# CDS 101/110 - Output Feedback

CDS 101/110a | ← Schedule → | Recitations | FAQ | () |

## Overview

**Monday:** Observability and Observers (Slides, MP3)

This lecture introduces the concept of observability and the use of estimators for linear systems. Observability is defined as the ability to determine the system state from the (past) time history of measurements. The observability matrix test is given to check if a linear system is observable, and the test is applied to an example. The concept of (linear) observer design is introduced and the ability to arbitrarily place eigenvalues of the closed loop observer error dynamics is related to observability. A cart and pendulum system is used as an example.

- Lecture handout
- MATLAB code: L5 ObservExamp.m,

**Wednesday:** Control Design Example/Demo: Lecture notes (MP3)

This lecture will use an in-class demo to work through a real-world control example.

**Friday:** Midterm Review: (MP3)

## Reading

- K. J. Åström and R. M. Murray,, Princeton University Press, 2008..

## Midterm/Homework

- CDS 101/110: Midterm exam information
- CDS 210: hwM - 210
- heat_pde.m - A, B, C matrix for discretized 1-D heat equation

## FAQ

**Monday**
<ncl>CDS 101/110 FAQ - Lecture 5-1, Fall 2008</ncl>
**Wednesday**
<ncl>CDS 101/110 FAQ - Lecture 5-2, Fall 2008</ncl>
**Friday**
<ncl>CDS 101/110 FAQ - Lecture 5-3, Fall 2008</ncl>
**Homework**
<ncl>CDS 101/110 FAQ - Homework M, Fall 2008</ncl>