CDS 112,Winter 2015: Difference between revisions
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The primary course texts are | The primary course texts are | ||
* [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control'']. This is an evolving | * [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control'']. This is an evolving set of notes which will help support the class lectures for the first 4-5 weeks of the course. | ||
set of notes which will help support the class lectures for the first 4-5 weeks of the course. | |||
* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]. Chapters of this classic text (freely available on-line)on Estimation and Kalman Filtering will serve as the primary source for weeks 5-9. | * [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]. Chapters of this classic text (freely available on-line)on Estimation and Kalman Filtering will serve as the primary source for weeks 5-9. | ||
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* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002. | * G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002. | ||
* [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://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]; | * [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 === | === Course Schedule === | ||
A detailed course schedule is available on the [[CDS 112, Winter 2015 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page). | A detailed course schedule is available on the [[CDS 112, Winter 2015 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page). | ||
Revision as of 23:13, 2 January 2015
| CDS 112 | Schedule | Course text |
This is the homepage for CDS 112 (Control System Design) for Winter 2014/2015.
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Instructor |
Teaching Assistants
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Announcements
- The course lecture location will move. Please show up to Annenberg 107 for the first lecture, where the new lecture location will be announced.
Course Information
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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.
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 two 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 which you may create as part of your homework solutions are considered part of your homework solution and should be printed and turned in with the problem set .
- Final exam (30%): The final exam will be handed out on the last day of class (11 Mar) and due at the end of finals (18 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).
Software
Computer exercises will be assigned as part of the regular homeworks. The exercises can be done exclusvely in MATLAB, using the Control Toolbox and SIMULINK, but it is not necessary to use MATLAB/SIMULINK if you choose. Caltech has a site license for this software and it may be obtained from IMSS (Caltech students only). An online tutorial is available at
Course Text and References
The primary course texts are
- Optimization-based Control. This is an evolving set of notes which will help support the class lectures for the first 4-5 weeks of the course.
- Brian D.O. Anderson and John B. Moore, Optimal Filtering, Prentice-Hall, 1979. Chapters of this classic text (freely available on-line)on Estimation and Kalman Filtering will serve as the primary source for weeks 5-9.
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.
- Feedback Control Theory
- 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.
- M.S. Grewal & A.P. Andrews, Kalman Filtering: Theory and Practice Using MATLAB, 2nd ed., John Wiley & Sons, 2001;
- A transcribed copy of Kalman's original 1960 paper on the discrete time filter;
Course Schedule
A detailed course schedule is available on the course schedule page (also shown on the "menu bar" at the top of each course page).
