CDS 112,Winter 2015
CDS 112  Schedule  Course Texts: OBC; Anderson&Moore 
This is the homepage for CDS 112 (Control System Design) for Winter 2014/2015.
Instructor 
Teaching Assistants

Announcements
 03/13/2015: The Final Exam is available. The instructions are posted on the first page. Please submit your final exams to Ms. Sonya Lincoln in room 207 Keck by 5:00 pm on the last day of finals.
 03/02/2015: The data file for Problem #1 of Homework Set 5 is available on the course schedule page (next to the link for problem set 5). Put the file in your matlab working directory and type "load data"  a variable named 'data' should appear in your MATLAB workspace
 01/26/2015: The Lecture slides for today's lecture have been corrected for missing terms, with the updated version (in both PowerPoint and PDF) on the course schedule page.
 01/12/2015: T.A. office hours will occur Wed. (Jan. 14) and Thurs. (Jan. 15) evening. Time and place to be announced soon.
 01/12/2015: Copies of the slides used in each lecture can be found on the schedule page. Next to each lecture title is a link to the course slides in powerpoint.
 01/09/2015: Homework 1 has been assigned, and is due on Fri. Jan. 16 at 5:00 pm. (see the schedule page)
 01/05/2015: The lecture will take place in Annenberg 213, except for January 23, when the lecture will take place in 107 Annenberg.
Course Information
CDS 112 is an introduction to optimal control and optimal estimation. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity.
Course Text and References
The primary course texts are
 Optimizationbased Control. This is an evolving set of notes which will help support the class lectures for the first 45 weeks of the course.
 Brian D.O. Anderson and John B. Moore, Optimal Filtering, PrenticeHall, 1979. Chapters of this classic text on Estimation and Kalman Filtering (freely available online) will serve as the primary source for weeks 59.
The following books may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.
 Feedback Control Theory
 B. Friedland, Control System Design: An Introduction to StateSpace Methods, McGrawHill, 1986.
 G. F. Franklin, J. D. Powell, and A. EmamiNaeni, Feedback Control of Dynamic Systems, AddisonWesley, 2002.
 M.S. Grewal & A.P. Andrews, Kalman Filtering: Theory and Practice Using MATLAB, 2nd ed., John Wiley & Sons, 2001;
 A transcribed copy of Kalman's original 1960 paper on the discrete time filter;
Course Schedule, Readings, and Homework
A detailed course schedule is available on the course schedule page (also shown on the "menu bar" at the top of each course page). This schedule also includes links to the homeworks, the homework solutions, and the suggested class readings.
Grading
The final grade will be based on homework sets, and a final exam:
 Homework (70%): Homework sets will be handed out every 710 days and due days/dates will vary. Students are allowed two grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams which you may create as part of your homework solutions are considered part of your homework solution and should be printed and turned in with the problem set .
 Final exam (30%): The final exam will be handed out on the last day of class (11 Mar) and due at the end of finals (18 Mar). It will be an open book exam and computers will be allowed (though not required).
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually (you can share ideas, but not code).
Software
Computer exercises will be assigned as part of the regular homeworks. The exercises can be done exclusvely in MATLAB, using the Control Toolbox and SIMULINK, but it is not necessary to use MATLAB/SIMULINK if you choose. Caltech has a site license for this software and it may be obtained from IMSS (Caltech students only). An online tutorial is available at
Besides MATLAB, students may use Python, in particular the Python Control Systems Toolbox and various SciPy packages. Scott (email: slivingston@cds caltech) is available to answer any student questions or concerns specific to using Python, including helping newcomers with first steps. A tutorial script used previously in CDS 110a is available at (direct link to the file)