CDS 110, Spring 2018 - Revision history

Murray at 23:05, 19 May 2018

2018-05-19T23:05:42Z

← Older revision		Revision as of 23:05, 19 May 2018
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	'''Instructors'''		'''Instructors'''
	* Richard Murray (CDS/BE), murray@cds.caltech.edu		* Richard Murray (CDS/BE), murray@cds.caltech.edu
	* Lectures: MWF, 2-3 pm, ~~213 ANB~~		* Lectures: MWF, 2-3 pm, 168 Noyes
	* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
	\| width=50% \|		\| width=50% \|
	'''Teaching Assistants'''		'''Teaching Assistants'''
	* ~~TBD~~		* Karena Cai (CDS), Tung Phan (MCE)
	* Contact: cds110-tas@cds.caltech.edu
	* Office hours: TBD		* Office hours: TBD
	\|}		\|}

	This is the course homepage for CDS 110, ~~Winter~~ 2018.		This is the course homepage for CDS 110, Spring 2018.

			{{warning\|CDS 110 is being co-taught with ChE 105 this term. The information below was the original plan for CDS 110, but is reorganized in ChE 105. Unfortunately, no hompage is available for ChE 105.}}

	=== Course Syllabus ===		=== Course Syllabus ===

Murray at 18:56, 10 March 2018

2018-03-10T18:56:10Z

← Older revision		Revision as of 18:56, 10 March 2018
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	=== Course Syllabus ===		=== Course Syllabus ===

	An introduction to analysis and design of feedback control systems, including classical control theory in the time and frequency domain. Input/output modeling of dynamical systems using differential equations and transfer functions. Stability and performance of interconnected systems, including use of block diagrams, Bode plots, the Nyquist criterion, and Lyapunov functions. Design of feedback controllers in state space and frequency domain based on stability, performance and robustness specifications.		An introduction to analysis and design of feedback control systems, including classical control theory in the time and frequency domain. Input/output modeling of dynamical systems using differential equations and transfer functions. Stability and performance of interconnected systems, including use of block diagrams, Bode plots, the Nyquist criterion, and <s>Lyapunov functions</s>. Design of feedback controllers in <s>state space and</s> frequency domain based on stability, performance and robustness specifications.

	=== Lecture Schedule ===		=== Lecture Schedule ===

Murray: Murray moved page CDS 110, Winter 2018 to CDS 110, Spring 2018

2018-03-10T18:55:11Z

Murray moved page CDS 110, Winter 2018 to CDS 110, Spring 2018

← Older revision		Revision as of 18:55, 10 March 2018
(No difference)

Murray: /* Lecture Schedule */

2018-03-06T15:21:32Z

Lecture Schedule

← Older revision		Revision as of 15:21, 6 March 2018
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	\| TBD (guest lecturer)		\| TBD (guest lecturer)
	\| TBD		\| TBD
	\| HW #8/Final (Seniors/Graduate students)		\| HW #8 (Sophomores, Juniors)<br>Final (Seniors/Graduate students)
	\|- valign=top		\|- valign=top
	\| '''Week 10'''<br>		\| '''Week 10'''<br>

Murray: /* Lecture Schedule */

2018-03-06T15:20:42Z

Lecture Schedule

← Older revision		Revision as of 15:20, 6 March 2018
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	* Effects of right half plane poles and zeros		* Effects of right half plane poles and zeros
	* Bode's integral formula (briefly)		* Bode's integral formula (briefly)
	\| FBS2e, Ch 14		\| FBS2e, Ch 13 and 14
	\| HW #6		\| HW #6
	\|- valign=top		\|- valign=top

Murray at 15:19, 6 March 2018

2018-03-06T15:19:25Z

← Older revision		Revision as of 15:19, 6 March 2018
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	\| '''Week 4'''<br>		\| '''Week 4'''<br>
	23 Apr <br> 25 Apr* <br> 27 Apr		23 Apr <br> 25 Apr* <br> 27 Apr
	\| Linear Systems ~~and State Feedback~~		\| Linear Systems
	* LTI systems		* LTI systems, transfer functions
	* ~~Convolution equation~~		* Frequency response and Bode plots
	* State feedback, eigenvalue placement		* Block diagram algebra
	* ~~Reachability~~		\| FBS2e, Ch 6 and 9
	\| FBS2e, Ch 6 and 7
	\| HW #4		\| HW #4
	\|- valign=top		\|- valign=top
	\| '''Week 5'''<br>		\| '''Week 5'''<br>
	30 Apr <br> 2 May <br> 4 May		30 Apr <br> 2 May <br> 4 May
	\| ~~State Space Control Design~~		\| Frequency Domain Analysis
	* ~~Observers and observability~~		* Loop transfer function, Nyquist criterion
	* ~~Trajectory generation~~		* Gain, phase, and stability margins
	* State space architectures for control		\| FBS2e, Ch 10
	\| FBS2e, Ch ~~7 and 8~~
	\| Midterm		\| Midterm
	\|- valign=top		\|- valign=top
	\| '''Week 6'''<br>		\| '''Week 6'''<br>
	7 May <br> 9 May <br> 11 May*		7 May <br> 9 May <br> 11 May*
	\| ~~Transfer Functions~~		\| PID Control
	* ~~Input/output operators~~		* PID control analysis
	* ~~Block diagram algebra~~		* Integrator windup, anti-windup
	* Frequency response and Bode plots		\| FBS2e, Ch 11 and 12
	\| FBS2e, Ch 9
	\| HW #5		\| HW #5
	\|- valign=top		\|- valign=top
	\| '''Week 7'''<br>		\| '''Week 7'''<br>
	14 May* <br> 16 May <br> 18 May		14 May* <br> 16 May <br> 18 May
	\| Frequency Domain ~~Analysis~~		\| Frequency Domain Design
	* ~~Loop transfer function~~, ~~Nyquist criterion~~		* Sensitivity functions, gang of four
	* ~~Gain, phase,~~ and ~~stability margins~~		* Effects of right half plane poles and zeros
	\| FBS2e, Ch 10		* Bode's integral formula (briefly)
			\| FBS2e, Ch 14
	\| HW #6		\| HW #6
	\|- valign=top		\|- valign=top
	\| '''Week 8'''<br>		\| '''Week 8'''<br>
	21 May* <br> 23 May* <br> 25 May*		21 May* <br> 23 May* <br> 25 May*
	\| ~~PID Control and Frequency Domain Design~~		\| TBD (guest lecturer)
	* PID control analysis		\| TBD
	* Sensitivity functions, gang of four
	* Integrator windup, anti-windup
	\| ~~FBS2e, Ch 11 and 12~~
	\| HW #7		\| HW #7
	\|- valign=top		\|- valign=top
	\| '''Week 9'''<br>		\| '''Week 9'''<br>
	28 May* <br> 30 May* <br> 1 Jun*		28 May* <br> 30 May* <br> 1 Jun*
	\| ~~Fundamental Limits~~		\| TBD (guest lecturer)
	* Effects of right half plane poles and zeros		\| TBD
	* Bode's integral formula
	\| ~~FBS2e, Ch 14~~
	\| HW #8/Final (Seniors/Graduate students)		\| HW #8/Final (Seniors/Graduate students)
	\|- valign=top		\|- valign=top

Murray: /* Lecture Schedule */

2018-03-05T03:07:17Z

Lecture Schedule

← Older revision		Revision as of 03:07, 5 March 2018
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	\| '''Week 1'''<br>		\| '''Week 1'''<br>
	2 Apr <br> 4 Apr <br> 6 Apr		2 Apr <br> 4 Apr <br> 6 Apr
	\| Introduction and ~~Review~~		\| Introduction and Concepts
			* Course overview
			* Simple examples of feedback control
			* Second order input/output systems
	\| FBS2e, Ch 1 and 2		\| FBS2e, Ch 1 and 2
	\| HW #1		\| HW #1
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	9 Apr <br> 11 Apr <br> 13 Apr*		9 Apr <br> 11 Apr <br> 13 Apr*
	\| Fundamental Principles		\| Fundamental Principles
			* Mathematical Models
			* Disturbance Attenuation
			* Reference Tracking
			* Robustness
	\| FBS2e, Ch 2 and 3		\| FBS2e, Ch 2 and 3
	\| HW #2		\| HW #2
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	16 Apr <br> 18 Apr* <br> 20 Apr		16 Apr <br> 18 Apr* <br> 20 Apr
	\| Modeling, Stability		\| Modeling, Stability
			* Differential equations with inputs
			* Equilibrium points and stability
			* Phase portraits, linearization
	\| FBS2e, Ch 3 and 5		\| FBS2e, Ch 3 and 5
	\| HW #3		\| HW #3
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	23 Apr <br> 25 Apr* <br> 27 Apr		23 Apr <br> 25 Apr* <br> 27 Apr
	\| Linear Systems and State Feedback		\| Linear Systems and State Feedback
			* LTI systems
			* Convolution equation
			* State feedback, eigenvalue placement
			* Reachability
	\| FBS2e, Ch 6 and 7		\| FBS2e, Ch 6 and 7
	\| HW #4		\| HW #4
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	30 Apr <br> 2 May <br> 4 May		30 Apr <br> 2 May <br> 4 May
	\| State Space Control Design		\| State Space Control Design
			* Observers and observability
			* Trajectory generation
			* State space architectures for control
	\| FBS2e, Ch 7 and 8		\| FBS2e, Ch 7 and 8
	\| Midterm		\| Midterm
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	7 May <br> 9 May <br> 11 May*		7 May <br> 9 May <br> 11 May*
	\| Transfer Functions		\| Transfer Functions
			* Input/output operators
			* Block diagram algebra
			* Frequency response and Bode plots
	\| FBS2e, Ch 9		\| FBS2e, Ch 9
	\| HW #5		\| HW #5
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	14 May* <br> 16 May <br> 18 May		14 May* <br> 16 May <br> 18 May
	\| Frequency Domain Analysis		\| Frequency Domain Analysis
			* Loop transfer function, Nyquist criterion
			* Gain, phase, and stability margins
	\| FBS2e, Ch 10		\| FBS2e, Ch 10
	\| HW #6		\| HW #6
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	\| '''Week 8'''<br>		\| '''Week 8'''<br>
	21 May* <br> 23 May* <br> 25 May*		21 May* <br> 23 May* <br> 25 May*
	\| PID Control		\| PID Control and Frequency Domain Design
	\| FBS2e, Ch 11		* PID control analysis
			* Sensitivity functions, gang of four
			* Integrator windup, anti-windup
			\| FBS2e, Ch 11 and 12
	\| HW #7		\| HW #7
	\|- valign=top		\|- valign=top
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	28 May* <br> 30 May* <br> 1 Jun*		28 May* <br> 30 May* <br> 1 Jun*
	\| Fundamental Limits		\| Fundamental Limits
			* Effects of right half plane poles and zeros
			* Bode's integral formula
	\| FBS2e, Ch 14		\| FBS2e, Ch 14
	\| HW #8/Final (Seniors/Graduate students)		\| HW #8/Final (Seniors/Graduate students)

Murray at 02:57, 5 March 2018

2018-03-05T02:57:34Z

← Older revision		Revision as of 02:57, 5 March 2018
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	7 May <br> 9 May <br> 11 May*		7 May <br> 9 May <br> 11 May*
	\| Transfer Functions		\| Transfer Functions
	\| FBS2e, Ch 8		\| FBS2e, Ch 9
	\| HW #5		\| HW #5
	\|- valign=top		\|- valign=top
Line 72:		Line 72:
	14 May* <br> 16 May <br> 18 May		14 May* <br> 16 May <br> 18 May
	\| Frequency Domain Analysis		\| Frequency Domain Analysis
	\| FBS2e, Ch 9		\| FBS2e, Ch 10
	\| HW #6		\| HW #6
	\|- valign=top		\|- valign=top
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	21 May* <br> 23 May* <br> 25 May*		21 May* <br> 23 May* <br> 25 May*
	\| PID Control		\| PID Control
	\| FBS2e, Ch 10		\| FBS2e, Ch 11
	\| HW #7		\| HW #7
	\|- valign=top		\|- valign=top
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	28 May* <br> 30 May* <br> 1 Jun*		28 May* <br> 30 May* <br> 1 Jun*
	\| Fundamental Limits		\| Fundamental Limits
	\| FBS2e, Ch 11		\| FBS2e, Ch 14
	\| HW #8/Final (Seniors/Graduate students)		\| HW #8/Final (Seniors/Graduate students)
	\|- valign=top		\|- valign=top
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	4 Jun* <br> 6 Jun* <br> 8 Jun		4 Jun* <br> 6 Jun* <br> 8 Jun
	\| Final Review + Demos		\| Final Review + Demos
	\| ~~FBS2e, Ch 14~~		\| None
	\| Final (Sophomores, Juniors)		\| Final (Sophomores, Juniors)
	\|}		\|}

Murray at 02:55, 5 March 2018

2018-03-05T02:55:58Z

← Older revision		Revision as of 02:55, 5 March 2018
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	=== Lecture Schedule ===		=== Lecture Schedule ===

			With the exception of the first week, there will be two 1-hour lectures per week, with the specific days varying from week-to-week. The lecture days for each week will be announced in class and posted here at least 1 week in advance.

	{\| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5		{\| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5

Murray at 02:53, 5 March 2018

2018-03-05T02:53:29Z

← Older revision		Revision as of 02:53, 5 March 2018
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	2 Apr <br> 4 Apr <br> 6 Apr		2 Apr <br> 4 Apr <br> 6 Apr
	\| Introduction and Review		\| Introduction and Review
	\|		\| FBS2e, Ch 1 and 2
	\|		\| HW #1
	\|- valign=top		\|- valign=top
	\| '''Week 2'''<br>		\| '''Week 2'''<br>
	9 Apr <br> 11 Apr <br> 13 Apr*		9 Apr <br> 11 Apr <br> 13 Apr*
	\| ~~Modeling, Stability~~		\| Fundamental Principles
	\|		\| FBS2e, Ch 2 and 3
	\|		\| HW #2
	\|- valign=top		\|- valign=top
	\| '''Week 3'''<br>		\| '''Week 3'''<br>
	16 Apr <br> 18 Apr* <br> 20 Apr		16 Apr <br> 18 Apr* <br> 20 Apr
	\| ~~Linear Systems~~		\| Modeling, Stability
	\|		\| FBS2e, Ch 3 and 5
	\|		\| HW #3
	\|- valign=top		\|- valign=top
	\| '''Week 4'''<br>		\| '''Week 4'''<br>
	23 Apr <br> 25 Apr* <br> 27 Apr		23 Apr <br> 25 Apr* <br> 27 Apr
	\| State Feedback		\| Linear Systems and State Feedback
	\|		\| FBS2e, Ch 6 and 7
	\|		\| HW #4
	\|- valign=top		\|- valign=top
	\| '''Week 5'''<br>		\| '''Week 5'''<br>
	30 Apr <br> 2 May <br> 4 May		30 Apr <br> 2 May <br> 4 May
	\| State ~~space control design~~		\| State Space Control Design
	\|		\| FBS2e, Ch 7 and 8
	\|		\| Midterm
	\|- valign=top		\|- valign=top
	\| '''Week 6'''<br>		\| '''Week 6'''<br>
	7 May <br> 9 May <br> 11 May*		7 May <br> 9 May <br> 11 May*
	\| Transfer Functions		\| Transfer Functions
	\|		\| FBS2e, Ch 8
	\|		\| HW #5
	\|- valign=top		\|- valign=top
	\| '''Week 7'''<br>		\| '''Week 7'''<br>
	14 May* <br> 16 May <br> 18 May		14 May* <br> 16 May <br> 18 May
	\| ~~Loop~~ Analysis		\| Frequency Domain Analysis
	\|		\| FBS2e, Ch 9
	\|		\| HW #6
	\|- valign=top		\|- valign=top
	\| '''Week 8'''<br>		\| '''Week 8'''<br>
	21 May* <br> 23 May* <br> 25 May*		21 May* <br> 23 May* <br> 25 May*
	\| PID Control		\| PID Control
	\|		\| FBS2e, Ch 10
	\|		\| HW #7
	\|- valign=top		\|- valign=top
	\| '''Week 9'''<br>		\| '''Week 9'''<br>
	28 May* <br> 30 May* <br> 1 Jun*		28 May* <br> 30 May* <br> 1 Jun*
	\| ~~Loop Shaping~~		\| Fundamental Limits
	\|		\| FBS2e, Ch 11
	\|		\| HW #8/Final (Seniors/Graduate students)
	\|- valign=top		\|- valign=top
	\| '''Week 10'''<br>		\| '''Week 10'''<br>
	4 Jun* <br> 6 Jun* <br> 8 Jun		4 Jun* <br> 6 Jun* <br> 8 Jun
	\| ~~Loop Shaping~~		\| Final Review + Demos
	\|		\| FBS2e, Ch 14
	\|		\| Final (Sophomores, Juniors)
	\|}		\|}