control](https://python-control.org) to analyze nonlinear systems, including creating phase plane plots.\n"`
`18`	`18`	`]`
Original file line number	Diff line number	Diff line change
`@@ -13,7 +13,7 @@`
`13`	`13`	`"<h3>Richard M. Murray, Winter 2024</h3>\n",`
`14`	`14`	`"</center>\n",`
`15`	`15`	`"\n",`
`16`		`- "[Open in Google Colab](https://colab.research.google.com/drive/1zDllxX3q--nmElAaCGAuEl0taVNJ-8UF)\n",`
	`16`	`+ "[Open in Google Colab](https://colab.research.google.com/drive/1vBFjCU2W6fSavy8loL0JfgZyO6UC46m3)\n",`
`17`	`17`	`"\n",`
`18`	`18`	`"This notebook contains an example of using (optimal) trajectory generation for a vehicle steering system. It illustrates different methods of setting up optimal control problems and solving them using python-control."`
`19`	`19`	`]`