CDS 110b, Winter 2008 - Course Schedule

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