Murray Wiki - User contributions [en]

CDS 110b, Winter 2013

2013-03-15T06:25:24Z

Kshankar:

{| width=100% border=1
|-
| align=center width=25% | [[CDS 110b, Winter 2013|CDS 110b]]
| align=center width=25% | [[CDS 110b, Winter 2013 - Course Schedule|Schedule]]
| align=center width=25% | [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control Course text]
|}

This is the homepage for CDS 110b (Introduction to Control Theory) for Winter 2013. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 2-3 pm, 306 Thomas
* Prior years: [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11]
</td><td>
'''Teaching Assistants'''
* Krishna Shankar krishna@caltech.edu
* Office hours (week of 4/3): Mon/Tues 8-10 PM, TOM 301
</td></tr>
</table>

== Announcements ==
<table align=right border=0>
<tr>
<td>
[[#Old Announcements|Archive]]
</td></tr>
</table>
* 21 Jan 13: [https://www.cds.caltech.edu/~murray/wiki/images/d/d5/VarExample_2012.pdf Extra Notes] : (Example of finding necessary conditions using calculus of variations).
* 23 Jan 13: [http://krishna.caltech.edu/PDF/Clarification.pdf Clarification] of the above example.
* 8 Feb 13: A description of the [http://mathworld.wolfram.com/BrachistochroneProblem.html Brachistochrone Problem] and its solution. If you think this is cool, check out [http://clas.caltech.edu/search~S0?/tclassical%20mechanics/tclassical+mechanics/1%2C23%2C40%2CB/frameset&FF=tclassical+mechanics&4%2C%2C16 Classical Mechanics] from the library.
* 13 Feb 13: [http://krishna.caltech.edu/CDS110b/DPLQR.pdf Notes] on the derivation of Continuous time LQR via dynamic programming (might be helpful if you're looking for analogy between the continuous time and discrete time derivations).
* 15 Feb 13: [http://krishna.caltech.edu/CDS110b/data.mat data.m] Data file for homework 4: put it in your matlab working directory and type '''load data''' - variable named 'data' should appear in your workspace.
* 21 Feb 13: [http://krishna.caltech.edu/CDS110b/hw4hint.pdf Hint for PS 4 problem 1]
* 14 Mar 13: [http://krishna.caltech.edu/CDS110b/FixedLagSmoother.pdf Fixed Lag Smoother Notes]
= Course Syllabus =
<table align=right border=1 width=20% cellpadding=6>
<tr>
<td>
<center>'''Contents'''</center>
<ul>
<li> [[#Grading|Grading]] </li>
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li>
<li> [[#Collaboration Policy|Collaboration Policy]] </li>
<li> [[#Software|Software]] </li>
<li> [[#Course Text and References|Course Text]] </li>
<li> [[#Course_Schedule|Course Schedule]]</li>
</ul>
</td></tr>
</table>
CDS 110b focuses on intermediate topics in control theory, including optimal control methods, stochastic systems, state estimation using Kalman filters, and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity

=== Lectures ===
The main course lectures are on MWF from 2--3 pm in 107 Annenberg.

=== Grading ===
The final grade will be based on homework sets, and a final exam:

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed three 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 are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (13 Mar) and due at the end of finals (20 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).

No collaboration is allowed on xams.

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises are designed to be done in MATLAB, using the Control Toolbox and
SIMULINK. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

=== Course Text and References ===

The primary course texts are
[http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control''] by Murray, 2008 (for the first 7 weeks), and [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory''] for the final few weeks of the quarter.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

For the Estimation and Kalman Filtering portion of the class, these free on-line sources (in PDF format) may be useful:

* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]
*[http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule ===
A detailed course schedule is available on the [[CDS 110b, Winter 2013 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).

== Old Announcements ==

CDS 110b, Winter 2013 - Course Schedule

2013-03-08T22:03:18Z

Kshankar:

CDS 110b, Winter 2013 - Course Schedule

2013-03-08T17:56:17Z

Kshankar:

2013-02-15T23:32:13Z

Kshankar:

2013-02-09T00:11:20Z

Kshankar:

CDS 110b, Winter 2013 - Course Schedule

2013-02-09T00:10:31Z

Kshankar:

CDS 110b, Winter 2013 - Course Schedule

2013-02-09T00:03:14Z

Kshankar:

CDS 110b, Winter 2013 - Course Schedule

2013-02-08T23:56:27Z

Kshankar:

CDS 110b, Winter 2013

2013-02-03T21:46:57Z

Kshankar:

{| width=100% border=1
|-
| align=center width=25% | [[CDS 110b, Winter 2013|CDS 110b]]
| align=center width=25% | [[CDS 110b, Winter 2013 - Course Schedule|Schedule]]
| align=center width=25% | [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control Course text]
|}

This is the homepage for CDS 110b (Introduction to Control Theory) for Winter 2013. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 2-3 pm, 306 Thomas
* Prior years: [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11]
</td><td>
'''Teaching Assistants'''
* Krishna Shankar krishna@caltech.edu
* Office hours (week of 2/4): Tu 8-9.30 PM, TOM 301 and Th 8-9.30 PM TOM 301
</td></tr>
</table>

== Announcements ==
<table align=right border=0>
<tr>
<td>
[[#Old Announcements|Archive]]
</td></tr>
</table>
* 21 Jan 13: [https://www.cds.caltech.edu/~murray/wiki/images/d/d5/VarExample_2012.pdf Extra Notes] : (Example of finding necessary conditions using calculus of variations).
* 23 Jan 13: [http://krishna.caltech.edu/PDF/Clarification.pdf Clarification] of the above example.

= Course Syllabus =
<table align=right border=1 width=20% cellpadding=6>
<tr>
<td>
<center>'''Contents'''</center>
<ul>
<li> [[#Grading|Grading]] </li>
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li>
<li> [[#Collaboration Policy|Collaboration Policy]] </li>
<li> [[#Software|Software]] </li>
<li> [[#Course Text and References|Course Text]] </li>
<li> [[#Course_Schedule|Course Schedule]]</li>
</ul>
</td></tr>
</table>
CDS 110b focuses on intermediate topics in control theory, including optimal control methods, stochastic systems, state estimation using Kalman filters, and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity

=== Lectures ===
The main course lectures are on MWF from 2--3 pm in 107 Annenberg.

=== Grading ===
The final grade will be based on homework sets, and a final exam:

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed three 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 are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (13 Mar) and due at the end of finals (20 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).

No collaboration is allowed on xams.

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises are designed to be done in MATLAB, using the Control Toolbox and
SIMULINK. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

=== Course Text and References ===

The primary course texts are
[http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control''] by Murray, 2008 (for the first 7 weeks), and [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory''] for the final few weeks of the quarter.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

For the Estimation and Kalman Filtering portion of the class, these free on-line sources (in PDF format) may be useful:

* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]
*[http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule ===
A detailed course schedule is available on the [[CDS 110b, Winter 2013 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).

== Old Announcements ==

Template:Cds110b-fa13 homework

2013-02-01T21:47:13Z

Kshankar: Kshankar moved page Template:Cds110b-fa13 homework to Template:Cds110b-wi13 homework

#REDIRECT [[Template:Cds110b-wi13 homework]]

Template:Cds110b-wi13 homework

2013-02-01T21:47:13Z

Kshankar: Kshankar moved page Template:Cds110b-fa13 homework to Template:Cds110b-wi13 homework

[http://krishna.caltech.edu/CDS110b/hw{{{1}}}-wi13.pdf HW #{{{1}}}]<br>
[http://krishna.caltech.edu/CDS110b/soln{{{1}}}-wi13.pdf soln #{{{1}}}]<br>

Template:Cds110b-wi13 homework

2013-02-01T21:46:58Z

Kshankar:

[http://krishna.caltech.edu/CDS110b/hw{{{1}}}-wi13.pdf HW #{{{1}}}]<br>
[http://krishna.caltech.edu/CDS110b/soln{{{1}}}-wi13.pdf soln #{{{1}}}]<br>

2013-01-16T17:34:54Z

Kshankar:

2013-01-14T20:09:29Z

Kshankar: Created page with "{| width=100% border=1 |- | align=center width=25% | CDS 110b | align=center width=25% | Schedule | align..."

{| width=100% border=1
|-
| align=center width=25% | [[CDS 110b, Winter 2013|CDS 110b]]
| align=center width=25% | [[CDS 110b, Winter 2013 - Course Schedule|Schedule]]
| align=center width=25% | [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control Course text]
|}

This is the homepage for CDS 110b (Introduction to Control Theory) for Winter 2013. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 2-3 pm, 107 Annenberg
* Prior years: [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11]
</td><td>
'''Teaching Assistants'''
* Krishna Shankar krishna@caltech.edu
* Office hours: TBA
</td></tr>
</table>

== Announcements ==
<table align=right border=0>
<tr>
<td>
[[#Old Announcements|Archive]]
</td></tr>
</table>

= Course Syllabus =
<table align=right border=1 width=20% cellpadding=6>
<tr>
<td>
<center>'''Contents'''</center>
<ul>
<li> [[#Grading|Grading]] </li>
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li>
<li> [[#Collaboration Policy|Collaboration Policy]] </li>
<li> [[#Software|Software]] </li>
<li> [[#Course Text and References|Course Text]] </li>
<li> [[#Course_Schedule|Course Schedule]]</li>
</ul>
</td></tr>
</table>
CDS 110b focuses on intermediate topics in control theory, including optimal control methods, stochastic systems, state estimation using Kalman filters, and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity

=== Lectures ===
The main course lectures are on MWF from 2--3 pm in 107 Annenberg.

=== Grading ===
The final grade will be based on homework sets, and a final exam:

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed three 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 are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (13 Mar) and due at the end of finals (20 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).

No collaboration is allowed on xams.

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises are designed to be done in MATLAB, using the Control Toolbox and
SIMULINK. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

=== Course Text and References ===

The primary course texts are
[http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control''] by Murray, 2008 (for the first 7 weeks), and [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory''] for the final few weeks of the quarter.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

For the Estimation and Kalman Filtering portion of the class, these free on-line sources (in PDF format) may be useful:

* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]
*[http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule ===
A detailed course schedule is available on the [[CDS 110b, Winter 2013 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).

== Old Announcements ==

CDS 110b, Winter 2013 - Course Schedule

2013-01-14T20:09:17Z

Kshankar: Created page with "{| width=100% border=1 |- | align=center width=25% | CDS 110b | align=center width=25% | Schedule | align..."