Main Page: Difference between revisions

Revision as of 17:37, 4 April 2025

Richard M. Murray

Thomas E. and Doris Everhart Professor of
Control & Dynamical Systems and Bioengineering

California Institute of Technology

Quick Links:

Feedback Systems
python-control

Note: I am currently sabbatical through ~Dec 2026, and I am not starting any new students or postdocs in my group nor hosting visitors or SURF students during this time. If you are interested in the work we are doing in my group, I encourage you to take a look at some of my collaborators at Caltech.

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 design and implementation of synthetic cells and verification and testing of safety-critical systems (see my research overview for more details).

Preprint archive
Caltech theses
Google Scholar

Active projects:

Developer Cell: A modular, extensible chassis for building synthetic cells (Alfred P. Sloan Foundation)
Design and Implementation of Multi-Component Synthetic Cells (ARO/ICB)
Control of Functional Bioenabled Materials using Synthetic Cells (ARO/ICB)
Center for Harnessing Microbiota from Military Environments (CHARMME) (ARO)
Layered T&E for Safety-Critical Autonomous Systems (AFOSR)
Rules of Composition in Synthetic Biology Across Scales of Complexity: Theory and Tools (AFOSR)

[Archive]

Group

Josefine Graebener (AE)

Sal Ibarra* (BE)

Alex Johnson (BE)

Zoila Jurado (CMS)

Manisha Kapasiawala (BE)

Matthieu Kratz* (BE)

Elin Larsson* (BE)

Leo Li* (CNS)

Ioannis Mandralis* (AE)

Zach Martinez* (BE)

Kellan Moorse (CNS)

Nikos Mynhier* (BE)

Blade Olson* (BE)

Miki Yun# (EAS)

Han Zhang* (BE)

* co-advised students + visiting researchers ° rotation students † undergraduates # research staff

Former graduate students:

Ania Baetica (thesis)

Julia Badger (Braman) (thesis)

Apurva Badithela (thesis)

Dionysios Barmpoutis (thesis)

Robert Behnken (thesis)

Robert Bodenheimer

Francesco Bullo (thesis)

Karena Cai (thesis)

John Carson (thesis)

Andrea Censi (thesis)

Richard Cheng* (thesis)

Samuel Clamons (thesis)

Benson Christalin#

Tim Chung*

Lars Cremean (thesis)

Nadine Dabby*

Raff D'Andrea*

Sumanth Dathathri (thesis)

Samantha (Feakins) Daly#

Emzo de los Santos (thesis)

Domitilla Del Vecchio (thesis)

Mary Dunlop (thesis)

William Dunbar (thesis)

Michael Epstein (thesis)

Alex Fax (thesis)

Ioannis Filippidis (thesis)

Anthony Fragoso (thesis)

Sawyer Fuller

Melvin Flores (thesis)

Elisa Franco (thesis)

Jimmy Fung (thesis)

Marcella Gomez (thesis)

Martha Grover (Gallivan) (thesis)

Shaobin Guo (thesis)

Vijay Gupta (thesis)

Sonja Glavaski*

Josefine Graebener (thesis)

Shuo Han (thesis)

Adam Hayes*

Sean Humbert (thesis)

Victoria Hsiao (thesis)

Ali Jadbabaie* (thesis)

Zhipu Jin (thesis)

Vanessa Jonsson (thesis)

Zoila Jurado (thesis)

Scott Kelly (thesis)

Dmitriy Kogan#

Javad Lavaei* (thesis)

Andrew Lewis (thesis)

Scott Livingston (thesis)

John Marken (thesis)

Reed McCardell (thesis)

Robert M'Closkey (thesis)

Joseph Meyerowitz (thesis)

Mark Milam (thesis)

Michiel van Nieuwstadt (thesis)

Ayush Pandey (thesis)

Ivan Papusha (thesis)

James Parkin (thesis)

Tung Phan (thesis)

William Poole (thesis)

Muruhan Rathinam (thesis)

Xinying (Cindy) Ren (thesis)

Clancy Rowley*

Ben Shapiro (thesis)

Ling Shi (thesis)

Andrey Shur (thesis)

Vipul Singhal (thesis)

Demetri Spanos (thesis)

Zachary Sun (thesis)

Sudipto Sur (thesis)

Anandh Swaminathan (thesis)

Anu Thubagere* (thesis)

Amber Thweatt#

Jorge Tierno*

Abhishek Tiwari (thesis)

Pete Trautman (thesis)

Stephanie Tsuei#

David van Gogh#

Tony Vanelli# (thesis)

Ophelia Venturelli (thesis)

Yong Wang (thesis)

Steve Waydo* (thesis)

Rory Williams (thesis)

Eric Wolff (thesis)

Nok Wongpiromsarn (thesis)

Yong Wu (thesis)

Huan (Mumu) Xu (thesis)

Enoch Yeung (thesis)

Simon Yeung (thesis)

# Masters or Engineers degree * Co-advised student

Former postdocs:

Yan Zhang (2022-24) - Presidential Postdoctoral Fellow
Inigo Incer (2022-24) - CMS Postdoctoral Fellow
Chelsea Hu (2018-22) - BE Postdoctoral Fellow
Ersin Das (2021-22) - CMS Postdoctoral Fellow

Raktim Bhattacharya (2002-04)

Brianno Coller (1995-97)

Noel du Toit (2011)

Chuchu Fan (2019-20)

Samira Farahani (2014-15)

David Garcia (2020-21)

Jin Ge (2016-18)

Leopold Green (2018-21)

Sofie Haesaert (2016-18)

Yutaka Hori (2013-16)

Tamer Inanc (2002-04)

Jongmin Kim (2010-14)

Eric Klavins* (2001-03)

Feng-Li Lian (2001-02)

Jun Liu (2011-2012)

Michaelle Mayalu (2017-22)

Catherine McGhan (2014-16)

John McManus* (2018-19)

Yilin Mo (2013-15)

Kristi Morgansen (1999-2001)

Pascal Morin (1996-97)

Yasamin Mostofi (2004-06)

Reza Olfati-Saber (2001-04)

Yizhar Or (2007-09)

Necmiye Ozay (2010-13)

Pavithra Prabhakar (2011-12)

Nicolas Petit (2001-02)

Vasu Raman (2013-15)

Henrik Sandberg (2005-07)

Shaunak Sen (2011-12)

B. N. Shashikanth* (1998-2000)

Dan Siegal (2012-15)

Andrew Straw* (2010)

Willem Sluis (1994-96)

Herbert Streumper (1997-99)

Ufuk Topcu (2008-12)

Additional group alumni: SURF Undergrads 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 older courses are available on a separate page.

ACM/EE 116 - Probability and Random Processes (Fa11)
BE 107 - Exploring Biological Principles Through Bio-Inspired Design (Sp15, Sp16, Sp19)
BE 150/Bi 250b - Systems Biology (Wi11, Wi12, Wi13, Sp14)
BE/EE/MedE 189a - Design and Construction of Biodevices (Fa24)
Bi/BE/CS 183 - Introduction to Computational Biology and Bioinformatics (Wi24)
CS/EE/ME 75 - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07, 10-11, 15-16)
CDS 90 - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020-2024)
CDS 101/110 - Analysis and Design of Feedback Systems (Fa97, Fa01, Fa02, Fa03, Fa04, Fa06, Fa07, Fa08, Fa12, Fa15, Sp24)
CDS 112 - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, Wi06, Wi07, Wi08, Wi22, Wi23)
CDS 131 - Linear Systems Theory (Fa18, Fa19, Fa20)
CDS 140 - Differential Equations and Dynamical Systems (Wi11, Wi13, Wi14, Wi15)
CDS 240 - Nonlinear Dynamical Systems (Sp14, Sp16)
CDS 202 - Geometry of Nonlinear Systems (Wi93, Wi94, Wi04, Wi09, Sp13)
CS 142 - Distributed Computing (Fa17, Fa19)
CS 143 - Communication Networks (Fa18)
CMS 273 - Frontiers in Computing and Mathematical Sciences (Wi19, Wi20, Wi21)
E/SEC 103 - Management of Technology (Sp20, Sp23, Wi24, Wi25)
Older courses (not taught in the last 15 years)
Guest lectures - some individual lectures I have given in various courses

Contact

Mailing Address

Richard M. Murray
Control and Dynamical Systems 107-81
California Institute of Technology
1200 E. California Blvd
Pasadena, CA 91125 USA

Contact information

E-mail: murray@cds.caltech.edu
Office: 109 Steele Lab, (626) 395-6460
Asst: Nuvia Alvarez, x2464
Labs: 108, 116, 136 Keck

@@ Line 4: / Line 4: @@
 <td align=center>
 <font size=5>
-<b>Richard M. Murray</b><br><br>
+<b>Richard M. Murray</b>
 </font>
 <font size=3>
 Thomas E. and Doris Everhart Professor of <br>
-Control & Dynamical Systems and Bioengineering<br><br>
+Control & Dynamical Systems and Bioengineering
-California Institute of Technology<br>
+California Institute of Technology
 </font>
-<font size=3><br><hr>
+<br><hr>
 <table width=100%> __NOTOC__
 <tr>
@@ Line 19: / Line 21: @@
 <td width=20% align=center> [[#Teaching|Teaching]]</td>
 <td width=20% align=center> [[#Contact|Contact]]</td>
-</tr></table></font></td>
+</tr></table></td>
-<td align=center width=135px>
+<td align=center width=160px>
-<font>
 Quick Links:
-[[Group Schedule]]
+<!-- [[Group Schedule]] <br> -->
+<!-- [[E/SEC 103, Winter 2025|E/SEC 103]] <br> -->
-[https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers ''Feedback Systems'']
+[https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers ''Feedback Systems''] <br>
+[[http:python-control.org|python-control]]
-[https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems'']
+<!-- [https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems''] -->
-</font></td>
+</td>
 </tr></table>
 <br>
@@ Line 38: / Line 39: @@
 * Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
 -->
-'''Interested students and postdocs''': I am currently planning to be on sabbatical from Jan 2025 through Dec 2026 and I am not starting any new students or postdocs in my group during this time.  If you are interested in the work we are doing in my group, I encourage you to take a look at some of my [[Collaborators|collaborators at Caltech]].
+'''Note: I am currently sabbatical through ~Dec 2026''', and I am not starting any new students or postdocs in my group nor hosting visitors or SURF students during this time.  If you are interested in the work we are doing in my group, I encourage you to take a look at some of my [[Collaborators|collaborators at Caltech]].
 == 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).
+My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy.  Current projects include design and implementation of synthetic cells and verification and testing of safety-critical systems (see my [[Research Overview|research overview]] for more details).
 {| border=1 style="float: right"
@@ Line 66: / Line 67: @@
 | width=33% |
 {|
-{{group entry|David Garcia+|Army DevCom}}
 {{group entry|Josefine Graebener|AE}}
 {{group entry|Sal Ibarra*|BE}}
-{{group entry|[[http:da-johnson.github.io|Alex Johnson*]]|BE}}
+{{group entry|[[http:da-johnson.github.io|Alex Johnson]]|BE}}
-{{group entry|Zoila Jurado|ME}}
+{{group entry|Zoila Jurado|CMS}}
 {{group entry|Manisha Kapasiawala|BE}}
-{{group entry|Matthieu Kratz*|BE}}
 |}
 | width=33% |
 {|
+{{group entry|Matthieu Kratz*|BE}}
 {{group entry|Elin Larsson*|BE}}
 {{group entry|Leo Li*|CNS}}
-{{group entry|Ioannis Mandralis*|AE}}
+{{group entry|[[http:mandralis.github.io/|Ioannis Mandralis]]*|AE}}
 {{group entry|Zach Martinez*|BE}}
-{{group entry|Kellan Moorse|CNS}}
-{{group entry|Nikos Mynhier*|BE}}
 |}
 | width=33% |
 {|
+{{group entry|Kellan Moorse|CNS}}
+{{group entry|Nikos Mynhier*|BE}}
 {{group entry|Blade Olson*|BE}}
-{{group entry|Mark Prator#|EAS}}
-{{group entry|Hengyu Wang|EE}}
 {{group entry|Miki Yun#|EAS}}
-{{group entry|Han Zhang*|CNS}}
+{{group entry|Han Zhang*|BE}}
-{{group entry|[[http:yzhang952.github.io|Yan Zhang]]|BBE}}
 |}
 |}
-</blockquote>
 <font size="-2">
 {| width=100%
@@ Line 101: / Line 97: @@
 |}
 </font>
-<!-- 1 MS student; 2 PhD students (+10 joint); 3 postdocs -->
+<!-- 1 MS student; 2 PhD students (+10 joint); 2 postdocs -->
 </blockquote>
 ==== Former graduate students: ====
-<!-- 83 PhD students (70 primary; 13 joint); 39 postdocs (incl. 1 visiting); 7 MS students -->
+<!-- 83 PhD students (70 primary; 13 joint); 40 postdocs (incl. 1 visiting); 7 MS students -->
-* Apurva Badithela - PhD in Control and Dynamical Systems, May 2024
-* Zoila Jurado - PhD in Mechanical Engineering, May 2024
-* Josefine Graebener - PhD in Aerospace Engineering, April 2024
 <blockquote>
@@ Line 117: / Line 110: @@
 {{PhD alum|Ania Baetica |thesis=CaltechTHESIS:06042018-171639726}}
 {{PhD alum|Julia Badger (Braman) |url=http:www.linkedin.com/in/julia-badger-b690094/ |thesis=CaltechETD:etd-05292009-111937}}
+{{PhD alum|Apurva Badithela|option=Control and Dynamical Systems|completed=May 2024|thesis=CaltechTHESIS:06022024-014038700|url=http:abadithela.github.io}}
 {{PhD alum|Dionysios Barmpoutis |option= |completed= |thesis=CaltechTHESIS:12102011-161913831}}
 {{PhD alum|Robert Behnken |url=http:www.linkedin.com/in/bob-behnken-2b6aa81a2/ |thesis=CaltechETD:etd-07102006-085216}}
@@ Line 153: / Line 147: @@
 {{PhD alum|Vijay Gupta |url=http:ee.nd.edu/faculty/vgupta/ |thesis=CaltechETD:etd-08172006-130145}}
 {{PhD alum|Sonja Glavaski*}}
+{{PhD alum|Josefine Graebener|option=Aerospace Engineering|completed=April 2024|thesis=CaltechTHESIS:05312024-094443866}}
 {{PhD alum|Shuo Han | url=http:fling.seas.upenn.edu/~hanshuo/cgi-bin/wordpress/ | thesis=CaltechTHESIS:10162013-111333269}}
 {{PhD alum|Adam Hayes*}}
@@ Line 160: / Line 155: @@
 {{PhD alum|Zhipu Jin |url=http:www.cds.caltech.edu/~jzp |thesis=CaltechETD:etd-09182006-162259}}
 {{PhD alum|Vanessa Jonsson |option= |completed= |thesis=CaltechTHESIS:10132015-121212703}}
+{{PhD alum|Zoila Jurado|option=Mechanical Engineering|completed=May 2024|thesis=CaltechTHESIS:06032024-141219249|url=http:www.linkedin.com/in/zoila-jurado-93005b83/}}
 {{PhD alum|Scott Kelly |url=http:www.coe.uncc.edu/~skelly52/ |thesis=CaltechETD:etd-08122005-152639}}
 {{PhD alum|Dmitriy Kogan# |url=http:www.linkedin.com/pub/1/446/a84 }}
@@ Line 171: / Line 167: @@
 {{PhD alum|Mark Milam |url=http:www.cds.caltech.edu/~milam/ |thesis=CaltechETD:etd-06022003-114340}}
 {{PhD alum|Michiel van Nieuwstadt |thesis=CaltechETD:etd-01172008-085534}}
-{{PhD alum|Ayush Pandey |option=CDS |completed=Jun 2023 |thesis=CaltechTHESIS:06062023-021337351}}
+{{PhD alum|Ayush Pandey |option=CDS |completed=Jun 2023 |thesis=CaltechTHESIS:06062023-021337351|url=http:ayush-pandey.github.io}}
 {{PhD alum|Ivan Papusha |option= |completed= |thesis=CaltechTHESIS:06032016-102336160}}
 {{PhD alum|James Parkin |option=BE |completed=Mar 2021 |thesis=CaltechTHESIS:03262021-160841703}}
 {{PhD alum|Tung Phan |thesis=CaltechTHESIS:01132021-065636010}}
-{{PhD alum|William Poole |option=CNS |completed=Aug 2021 |thesis=CaltechTHESIS:11102021-210013472}}
 </table>
   | width=33% |
 <table>
+{{PhD alum|William Poole |option=CNS |completed=Aug 2021 |thesis=CaltechTHESIS:11102021-210013472}}
 {{PhD alum|Muruhan Rathinam | url=http:www.math.umbc.edu/~muruhan/ | thesis=CaltechETD:etd-01152008-082733}}
 {{PhD alum|Xinying (Cindy) Ren |option=CDS |completed=Jun 2021 |thesis=CaltechTHESIS:05262021-072231177}}
@@ Line 214: / Line 210: @@
 ==== Former postdocs: ====
+* [[http:yzhang952.github.io|Yan Zhang]] (2022-24) - Presidential Postdoctoral Fellow
 * Inigo Incer (2022-24) - CMS Postdoctoral Fellow
 * Chelsea Hu (2018-22) - BE Postdoctoral Fellow
@@ Line 223: / Line 220: @@
 | width=33% |
 <table>
-<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
+{{Postdoc alum|Raktim Bhattacharya|years=2002-04}}
 <tr><td>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
 <tr><td>Noel du Toit (2011)</td></tr>
@@ Line 282: / Line 279: @@
 * [[Bi/BE/CS 183]] - Introduction to Computational Biology and Bioinformatics ([[Bi/BE/CS 183, Winter 2024|Wi24]])
 * [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07, 10-11, [[CS/EE/ME 75, 2015-16|15-16]])
-* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020-)
+* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020-2024)
 * [[CDS 101|CDS 101/110]] - 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 101/110, Fall 2015|Fa15]], [[CDS 110/ChE 130, Spring 2024|Sp24]])
 * [[CDS 112]] - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]], [[CDS 112/Ae 103a, Winter 2022|Wi22]], [[CDS 112/Ae 103b, Winter 2023|Wi23]])
@@ Line 292: / Line 289: @@
 * CS 143 - Communication Networks ([http://courses.cms.caltech.edu/cs143/ Fa18])
 * [[CMS 273]] - Frontiers in Computing and Mathematical Sciences ([[CMS 273, Winter 2019|Wi19]], [[CMS 273, Winter 2020|Wi20]], [[CMS 273, Winter 2021|Wi21]])
-* [[E/SEC 103]] - Management of Technology ([[E/SEC 103, Spring 2020|Sp20]], [[E/SEC 103, Spring 2023|Sp23]], [[E/SEC 103, Winter 2024|Wi24]])
+* [[E/SEC 103]] - Management of Technology ([[E/SEC 103, Spring 2020|Sp20]], [[E/SEC 103, Spring 2023|Sp23]], [[E/SEC 103, Winter 2024|Wi24]], [[E/SEC 103, Winter 2025|Wi25]])
 * [[Courses#Older_courses_(not_on_this_wiki)|Older courses]] (not taught in the last 15 years)
 * [[:Category:Guest lectures|Guest lectures]] - some individual lectures I have given in various courses
@@ Line 311: / Line 308: @@
 E-mail: murray@cds.caltech.edu <br>
 Office: 109 Steele Lab, (626) 395-6460 <br>
-Asst: Monica Nolasco, x4140 <br>
+Asst: Nuvia Alvarez, x2464 <br>
-Labs: B112 Steele, 136 Keck
+Labs: 108, 116, 136 Keck
 |- valign=bottom
 |

Main Page: Difference between revisions

Revision as of 17:37, 4 April 2025

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