View source for Cds110b WI14

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<font color='blue' size='+2'>CDS 110b: Introduction to Control Theory</font>__NOTOC__
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'''Instructors'''
* John Doyle, doyle@cds.caltech.edu
* Lectures: Tu/Th, 9-10:30, 105 ANB
* Office hours: TBD (please e-mail to schedule)
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'''Teaching Assistants'''
* Vanessa Jonsson, Nikolai Matni
* Contact: cds110-tas@cds.caltech.edu
* Office hours: TH, 4-5 pm, Ann 213, and upon request
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=== Course Description ===
An introduction to analysis and design of feedback control systems, including classical control theory in the time and frequency domain. Modeling of physical, biological, and information systems using linear and nonlinear differential equations. Stability and performance of interconnected systems, including use of block diagrams, Bode plots, the Nyquist criterion, and Lyapunov functions. Robustness and uncertainty management in feedback systems through stochastic and deterministic methods. Introductory random processes, Kalman filtering, and norms of signals and systems. The first term of this course is taught concurrently with CDS 101, but includes additional lectures, reading, and homework that is focused on analytical techniques for design and synthesis of control systems

===Announcements ===
* 8 Jan 2014: web page creation, uploaded lecture 1 material 
=== Tentative Lecture Schedule ===

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| '''Reading'''
| '''Homework'''
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| 7 Jan <br>  9 Jan
| Robustness, fragility, complexity and control I
* Examples in neuroscience, glycolysis, technology
Inverted pendulum revisited <br>
Discrete time, finite horizon LQR
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* [https://www.cds.caltech.edu/~murray/wiki/images/b/b5/InvertedPendulum_classnote.pdf  notes]<br>
* [https://www.cds.caltech.edu/~murray/wiki/images/0/04/CDS110bLect1.pdf  slides1],  [https://www.cds.caltech.edu/~murray/wiki/images/a/a6/CDS110bLect1.pptx slides2]
| [https://www.cds.caltech.edu/~murray/wiki/images/0/0f/Cds110bwi14_hw1.pdf hw1]
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| 14 Jan <br> 16 Jan
| Discrete time stochastic LQR <br>
*  Finite horizon, infinite horizon
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| 21 Jan <br> 23 Jan
| Continuous time LQR 
* Pontryagin's maximum principle <br>
* Costate equations 
SDPs, duality and LQR
* Relationship to Riccati solutions 
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| 28 Jan <br> 30 Jan
| State estimation <br> 
Kalman Filters
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| 4 Feb <br> 6 Feb
| Discrete time output feedback LQG 
* Connections with H2 optimal control 
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| 11 Feb <br> 13 Feb
| Receding Horizon Control <br>
Introduction to distributed optimal control 
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| 18 Feb <br> 20 Feb <br>
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| 25 Feb <br> 27 Feb <br>
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| 4 Mar <br> 6 Mar <br>
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| 11 Mar <br> 
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=== Course Text and References ===

The main course text is
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992.
* R. M. Murray, {{obc08|Optimization-Based Control}}, Preprint, 2008.

You may find the following texts useful as well:
* K. J. {{Astrom}} and R. M. Murray, ''[[AM:Main Page|Feedback Systems]]'', Princeton University Press, 2008.
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004.
* F. L. Lewis and V. L. Syrmos, ''Optimal Control'', Second Edition, Wiley-IEEE, 1995.  ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])
* A. D. Lewis, ''[http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control]'', 2003.

=== Selected Papers ===

1.	M Chiang, SH Low, AR Calderbank, JC. Doyle (2007) Layering As Optimization Decomposition, PROCEEDINGS OF THE IEEE, Volume: 95  Issue: 1  Jan 2007 [https://www.cds.caltech.edu/~murray/wiki/images/6/6d/01IEEEProcNetsLayeringAsOptDecomp.pdf link]

2.	Martins NC, Dahleh MA, Doyle JC (2007) Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information,  IEEE Trans Auto Control, Feb 2007 [https://www.cds.caltech.edu/~murray/wiki/images/d/df/02-2007-FundamentalLimits.pdf link]

3.	Bowman, Balch, Artaxo, Bond, Carlson, Cochrane, D’Antonio, DeFries, Doyle, et al. Fire in the Earth System, Science, Vol. 324 no. 5926 pp. 481-484 24 April 2009 [https://www.cds.caltech.edu/~murray/wiki/images/b/b9/03ScienceFire.pdf link]

4.	Willinger W, Alderson D, and Doyle JC (2009) Mathematics and the internet: A source of enormous confusion and great potential. Notices Amer Math Soc 56:586-599. [https://www.cds.caltech.edu/~murray/wiki/images/b/b3/04AMSNoticesInternet.pdf link]

5.	Alderson DL, Doyle JC (2010) Contrasting views of complexity and their implications for network-centric infrastructures. IEEE Trans Systems Man Cybernetics—Part A: Syst Humans 40:839-852.  [https://www.cds.caltech.edu/~murray/wiki/images/3/31/05AldersonDoyle-tsmca-July2010.pdf link]

6.	Gayme DF, McKeon BJ, Papachristodoulou P, Bamieh B, Doyle JC (2010) A streamwise constant model of turbulence in plane Couette flow, J Fluid Mech, vol 665, pp 99-119 [https://www.cds.caltech.edu/~murray/wiki/images/3/37/06GaymeJFM2010.pdf link] 

7.	H. Sandberg, J. C. Delvenne, J. C. Doyle. (2011) On Lossless Approximations, the Fluctuation-Dissipation Theorem, and Limitations of Measurements, IEEE Trans Auto Control, Feb 2011 

8.	J Lavaei, A Babakhani, A Hajimiri, and JC Doyle (2011), Solving Large-Scale Hybrid Circuit-Antenna Problems, IEEE Transactions on Circuits and Systems I, vol. 58, no. 2, pp. 374-387, Feb. 2011. [https://www.cds.caltech.edu/~murray/wiki/images/0/04/08LavaeiCircuits.pdf link]

9.	Chandra F, Buzi G, Doyle JC (2011) Glycolytic oscillations and limits on robust efficiency. Science, Vol 333, pp 187-192. [https://www.cds.caltech.edu/~murray/wiki/images/6/68/09ScienceGlycolyticOscOnlineFinal.pdf link]

10.	JC Doyle, ME Csete (2011) Architecture, Constraints, and Behavior, P Natl Acad Sci USA, vol. 108, Sup 3 15624-15630 [https://www.cds.caltech.edu/~murray/wiki/images/4/47/10PNASOnlineFinalSackler2011.pdf link]

11.	Gayme DF, McKeon BJ, Bamieh B, Papachristodoulou P, Doyle JC (2011) Amplification and Nonlinear Mechanisms in Plane Couette Flow, Physics of Fluids, V23, Issue 6, 065108 [https://www.cds.caltech.edu/~murray/wiki/images/4/47/11PhysOfFluidsForcedSolutions2011.pdf link]

12.	Page, M. T., D. Alderson, and J. Doyle (2011), The magnitude distribution of earthquakes near Southern California faults, J. Geophys. Res., 116, B12309, doi:10.1029/2010JB007933.

13.	Namas R, Zamora R, An, G, Doyle, J et al, (2012) Sepsis: Something old, something new, and a systems view, Journal Of Critical Care  Volume: 27   Issue: 3  [https://www.cds.caltech.edu/~murray/wiki/images/a/a6/13SepsisJCritCareNihms300207.pdf link]

14.	Chen, L; Ho, T; Chiang, M, Low S; Doyle J,(2012) Congestion Control for Multicast Flows With Network Coding, IEEE Trans On Information Theory  Volume: 58   Issue: 9   Pages: 5908-5921   
[https://www.cds.caltech.edu/~murray/wiki/images/5/55/14ChenEtAlMulticastIEEETIT2012.pdf  link ]