CDS 202, Winter 2009
This is the homepage for CDS 202 (Geometry of Nonlinear Systems) for Winter 2009.
Instructor:
Lectures and course mailing list:

Teaching Assistant:
Office hours/recitations:

Course Description
CDS 202. Geometry of Nonlinear Systems. 9 units (306); second term. Prerequisites: CDS 201 or AM 125 a. Basic diﬀerential geometry, oriented toward applications in control and dynamical systems. Topics include smooth manifolds and mappings, tangent and normal bundles. Vector ﬁelds and ﬂows. Distributions and Frobeniuss theorem. Matrix Lie groups and Lie algebras. Exterior diﬀerential forms, Stokes theorem.
Course Schedule
Week  Lec 1  Lec 2  Topic  Reading  Homework 
1  6 Jan  N/A  Course introduction and scheduling  Murray (1994)  None 
2  8 Jan  13 Jan  Point set topology  MTA Ch 1  HW #1 (solns) 
3  15 Jan  20 Jan  Manifolds, maps, tangent spaces  MTA Ch 2.32.4, 3.13.3  HW #2 (solns) 
4  22 Jan  27 Jan  Immersions, submersions, inverse function theorem  MTA Ch 2.5, 3.5  HW #3 (solns) 
5  29 Jan  3 Feb  Tangent bundle, vector fields, flows  MTA Ch 3.3, 4.14.2  HW #4 (solns) 
6  5 Feb  10 Feb  Distributions, Frobenius theorem  MTA Ch 4.2, 4.4  HW #5 (solns) 
7  12 Feb  17 Feb  Lie groups and Lie algebras  MTA Ch 5.15.2  HW #6 (solns) 
8  19 Feb  24 Feb  Applications of Lie groups  MTA Ch 5.3 + KM94  HW #7 (solns) 
9  26 Feb  3 Mar  Differential forms  MTA Ch 6.16.2, 7.17.3  HW #8 (solns) 
10  5 Mar  10 Mar  Integration on manifolds, exterior derivative  MTA Ch 7.47.5,8.18.3  HW #9 (solns) 
Course Text
The primary course text is the third edition of Manifolds, Tensor Analysis, and Applications:
 Marsden, Ratiu and Abraham, Manifolds, Tensor Analysis, and Applications (if you are registered for the course, send email to Richard Murray for the password).
In addition, students may find the following textbooks useful:
 Boothby, An Introduction to Differential Manifolds and Riemannian Geometry, Revised second edition, 2002.
Grading
The ﬁnal grade will be based on homework and a ﬁnal exam:
 Homework (75%)  There will be 9 oneweek problem sets, due in class one week after they are assigned. Late homework will not be accepted without prior permission from the instructor.
 Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).
The lowest homework score you receive will be dropped in computing your homework average. In addition, if your score on the ﬁnal is higher than the weighted average of your homework and ﬁnal, your ﬁnal will be used to determine your course grade.
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. Use of solutions from previous years in the course is not allowed. All solutions that are handed should reﬂect your understanding of the subject matter at the time of writing.
No collaboration is allowed on the ﬁnal exam.