Calendar · Lecture Notes
MIT OpenCourseWare
Dynamic Systems and Control
Art: not stated, Fletcher's Combined Block Telegraph Apparatus and Bell, 1889 · Public domain
- Instructors
- Prof. Emilio Frazzoli, Prof. Munther Dahleh
- Term
- Spring 2011
- Level
- Graduate
- What's inside
- 1 lecture note · 1 reading · 62 other files · 4 web pages
- Materials open
- MIT OCW
About this course
Source: MIT OpenCourseWare 6.241J Dynamic Systems and Control, Spring 2011, Prof. Emilio Frazzoli, Prof. Munther Dahleh — original course page on ocw.mit.edu ↗. License: CC BY-NC-SA 4.0. Study order: MIT's own listing order, section by section. Taken from MIT's published course files, downloaded from ocw.mit.edu on September 23, 2026. How RedLectern is built.
Materials are grouped the way MIT organized them. A verified, course-wide order has not been established here.
Has MIT solutions
Before you start
Prerequisites are not listed here. Check MIT's own syllabus for this course.
How this course was organized
What's here, and what isn't
- A lecture sequence of 24 items is confirmed. Assignment and exam materials exist too, but MIT's own order for them could not be verified, so they're shown as materials below rather than a sequence.
Not included here
2 items from the source could not be safely included:
- Referenced in a table, but without MIT's own verified order, so it isn't used to claim a sequence. (2 items)
Materials by section
Grouped by section, as MIT organized them. Not sequenced or ordered.
Readings
28 files
- Chapter 1 · Linear algebra review · Files Download
- Chapter 2 · Least squares estimation · Files Download
- Chapter 3 · Least squares solution of y = < A, x > · Files Download
- Chapter 4 · Matrix norms and singular value decomposition · Files Download
- Chapter 5 · Matrix perturbations · Files Download
- Chapter 6 · Dynamic models · Files Download
- Chapter 7 · State-space models · Files Download
- Chapter 8 · Simulation/realization · Files Download
- Chapter 10 · Discrete-time linear state-space models · Files Download
- Chapter 11 · Continuous-time linear state-space models · Files Download
- Chapter 12 · Modal decomposition of state-space models · Files Download
- Chapter 13 · Internal (Lyapunov) stability · Files Download
- Chapter 14 · Internal stability for LTI systems · Files Download
- Chapter 15 · External input-output stability · Files Download
- Chapter 17 · Interconnected systems and feedback: well-posedness, stability, and performance · Files Download
- Chapter 18 · Performance of feedback systems · Files Download
- Chapter 19 · Robust stability in SISO systems · Files Download
- Chapter 20 · Stability robustness · Files Download
- Chapter 21 · Robust performance and introduction to the structured singular value function · Files Download
- Chapter 22 · Reachability of DT LTI systems · Files Download
- Chapter 24 · Observability · Files Download
- Chapter 25 · Minimal state-space realization · Files Download
- Chapter 26 · Balanced realization · Files Download
- Chapter 27 · Poles and zeros of MIMO systems · Files Download
- Chapter 28 · Stabilization: state feedback · Files Download
- Chapter 29 · Observers, model-based controllers · Files Download
- Chapter 30 · Minimality and stability of interconnected systems · Files Download
- Lectures on Dynamic Systems and Control Download
Lecture Notes
19 files
- Lecture 1 · Introduction, linear algebra review Download
- Lecture 2 · Least square estimation Download
- Lecture 3 · Least square solutions of linear problems Download
- Lecture 4 · Singular values Download
- Lecture 5 · Matrix perturbations Download
- Lecture 6 · Dynamical systems Download
- Lecture 7 · State-space models Download
- Lecture 8 · Solutions of state-space models Download
- Lecture 9 · Transfer functions Download
- Lecture 12 · I/O stability Download
- Lecture 13 · I/O stability (cont.) Download
- Lecture 16 · Bode’s sensitivity integral Download
- Lecture 17 · Robust stability Download
- Lecture 20 · Reachability and observability Download
- Lecture 21 · Minimal realizations Download
- Lecture 22 · Balanced realization Download
- Lecture 23 · Feedback stabilization Download
- Lecture 24 · H₂ optimization Download
- Lecture 25 · H∞ optimization Download
Assignments
11 files
- 1.1, 1.2, 1.3(a)-(b), 1.6, and 1.8 · Solutions Download
- 1.4, 2.2, 2.3, 2.8, and 3.1 · Solutions Download
- 3.2, 3.3, 4.1, 4.5, and 4.6 · Solutions Download
- 4.7, 4.8, 5.1, 5.2, 6.1, and 6.4 · Solutions Download
- 7.2, 7.3, 10.1, 11.1, 11.3, 11.4, and 11.5 · Solutions Download
- 13.1, 13.2, 14.2, 14.5, and 14.7 · Solutions Download
- All exercises from chapters 15 and 16, except 16.2 · Solutions Download
- 17.4, 17.5, 19.2, 19.4, and 19.5 · Solutions Download
- 21.1, 21.2, 21.3, 22.3, and 22.4 Hints for exercise 21.2 Download
- 21.1, 21.2, 21.3, 22.3, and 22.4 Hints for exercise 21.2 · Solutions Download
- 23.1, 23.4, 24.5, and 25.2 · Solutions Download
Exams
Other materials from this course
Course outline
Calendar · Lecture Notes
Lecture 2: Least squares error solutions of overdetermined / underdetermined systems
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Lecture 3: Matrix norms, SVD, matrix perturbations
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Lecture 4: Matrix perturbations
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Lecture 5: State-space models, linearity and time invariance
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Lecture 6: Solutions of state-space models
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Lecture 7: Similarity transformations, modes of LTI systems, Laplace transform, transfer functions
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Lecture 8: Stability, Lyapunov methods
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Lecture 9: External I/O stability, storage functions
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Lecture 10: Interconnected systems, feedback, I/O stability
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Lecture 11: System norms
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Lecture 12: Performance measures in feedback control
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Lecture 13: Small gain theorem, stability robustness
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Lecture 14: Stability robustness (MIMO)
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Lecture 15: Reachability
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Lecture 16: Reachability: standard and canonical forms, modal tests
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Lecture 17: Observability
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Lecture 18: Minimality, realization, Kalman decomposition, model reduction
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Lecture 19: State feedback, observers, output feedback, MIMO poles and zeros
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Lecture 20: Minimality of interconnections, pole/zero cancellations
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Lecture 21: Parameterization of all stabilizing controllers
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Lecture 22: Optimal control synthesis: problem setup
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Lecture 23: H₂ optimization
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Lecture 24: H∞ optimization
MIT OpenCourseWare, Prof. Emilio Frazzoli, Prof. Munther Dahleh, 6.241J Dynamic Systems and Control, Spring 2011.
License: CC BY-NC-SA 4.0 · Edition: Spring 2011 · Open the original course on OCW ↗
Organized by RedLectern, independent of MIT and not endorsed by MIT.
Per-resource rights are recorded on each resource; All-Rights-Reserved items are link-only, never mirrored.
