CDS 110b, Winter 2008

CDS 110b

Schedule

Project

Course Text

Contents Grading Collaboration Policy Course Text and References

This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2008.

Instructor Richard Murray, murray@cds.caltech.edu Lectures: MWF, 2-3 pm, TBD Office hours: Fridays, 3-4 pm, 109 Steele

Teaching Assistants (cds110-tas@cds) Sawyer Fuller, Luis Soto Office hours: TBD

Announcements

Archive

• 13 Dec 07: initial web page created; this is still in DRAFT form

Course Syllabus

Course Desciption and Goals: CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.

• cds110-students mailing list - all students in the class should be signed up on this list (archive)

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 will generally be due one week later at 5 pm to the box outside of 109 Steele. Late homework will not be accepted without prior permission from the instructor.
  
• Midterm: 20%
  A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.
  
• Final: 30%
  The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.
  

Note: students working on the course project will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, students working on the course project are only required to complete the first 2 problems on each HW set.

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your 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.

No collaboration is allowed on the midterm of final exams.

Course Text and References

The recommended course texts are:

• K. J. Åström and R. M. Murray, Design and Analysis of Feedback Systems, Princeton University Press, 2008.

You may find the following texts useful as well:

• B. Friedland, Control System Design: An Introduction to State-Space Methods, Dover, 2004. Available in the Caltech bookstore.
• F. L. Lewis and V. L. Syrmos, Optimal Control, Second Edition, Wiley-IEEE, 1995. (Google Books)
• G. F. Franklin, J. D. Powell, and A. Emami-Naeni, Feedback Control of Dynamic Systems, Addison-Wesley, 2002.
• N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control Systems, Benjamin/Cummings, 1992.
• A. D. Lewis, A Mathematical Approach to Classical Control, 2003.
• J. Doyle, B. Francis, A. Tannenbaum, Feedback Control Theory, Macmillan, 1992.

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