CDS 110b, Winter 2008 - Course Schedule
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| CDS 110b | Schedule | Project | Course Text |
This page contains the course schedule for CDS 110b. The bold links for each week take you to a page that contains the a summary of the lectures for that week plus links to all course handouts.
| Week | Date | Topic | Reading | Homework |
| 1 |
Two Degree of Freedom Control Design | |||
| 7 Jan (M) | Course overview, two degree of freedom design, tracking | 1.1-1.2 | 1.2, 1.3, 1.4, 1.5 solns | |
| 9 Jan (W) | Trajectory generation and flatness | 1.3 | ||
| 11 Jan (F) | Implementation + course project discussion | |||
| 2 |
Optimal Control | |||
| 14 Jan (M) | Maximum principle | 2.1-2.2 | 2.3, 2.4a-d, 2.6 solns | |
| 16 Jan (W) | Applications | 2.3 | ||
| 18 Jan (F) | Project meeting | |||
| 3 |
Linear Quadratic Regulators (LQR) | |||
| 21 Jan (M) | Martin Luther King Day (holiday) | HW #3 solns | ||
| 23 Jan (W) | Linear quadratic optimal control | 2.4 | ||
| 25 Jan (F) | LQR design considerations | 2.5 | ||
| 4 |
Receding Horizon Control | |||
| 28 Jan (M) | Receding horizon control (RHC) | 3.1 | 3.1, 3.2, 3.3 solns | |
| 30 Jan (W) | RHC design examples | 3.2-3.4 | ||
| 1 Feb* (F) | No class | |||
| 5 |
State Estimation | |||
| 4 Feb* (M) | No class | Midterm solns | ||
| 6 Feb (W) | Midterm review/Project meeting | |||
| 8 Feb (F) | Observability and state estimation | AM08, 7.1-7.3 | ||
| 6 |
Stochastic Systems | |||
| 11 Feb (M) | Random processes | 4.1-4.3 | HW #5 solns | |
| 13 Feb (W) | Linear stochastic systems | 4.4 | ||
| 15 Feb (F) | Frequency domain interpretation | 4.5 | ||
| 7 |
Kalman Filters | |||
| 18 Feb (M) | President's Day (holiday) | HW #6 solns | ||
| 20 Feb (W) | Linear quadratic estimators | 5.1 | ||
| 22 Feb (F) | Applications and extensions | 5.2, 5.4 | ||
| 8 |
Sensor Fusion | |||
| 25 Feb (M) | Discrete-time Kalman filter and sensor fusion | 6.1 | HW 7 solns | |
| 27 Feb (W) | Applications and extension of Kalman filtering | 6.2 | ||
| 29 Feb (F) | Project meeting | |||
| 9 |
Robust Performance | |||
| 3 Mar (M) | Robust stability | AM08, 12.1-12.2 | HW #8 solns | |
| 5 Mar (W) | Robust performance | AM08, 12.3-12.4 | ||
| 7 Mar (F) | Project meeting | |||
| 10 |
H Infinity Control | |||
| 10 Mar (M) | H infinity control design | Final | ||
| 12 Mar (W) | Final exam review | |||
