Data Driven Koopman Control

Main code is in exam1.m

Provided dynamics

• Duffing oscillator
• Lorenz system
• Inverse Pendulum

Generate Koopman lifting functions using 3 basis types:-

• Gaussian Kernel
• Monomial Basis
• RBF Thin basis kernel

Check for RMSE Error between linear lifted dynamics and non-linear dynamics

LQR and MPC based stabilization for lifted dynamics

The code for MPC control can be foundmpc/run_MPC.mlx