CDS 101/110a, Fall 2006: Difference between revisions

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== Course Syllabus ==
== Course Syllabus ==
CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior. 
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.


=== Grading ===
=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final
exam:
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Late homework will not be accepted without prior permission from the instructor.
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms week (25 Oct) and due at the end of the midterm examination period (31 Oct). The midterm exam will be open book and computers will be allowed (though not required).
* ''Final exam (30%):''  The final exam will be handed out on the last day of class (1 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).


=== Collaboration Policy ===
=== 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).
No collaboration is allowed on the midterm or final exams.


=== Course Text and References ===
=== Course Text and References ===
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2006).  This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]].  The following additional references may also be useful:


=== Course Schedule ===
=== Course Schedule ===
Line 53: Line 91:
* '''Final report: 30%'''<br> By the end of the course, students should longitudinal and lateral controller on the experimental system.  A presentation and report describing the control design and experimental results will be given in lieu of the final.  The final presentation will be made after the end of classes and the report is due no later than 5 pm on the last day of finals.  The report should build on the report submitted at midterms and should include a design, analysis and demonstration of the full system.  A dynamic compensator (eg, PID) must be part of the design.  
* '''Final report: 30%'''<br> By the end of the course, students should longitudinal and lateral controller on the experimental system.  A presentation and report describing the control design and experimental results will be given in lieu of the final.  The final presentation will be made after the end of classes and the report is due no later than 5 pm on the last day of finals.  The report should build on the report submitted at midterms and should include a design, analysis and demonstration of the full system.  A dynamic compensator (eg, PID) must be part of the design.  


A special set of lectures on [[CDS 110b: Control Implementation|control implementation]] will be given for students interested in pursuing the course project.
A special set of lectures on [[CDS 110b: Control Implementation|control implementation]] will be given for students interested in pursuing the course project.


== Old Announcements ==
== Old Announcements ==


[[Category:Courses]] [[Category:2006-07 Courses]]
[[Category:Courses]] [[Category:2006-07 Courses]]

Revision as of 20:26, 27 August 2006

WARNING: This page is for a previous year.
See current course homepage to find most recent page available.
CDS 101/110a Schedule Recitations FAQ AM06 (errata)
Contents

This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2006.

Instructor

  • Richard Murray, murray@cds.caltech.edu
  • Lectures: MWF, 2-3 pm, 74 JRG
  • Office hours: Fri, 3-4 pm, 109 STL

Teaching Assistants (cds110-tas@cds)

Announcements

Archive
  • 27 Aug 06: web page created

Course Syllabus

CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. Basic principles of feedback and its use as a tool for altering the dynamics of systems and managing uncertainty. Key themes throughout the course will include input/output response, modeling and model reduction, linear versus nonlinear models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required.

Grading

The final grade will be based on homework sets, a midterm exam, and a final exam:

  • Homework (50%): Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Late homework will not be accepted without prior permission from the instructor.
  • Midterm exam (20%): A midterm exam will be handed out at the beginning of midterms week (25 Oct) and due at the end of the midterm examination period (31 Oct). The midterm exam will be open book and computers will be allowed (though not required).
  • Final exam (30%): The final exam will be handed out on the last day of class (1 Dec) and due at the end of finals week. 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).

No collaboration is allowed on the midterm or final exams.

Course Text and References

The primary course text is Feedback Systems: An Introduction for Scientists and Engineers by Åström and Murray (2006). This book is available in the Caltech bookstore and via download from the companion web site. The following additional references may also be useful:

Course Schedule

The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the course schedule page.

Course Project

Students interested in the implementation of control systems may opt to do a course project in lieu of the midterm and final exams. The course project will involve implementing control algorithms on a working application. For 2006, the experiment will be control of an autonomous road vehicle, Alice.

The following work must be performed as part of the class project:

  • Midterm report: 20%
    By midterm, all students should implement and test a state space controller on the experimental system. A report describing the control design and experimental results is due no later than 5 pm on the last day of the midterm examination period. The report should include a description of the (nonlinear) model for the system, an analysis and design of a control law based on the linearization of that model, and a comparison between simulation and experimental results on the system. For 2006, students will implement a longitudinal control law that controls the velocity of the vehicle.
  • Final report: 30%
    By the end of the course, students should longitudinal and lateral controller on the experimental system. A presentation and report describing the control design and experimental results will be given in lieu of the final. The final presentation will be made after the end of classes and the report is due no later than 5 pm on the last day of finals. The report should build on the report submitted at midterms and should include a design, analysis and demonstration of the full system. A dynamic compensator (eg, PID) must be part of the design.

A special set of lectures on control implementation will be given for students interested in pursuing the course project.

Old Announcements