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<td align=center width=135px> [[Image:Murray-aug12.jpg|135px]]</td>
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<b>Richard M. Murray</b><br><br>
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Thomas E. and Doris Everhart Professor of <br>
Control & Dynamical Systems and Bioengineering<br><br>
California Institute of Technology<br>
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<font face="Comic Sans MS"><br><hr>
<table width=100%> __NOTOC__
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<td width=20% align=center> [[#Publications|Papers]]</td>
<td width=20% align=center> [[#Research|Research]]</td>
<td width=20% align=center> [[#Group|Group]]</td>
<td width=20% align=center> [[#Teaching|Teaching]]</td>
<td width=20% align=center> [[#Contact|Contact]]</td>
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Other Activities: 

[[Group Schedule]] 

[[AMwiki:Main_Page|''Feedback Systems'']]

[[http:www.molecular-programming.org|Molecular Programming Project]]
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<br>
<!--'''Prospective graduate students''': Students in my group come through the [[http:www.cds.caltech.edu|CDS]], [[http:be.caltech.edu|BE]], [[http:/www.its.caltech.edu/~biochem|BMB]], [[http:www.cms.caltech.edu/academics/grad_acm|ACM]], [[http:www.cms.caltech.edu/academics/grad_cs|CS]] and [[http:www.me.caltech.edu|ME]] graduate programs at Caltech.  Many of my students also come from the CNS and EE departments, but I do not actively participate in admissions decisions in those programs.  Please take a look at my current [[Research Overview|research interests]] to get a sense of what my group is currently working on.-->
<!-- '''Prospective postdocs''': I typically make decisions about postdocs in the April-May timeframe, when I know what my grants look like for fall.  Please take a look at my current [[Research Overview|research interests]] to see what projects we are currently working on. -->
<!-- Caltech has several postdoc programs that admit exceptionally qualified postdocs for independent study at Caltech:
* Caltech [[http:cmi.caltech.edu|Center for the Mathematics of Information (CMI)]] postdocs - applications due mid-December
* Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
-->

== Recent Publications ==
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* [http://www.pnas.org/content/early/2012/11/07/1211902109.abstract Synergistic dual positive feedback loops established by molecular sequestration generate robust bimodal response] (PNAS 2012)
* [http://www.cds.caltech.edu/~murray/papers/wtm10-tac.html Receding horizon control for temporal logic specifications] (IEEE TAC, 2012)
* [http://www.cds.caltech.edu/~murray/papers/fra+11-pnas.html Timing molecular motion and production with a synthetic transcriptional clock] (PNAS, 2011)
* [http://rsta.royalsocietypublishing.org/content/368/1911/439.short Controlling biological networks by time-delayed signals] (Philosophical Transactions of the Royal Society, 2010)
* [[AMwiki:Main_Page|Feedback Systems: An Introduction for Scientists and Engineers]] (textbook, 2008)
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[http://www.cds.caltech.edu/~murray/cgi-bin/htdblist.cgi?papers/config.db RMM Preprint Archive] <br>
[http://thesis.library.caltech.edu/view/advisor/Murray-R-M.html Caltech theses]<br>
[http://scholar.google.com/scholar?q=author:richard-m-murray Google Scholar]
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== Research ==
My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy.  Current projects include work on biomolecular feedback systems, novel architectures for control systems, and networked control systems (see my [[Research Overview|research overview]] for more details).

Active projects:
{{Active projects}}
[[Projects|<nowiki>[Archive]</nowiki>]]

== Group ==

<blockquote>
{| width=100% border=0 cellpadding=0 cellspacing=0
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{|
{{group entry|[[http:www.cds.caltech.edu/~andrea/|Andrea Censi]]|CDS}}
{{group entry|Nadine Dabby|CNS}}
{{group entry|Emzo de los Santos*|BE}}
{{group entry|Marcella Gomez|ME}}
{{group entry|Shaobin Guo°|BMB}}
{{group entry|[[http:www.cds.caltech.edu/~hanshuo|Shuo Han]]|EE}}
{{group entry|Clarmyra Hayes#|BE}}
{{group entry|Victoria Hsiao|BE}}
{{group entry|[[http:www.cds.caltech.edu/~vjonsson|Vanessa Jonsson]]|CDS}}
{{group entry|Chris Kempes+|MIT}}
|}
| width=33% |
{|
{{group entry|Jongmin Kim|BE}}
{{group entry|[[http:scottman.net/|Scott Livingston]]|CDS}}
{{group entry|[[http:joemeyerowitz.com/|Joe Meyerowitz]]*|BMB}}
{{group entry|Adam Nilsson†|Sweden}}
{{group entry|[[http:www.cds.caltech.edu/~necmiye/|Necmiye Özay]]|CDS}}
{{group entry|Ivan Papusha|CDS}}
{{group entry|[[http:dantimatter.com|Dan Siegal-Gaskins]]|BE}}
{{group entry|Vipul Singhal|CNS}}
{{group entry|Anandh Swaminathan|CDS}}
{{group entry|Fei Sun+|China}}
|}
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{|
{{group entry|[[http:www.its.caltech.edu/~zsun/|Zach Sun]]|MD/PhD}}
{{group entry|Anu Thubagere|BE}}
{{group entry|Stephanie Tsuei|CDS}}
{{group entry|Zoltan Tuza+|Hungary}}
{{group entry|Ophelia Venturelli|BMB}}
{{group entry|[[http:www.cds.caltech.edu/~ewolff|Eric Wolff]]|CDS}}
{{group entry|Yong Wu|ChE}}
{{group entry|Mumu Xu|ME}}
{{group entry|[[http:www.cds.caltech.edu/~eyeung|Enoch Yeung]]|CDS}}
|}
|}

<font size="-2">
{| width=100%
|-
| * co-advised students  || + visiting researchers	
| ° rotation students || † undergraduates || # research tech
|}
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</blockquote>

==== Former graduate students: ====
* Andrea Censi - Ph.D. in Control and Dynamical Systems, June 2012 [http://purl.org/censi/2012/phd (thesis)]
* Pete Trautman - Ph.D. in Control and Dynamical Systems, June 2012 (thesis)
* Dionysios Barmpoutis - Ph.D. in Computation and Neural Systems, December 2011 [http://resolver.caltech.edu/CaltechTHESIS:12102011-161913831 (thesis)]
* [http://www.cds.caltech.edu/~elisa Elisa Franco] - Ph.D in Control and Dynamical Systems, June 2011 [http://resolver.caltech.edu/CaltechTHESIS:10192011-161454857 (thesis)]

<blockquote>
{| width=100% border=0 cellpadding=0 cellspacing=0
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<table>
<tr><td>[http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
<tr><td>[http://www.its.caltech.edu/~braman/ Julia Badger (Braman)] [http://etd.caltech.edu/etd/available/etd-05292009-111937/ (thesis)]</td></tr>
<tr><td>[http://motion.mee.ucsb.edu/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
<tr><td>[http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
<tr><td>John Carson [http://thesis.library.caltech.edu/1664/ (thesis)]</td></tr>
<tr><td>[http://robotics.caltech.edu/~timothyc/ Tim Chung*]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~lars Lars Cremean] [http://www.cds.caltech.edu/~murray/papers/2006_lbc06-phd.html (thesis)]</td></tr>
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea*]</td></tr>
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly#]</td></tr>
<tr><td>[http://www.eecs.umich.edu/~ddv/ Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~mjdunlop Mary Dunlop] [http://etd.caltech.edu/etd/available/etd-05302008-141602/ (thesis)]</td></tr>
<tr><td>[http://www.soe.ucsc.edu/~dunbar/ William Dunbar] [http://etd.caltech.edu/etd/available/etd-05282004-170123/ (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~epstein/ Michael Epstein] [http://etd.caltech.edu/etd/available/etd-12192007-153619/ (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
<tr><td>[http://www.media.mit.edu/~minster/ Sawyer Fuller] (thesis)</td></tr>
</table>
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<table>
<tr><td>Melvin Flores [http://etd.caltech.edu/etd/available/etd-02192008-153449/ (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~fung Jimmy Fung] [http://etd.caltech.edu/etd/available/etd-05272005-165938/ (thesis)]</td></tr>
<tr><td>[http://www.chbe.gatech.edu/grover/ Martha Grover (Gallivan)]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
<tr><td>[http://ee.nd.edu/faculty/vgupta/ Vijay Gupta] [http://etd.caltech.edu/etd/available/etd-08172006-130145/ (thesis)]</td></tr>
<tr><td>Sonja Glavaski*</td></tr>
<tr><td>Adam Hayes*</td></tr>
<tr><td>[http://www.avl.umd.edu/people/director.html Sean Humbert]  [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~jzp Zhipu Jin] [http://etd.caltech.edu/etd/available/etd-09182006-162259/ (thesis)]</td></tr>
<tr><td>[http://www.coe.uncc.edu/~skelly52/ Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
<tr><td> [http://www.linkedin.com/pub/1/446/a84 Dmitriy Kogan#] </td></tr>
<tr><td> [http://www.ee.columbia.edu/~lavaei Javad Lavaei*] [http://thesis.library.caltech.edu/6391/ (thesis)]</td></tr>
<tr><td>[http://www.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
<tr><td>[http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html (thesis)]</td></tr>
<tr><td>Michiel van Nieuwstadt [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
</table>
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<table>
<tr><td>[http://www.math.umbc.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
<tr><td>[http://weblamp.princeton.edu/cwrowley/ Clancy Rowley*]</td></tr>
<tr><td>[http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~shiling/ Ling Shi] [http://etd.caltech.edu/etd/available/etd-08272008-121822/ (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~demetri Demetri Spanos] [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]</td></tr>
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
<tr><td>Amber Thweatt#</td></tr>
<tr><td>Jorge Tierno*</td></tr>
<tr><td>[http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] [http://etd.caltech.edu/etd/available/etd-05202007-135411/ (thesis)]</td></tr>
<tr><td>David van Gogh#</td></tr>
<tr><td>Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
<tr><td>[http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~waydo Steve Waydo*] [http://etd.caltech.edu/etd/available/etd-11022007-104734/ (thesis)]</td></tr>
<tr><td>[http://robotics.caltech.edu/~nok Nok Wongpiromsarn] [http://thesis.library.caltech.edu/5864/ (thesis)]</td></tr>
<tr><td>[http://www.linkedin.com/pub/3/a32/258 Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
</table>
|}
<font size="-2"># Masters or Engineers degree &nbsp;&nbsp; * Co-advised student</font>
</blockquote>

==== Former postdocs: ====
* Shaunak Sen (2011-2012) - CDS Postdoctoral Fellow
* Jun Liu (2011-2012) - CDS Postdoctoral Fellow
* Noel du Toit (2011) - CDS Postdoctoral Fellow 
* [[http:www.its.caltech.edu/~astraw/|Andrew Straw*]] (2010) - Senior Research Fellow in CNS
<blockquote>
{| width=100% border=0 cellpadding=0 cellspacing=0
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<table>
<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
<tr><td>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
<tr><td>[http://www.ece.louisville.edu/~t0inan01/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>[http://soslab.ee.washington.edu/mw/index.php/User:Klavins Eric Klavins]* (2001-03)</td></tr>
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
</table>
| width=33% | 
<table>
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
<tr><td>[http://www.ece.ucsb.edu/~ymostofi/ Yasamin Mostofi] (2004-06)</td></tr>
<tr><td>Reza Olfati-Saber (2001-04)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~izi/ Yizhar Or] (2007-09)</td></tr>
</table>
| width=33% | 
<table>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
<tr><td>[http://www.ee.kth.se/php/index.php?action=people&cmd=extended&peopleid=768 Henrik Sandberg] (2005-07)</td></tr>
<tr><td>[http://me.nmsu.edu/~shashi/ B. N. Shashikanth*] (1998-2000)</td></tr>
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
</table>
|}
</blockquote>
'''Additional group alumni:''' &nbsp; [[SURF alumni|SURF]] &nbsp;&nbsp; [[Undergraduate alumni|Senior thesis]]  &nbsp;&nbsp; [[Visitors]]

== Teaching ==
The list below is the courses that I have taught at Caltech (or at least most of them). The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to [[Teaching Archive|older courses]] are available on a separate page.

<!--
* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
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* [[ACM/EE_116]] - Probability and Random Processes ([[ACM/EE_116,_Fall_2011|Fa11]])
* [[BE 150/Bi 250b]] - Systems Biology ([[Bi/BE_250c_Winter_2011|Wi11]], [[BE_150/Bi_250b_Winter_2012|Wi12]])
* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07, 10-11)
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-present)
* [[CDS 101|CDS 101/110a]] - Analysis and Design of Feedback Systems (Fa97, Fa01, [[http:www.cds.caltech.edu/~murray/courses/cds101/fa02|Fa02]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa03/|Fa03]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa04/|Fa04]], [[CDS 101/110a, Fall 2006|Fa06]], [[CDS 101/110a, Fall 2007|Fa07]], [[CDS 101/110a, Fall 2008|Fa08]], [[CDS 101/110a, Fall 2012|Fa12]])
* [[CDS 110b]] - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]])
* [[CDS 140a]] - Differential Equations and Dynamical Systems ([[AM 101b/AM 125b/CDS 140a, Winter 2011|Wi11]], [[AM 101b/AM 125b/CDS 140a, Winter 2013|Wi13]])
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [[http:www.cds.caltech.edu/~murray/courses/cds202/wi04/|Wi04]], [[CDS 202, Winter 2009|Wi09]])
* [[CDS 270-2|CDS 270]] - Networked Control Systems ([[CDS 270-2, Spring 2006|Sp06]])
* [[CDS 273]] - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, [[CDS 273, Spring 2006|Sp06]])
* [[Teaching Archive|Older courses]] (not taught in the last 5 years)
* [[:Category:Guest lectures|Guest lectures]] - individual lectures I have given in various courses

== Contact ==
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==== Mailing Address ====
Richard M. Murray<br>
Control and Dynamical Systems 107-81<br>
California Institute of Technology<br>
1200 E. California Blvd<br>
Pasadena, CA 91125 USA
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==== Contact information ====
E-mail: murray@cds.caltech.edu <br>
Office: 109 Steele, (626) 395-6460 <br>
Asst: Anissa Scott, x4140 <br>
Labs: 12 Steele, 136 Keck
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==== Other links ====
[http://www.caltech.edu Caltech]<br>
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
[http://cms.caltech.edu Computing and Mathematical Sciences]<br>
|
[http://be.caltech.edu/ Bioengineering]<br>
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
[http://www.linkedin.com/in/murrayrm LinkedIn]
|}