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<td align=center width=20%> [[Image:Murray-sp07.jpg]]</td>
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<b>Richard M. Murray</b><br><br>
<b>Richard M. Murray</b>
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Thomas E. and Doris Everhart Professor of <br>
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
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<table width=100%> __NOTOC__
<table width=100%> __NOTOC__
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<td width=20% align=center> [[#Publications|Papers]]</td>
<td width=20% align=center> [[Papers]]</td>
<td width=20% align=center> [[#Projects|Research]]</td>
<td width=20% align=center> [[Research Overview|Research]]</td>
<td width=20% align=center> [[#Group|Group]]</td>
<td width=20% align=center> [[#Group|Group]]</td>
<td width=20% align=center> [[#Teaching|Teaching]]</td>
<td width=20% align=center> [[#Teaching|Teaching]]</td>
<td width=20% align=center> [[#Contact|Contact]]</td>
<td width=20% align=center> [[#Contact|Contact]]</td>
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Quick Links:
Other Activities:  
<!-- [[Group Schedule]] -->


[[AMwiki:Main_Page|''Feedback Systems'']]
<!-- [[Group Schedule]] <br> -->
 
<!-- [[E/SEC 103, Winter 2025|E/SEC 103]] <br> -->
[[http:www.molecular-programming.org|Molecular Programming Project]]
[https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers ''Feedback Systems''] <br>
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[[http:python-control.org|python-control]]
<!-- [https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems''] -->
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<br>
<br>
'''Sabbatical note''': I am on sabbatical from Caltech until Fall 2010.  If you are a Caltech student and would like to meet with me, I'll be returning to campus a few days every month or two.
<!-- '''Prospective graduate students''': Students in my group come through the [[http:www.cds.caltech.edu|CDS]], [[http:www.cms.caltech.edu/academics/grad_cms|CMS]], [[http:be.caltech.edu|BE]], [[http:/www.its.caltech.edu/~biochem|BMB]], [[http:www.cms.caltech.edu/academics/grad_acm|ACM]], [[http:www.cms.caltech.edu/academics/grad_cs|CS]] and [[http:www.me.caltech.edu|ME]] graduate programs at Caltech.  Some of my students also come from the CNS and EE departments, but I do not actively participate in admissions decisions in those programs. Please take a look at my current [[Research Overview|research interests]] to get a sense of what my group is currently working on.  -->
<!--
<!-- '''Prospective postdocs''': I typically make decisions about postdocs in the April-May timeframe, when I know what my grants look like for fall. Please take a look at my current [[Research Overview|research interests]] to see what projects we are currently working on. -->
'''Prospective graduate students''': I admit students through the [http://www.cds.caltech.edu CDS], [http://be.caltech.edu/ BE] and [http://www.cs.caltech.edu CS] graduate programs at Caltech.  Many of my students also come from the BMB, CNS, EE and ME departments, but I do not actively participate in admissions decisions in those programs.
<!-- Caltech has several postdoc programs that admit exceptionally qualified postdocs for independent study at Caltech:
-->
<!--
'''Prospective postdocs''': I typically make decisions about postdocs in the April-May timeframe, when I know what my grants look like for fall.
Caltech has several postdoc programs that admit exceptionally qualified postdocs for independent study at Caltech:
* Caltech [[http:cmi.caltech.edu|Center for the Mathematics of Information (CMI)]] postdocs - applications due mid-December
* Caltech [[http:cmi.caltech.edu|Center for the Mathematics of Information (CMI)]] postdocs - applications due mid-December
* Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
* Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
-->
-->
'''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 design and implementation of synthetic cells and verification and testing of safety-critical systems (see my [[Research Overview|research overview]] for more details).


== Publications ==
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Recent publications:
[[Preprint archive]] <br>
* [[AMwiki:Main_Page|Feedback Systems: An Introduction for Scientists and Engineers]] (textbook, 2008)
[http://thesis.library.caltech.edu/view/advisor/Murray-R-M.html Caltech theses]<br>
* [http://www.cds.caltech.edu/~murray/papers/2008v_dun+08-naturegen.html Regulatory activity revealed by dynamic correlations in gene expression noise] (Nature Genetics, 2008)
[http://scholar.google.com/scholar?q=author:richard-m-murray Google Scholar]
* [http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4118472 Consensus and cooperation in networked multi-agent systems] (Proc of the IEEE 2007)
* [http://www.cds.caltech.edu/%7Emurray/papers/2004l_dmk04-automatica.html Discrete state estimators for systems on a lattice] (Automatica 2006)
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[http://www.cds.caltech.edu/~murray/papers/index.shtml Overview] <br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdblist.cgi?papers/config.db List] <br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdbsearch.cgi?papers/config.db Search]
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Active projects:
== Research ==
{{#ask:
My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy.  Current projects include verification and validation of distributed embedded systems, analysis of insect flight control systems, and biological circuit design.
  [[Category:Active projects]]
{{Active projects}}
  | ?agency =  
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[[Projects|<nowiki>[Archive]</nowiki>]]
[[Projects|<nowiki>[Archive]</nowiki>]]


== Group ==
== Group ==
<blockquote>
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{{group entry|Dionysios Barmpoutis|CNS}}
{{group entry|Josefine Graebener|AE}}
{{group entry|[[http:www.cds.caltech.edu/~andrea/|Andrea Censi]]|CDS}}
{{group entry|Sal Ibarra*|BE}}
{{group entry|[[http:web.mit.edu/minster/www/|Sawyer Fuller]]|BE}}
{{group entry|[[http:da-johnson.github.io|Alex Johnson]]|BE}}
{{group entry|[[http:www.cds.caltech.edu/~elisa|Elisa Franco]]|CDS}}
{{group entry|Zoila Jurado|CMS}}
{{group entry|[[http:www.cds.caltech.edu/~hanshuo|Shuo Han]]|EE}}
{{group entry|Manisha Kapasiawala|BE}}
{{group entry|[[http:www.cds.caltech.edu/~vjonsson|Vanessa Jonsson]]*|CDS}}
|}
|}
| width=33% |  
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{|
{|
{{group entry|Jongmin Kim|BE}}
{{group entry|Matthieu Kratz*|BE}}
{{group entry|[[http:www.cds.caltech.edu/~lavaei/|Javad Lavaei]]*|CDS}}
{{group entry|Elin Larsson*|BE}}
{{group entry|Arjun Ravikumar†|BE}}
{{group entry|Leo Li*|CNS}}
{{group entry|Dominic Rizzo|CS/ME}}
{{group entry|[[http:mandralis.github.io/|Ioannis Mandralis]]*|AE}}
{{group entry|[[http:www.cds.caltech.edu/~utopcu|Ufuk Topcu]]|CDS}}
{{group entry|Zach Martinez*|BE}}
{{group entry|Pete Trautman|CDS}}
|}
|}
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| width=33% |  
{|
{|
{{group entry|Ophelia Venturelli|BMB}}
{{group entry|Kellan Moorse|CNS}}
{{group entry|Floris van Breugel*|CDS}}
{{group entry|Nikos Mynhier*|BE}}
{{group entry|[[http:robotics.caltech.edu/~nok|Nok Wongpiromsarn]]|ME}}
{{group entry|Blade Olson*|BE}}
{{group entry|Mumu Xu|ME}}
{{group entry|Miki Yun#|EAS}}
{{group entry|[[http:www.cds.caltech.edu/~fzabala/|Francisco Zabala]]*|CDS}}
{{group entry|Han Zhang*|BE}}
|}
|}
|}
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| * co-advised students  || + visiting researchers
| * co-advised students  || + visiting researchers
| ° rotation students || † undergraduates
| ° rotation students || † undergraduates || # research staff
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<!-- 1 MS student; 2 PhD students (+10 joint); 2 postdocs -->
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==== Former graduate students: ====
==== Former graduate students: ====
* [http://www.its.caltech.edu/~braman/ Julia Braman] (ME) - Ph.D. in Mechanical Engineering, May 2009 [http://etd.caltech.edu/etd/available/etd-05292009-111937/ (thesis)]
<!-- 83 PhD students (70 primary; 13 joint); 40 postdocs (incl. 1 visiting); 7 MS students -->
* [http://www.cds.caltech.edu/~shiling/ Ling Shi] (CDS) - Ph.D. in Control and Dynamical Systems, August 2008 [http://etd.caltech.edu/etd/available/etd-08272008-121822/ (thesis)]
* [http://www.cds.caltech.edu/~mjdunlop Mary Dunlop] (ME) - Ph.D. in Mechanical Engineering, May 2008 [http://etd.caltech.edu/etd/available/etd-05302008-141602/ (thesis)]
* John Carson (ME) - Ph.D. in Mechanical Engineering, May 2008 [http://etd.caltech.edu/etd/available/etd-05072008-131735/ (thesis)]
* Melvin Flores (CDS) - Ph.D. in Control and Dynamical Systems, February 2008 [http://etd.caltech.edu/etd/available/etd-02192008-153449/ (thesis)]
* [http://www.cds.caltech.edu/~epstein/ Michael Epstein] (ME) - Ph.D. in Mechanical Engineering, December 2007 [http://etd.caltech.edu/etd/available/etd-12192007-153619/ (thesis)]


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<tr><td>[http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
{{PhD alum|Ania Baetica |thesis=CaltechTHESIS:06042018-171639726}}
<tr><td>[http://motion.mee.ucsb.edu/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
{{PhD alum|Julia Badger (Braman) |url=http:www.linkedin.com/in/julia-badger-b690094/ |thesis=CaltechETD:etd-05292009-111937}}
<tr><td>[http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
{{PhD alum|Apurva Badithela|option=Control and Dynamical Systems|completed=May 2024|thesis=CaltechTHESIS:06022024-014038700|url=http:abadithela.github.io}}
<tr><td>[http://robotics.caltech.edu/~timothyc/ Tim Chung]*</td></tr>
{{PhD alum|Dionysios Barmpoutis |option= |completed= |thesis=CaltechTHESIS:12102011-161913831}}
<tr><td>[http://www.cds.caltech.edu/~lars Lars Cremean] [http://www.cds.caltech.edu/~murray/papers/2006_lbc06-phd.html (thesis)]</td></tr>
{{PhD alum|Robert Behnken |url=http:www.linkedin.com/in/bob-behnken-2b6aa81a2/ |thesis=CaltechETD:etd-07102006-085216}}
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea]*</td></tr>
{{PhD alum|Robert Bodenheimer |url=http:engineering.vanderbilt.edu/bio/robert-bodenheimer}}
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly]#</td></tr>
{{PhD alum|Francesco Bullo |url=http:fbullo.github.io |thesis=CaltechETD:etd-02072008-100242}}
<tr><td> [http://www.eecs.umich.edu/~ddv/ Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</td></tr>
{{PhD alum|Karena Cai |option=CDS |completed=Mar 2021 |thesis=CaltechTHESIS:04022021-033321217}}
<tr><td>[http://www.soe.ucsc.edu/~dunbar/ William Dunbar] [http://etd.caltech.edu/etd/available/etd-05282004-170123/ (thesis)]</td></tr>
{{PhD alum|John Carson |thesis=CaltechETD:etd-05072008-131735}}
<tr><td>[http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
{{PhD alum|Andrea Censi |url=http:censi.science |thesis=CaltechTHESIS:10282012-082208075}}
<tr><td>[http://www.cds.caltech.edu/~fung Jimmy Fung] [http://etd.caltech.edu/etd/available/etd-05272005-165938/ (thesis)]</td></tr>
{{PhD alum|Richard Cheng* |option=ME |completed=Feb 2021 |url=http:www.linkedin.com/in/richard-cheng-83838088/ |thesis=CaltechTHESIS:01052021-195655093}}
<tr><td>[http://www.chbe.gatech.edu/grover/ Martha Grover (Gallivan)]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
{{PhD alum|Samuel Clamons |option=BE |completed=Sep 2021 |thesis=CaltechTHESIS:09262021-022402778}}
{{PhD alum|Benson Christalin# }}
{{PhD alum|Tim Chung* |url=http:www.linkedin.com/in/timothy-h-chung/}}
{{PhD alum|Lars Cremean |url=http:www.cds.caltech.edu/~lars |thesis=CaltechETD:etd-05242006-190748}}
{{PhD alum|Nadine Dabby* }}
{{PhD alum|Raff D'Andrea* |url=http:www.mae.cornell.edu/Raff}}
{{PhD alum|Sumanth Dathathri |thesis=CaltechTHESIS:04292020-165136662}}
{{PhD alum|Samantha (Feakins) Daly# |url=http:www.its.caltech.edu/~feakins/index.html}}
{{PhD alum|Emzo de los Santos |option= |completed= |thesis=CaltechTHESIS:05182015-163708506}}
{{PhD alum|Domitilla Del Vecchio | url=http:www.mit.edu/~ddv/ | thesis=CaltechETD:etd-05272005-113928}}
{{PhD alum|Mary Dunlop |url=http:www.cds.caltech.edu/~mjdunlop |thesis=CaltechETD:etd-05302008-141602}}
{{PhD alum|William Dunbar |url=http:www.soe.ucsc.edu/~dunbar/ |thesis=CaltechETD:etd-05282004-170123}}
{{PhD alum|Michael Epstein |url=http:www.cds.caltech.edu/~epstein/ |thesis=CaltechETD:etd-12192007-153619}}
{{PhD alum|Alex Fax |url=http:www.cds.caltech.edu/~fax |thesis=CaltechETD:etd-10242005-105000}}
{{PhD alum|Ioannis Filippidis |thesis=CaltechTHESIS:07202018-115217471}}
{{PhD alum|Anthony Fragoso |option= |completed= |thesis=CaltechTHESIS:10242017-193520989}}
{{PhD alum|Sawyer Fuller |url=http:www.media.mit.edu/~minster/ (thesis)}}
{{PhD alum|Melvin Flores |thesis=CaltechETD:etd-02192008-153449}}
{{PhD alum|Elisa Franco |url=http:samueli.ucla.edu/people/elisa-franco/ |option= |completed= |thesis=CaltechTHESIS:10192011-161454857}}
</table>
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<tr><td>[http://ee.nd.edu/faculty/vgupta/ Vijay Gupta] [http://etd.caltech.edu/etd/available/etd-08172006-130145/ (thesis)]</td></tr>
{{PhD alum|Jimmy Fung |url=http:www.cds.caltech.edu/~fung |thesis=05272005-165938}}
<tr><td>Sonja Glavaski*</td></tr>
{{PhD alum| Marcella Gomez | url=http:caltech.academia.edu/MarcellaGomez | option=CDS | completed= | thesis=CaltechTHESIS:08282014-165029252}}
<tr><td>Adam Hayes*</td></tr>
{{PhD alum|Martha Grover (Gallivan) | url=http:grover.chbe.gatech.edu | thesis=CaltechETD:etd-10222002-115711}}
<tr><td>[http://www.avl.umd.edu/facstaff/director.html Sean Humbert]  [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]</td></tr>
{{PhD alum|Shaobin Guo |option= |completed= |thesis=CaltechTHESIS:03082017-163613964}}
<tr><td>[http://www.cds.caltech.edu/~jzp Zhipu Jin] [http://etd.caltech.edu/etd/available/etd-09182006-162259/ (thesis)]</td></tr>
{{PhD alum|Vijay Gupta |url=http:ee.nd.edu/faculty/vgupta/ |thesis=CaltechETD:etd-08172006-130145}}
<tr><td>[http://www.coe.uncc.edu/~skelly52/ Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
{{PhD alum|Sonja Glavaski*}}
<tr><td> [http://www.linkedin.com/pub/1/446/a84 Dmitriy Kogan]# </td></tr>
{{PhD alum|Josefine Graebener|option=Aerospace Engineering|completed=April 2024|thesis=CaltechTHESIS:05312024-094443866}}
<tr><td>[http://www.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
{{PhD alum|Shuo Han | url=http:fling.seas.upenn.edu/~hanshuo/cgi-bin/wordpress/ | thesis=CaltechTHESIS:10162013-111333269}}
<tr><td>[http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
{{PhD alum|Adam Hayes*}}
<tr><td>[http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html (thesis)]</td></tr>
{{PhD alum|Sean Humbert |url=http:www.avl.umd.edu/people/director.html |thesis=CaltechETD:etd-06072005-163739}}
<tr><td>Michiel van Nieuwstadt [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
{{PhD alum|Victoria Hsiao |option=BE |completed=May 2016 |thesis=CaltechTHESIS:05082016-170628018}}
<tr><td>[http://www.math.umbc.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
{{PhD alum|Ali Jadbabaie* |url=http:www.seas.upenn.edu/~jadbabai |thesis=CaltechTHESIS:10262010-112027161}}
{{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 }}
{{PhD alum|Javad Lavaei* |url=http:www.ee.columbia.edu/~lavaei |thesis=CaltechTHESIS:05132011-113642762}}
{{PhD alum|Andrew Lewis |url=http:www.mast.queensu.ca/~andrew/ |thesis=CaltechETD:etd-07132006-143133}}
{{PhD alum|[[http:scottman.net/ |Scott Livingston]] |option=CDS |completed=Dec 2015 |thesis=CaltechTHESIS:12312015-131513787}}
{{PhD alum|[[http:jpmarken.github.io/|John Marken]] |option=BE|completed=May 2023|thesis=CaltechTHESIS:05292023-181810775}}
{{PhD alum|Reed McCardell |option=BE |completed=May 2021 |thesis=CaltechTHESIS:05082021-185615529}}
{{PhD alum|Robert M'Closkey | url=http:www.seas.ucla.edu/~mcloskey/ | thesis=CaltechETD:etd-10172007-104556}}
{{PhD alum|Joseph Meyerowitz|option=BMB|completed=Dec 2022|thesis=CaltechTHESIS:12022022-073109279}}
{{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|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}}
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<table>
<tr><td>[http://weblamp.princeton.edu/cwrowley/ Clancy Rowley]*</td></tr>
{{PhD alum|William Poole |option=CNS |completed=Aug 2021 |thesis=CaltechTHESIS:11102021-210013472}}
<tr><td>[http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
{{PhD alum|Muruhan Rathinam | url=http:www.math.umbc.edu/~muruhan/ | thesis=CaltechETD:etd-01152008-082733}}
<tr><td>[http://www.cds.caltech.edu/~demetri Demetri Spanos] [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]</td></tr>
{{PhD alum|Xinying (Cindy) Ren |option=CDS |completed=Jun 2021 |thesis=CaltechTHESIS:05262021-072231177}}
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
{{PhD alum|Clancy Rowley* |url=http:weblamp.princeton.edu/cwrowley/}}
<tr><td>Amber Thweatt#</td></tr>
{{PhD alum|Ben Shapiro |url=http:www.glue.umd.edu/~benshap/ |thesis=CaltechETD:etd-02272008-083040}}
<tr><td>Jorge Tierno*</td></tr>
{{PhD alum|Ling Shi |url=http:www.cds.caltech.edu/~shiling/ |thesis=CaltechETD:etd-08272008-121822}}
<tr><td>[http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] [http://etd.caltech.edu/etd/available/etd-05202007-135411/ (thesis)]</td></tr>
{{PhD alum|Andrey Shur |option=BE |completed=Dec 2021 |thesis=CaltechTHESIS:12212021-193826426}}
<tr><td>David van Gogh#</td></tr>
{{PhD alum|Vipul Singhal |thesis=CaltechTHESIS:08262018-213846283}}
<tr><td>Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
{{PhD alum|Demetri Spanos |url=http:www.cds.caltech.edu/~demetri |thesis=CaltechETD:etd-06262006-171822}}
<tr><td>[http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
{{PhD alum|Zachary Sun |option= |completed= |thesis=CaltechTHESIS:10012015-221355676/}}
<tr><td>[http://www.cds.caltech.edu/~waydo Steve Waydo]* [http://etd.caltech.edu/etd/available/etd-11022007-104734/ (thesis)]</td></tr>
{{PhD alum|Sudipto Sur | url=http:alumnus.caltech.edu/~sur/ |thesis=CaltechETD:etd-01172008-092801}}
<tr><td>[http://www.linkedin.com/pub/3/a32/258 Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
{{PhD alum|Anandh Swaminathan |thesis=CaltechTHESIS:12132017-121914940}}
{{PhD alum|Anu Thubagere* |option= |completed= |thesis=CaltechTHESIS:06082017-194534497}}
{{PhD alum|Amber Thweatt#}}
{{PhD alum|Jorge Tierno*}}
{{PhD alum|Abhishek Tiwari |url=http:www.cds.caltech.edu/~atiwari/ |thesis=CaltechETD:etd-05202007-135411}}
{{PhD alum|Pete Trautman |option= |completed= |thesis=CaltechTHESIS:05182013-191132413}}
{{PhD alum|Stephanie Tsuei#}}
{{PhD alum|David van Gogh#}}
{{PhD alum|Tony Vanelli# |thesis=CaltechETD:etd-01162008-152619}}
{{PhD alum|Ophelia Venturelli |thesis=CaltechTHESIS:06072013-095239958}}
{{PhD alum|Yong Wang |url=http:www.mech.pku.edu.cn/robot/teacher/wangyong/ |thesis=CaltechETD:etd-06282005-103901}}
{{PhD alum|Steve Waydo* |url=http:www.cds.caltech.edu/~waydo |thesis=CaltechETD:etd-11022007-104734}}
{{PhD alum|Rory Williams |option= |completed=Dec 2021 |thesis=CaltechTHESIS:01042022-184525578}}
{{PhD alum|Eric Wolff |option=CDS |completed= |thesis=CaltechTHESIS:02172014-121159358}}
{{PhD alum|Nok Wongpiromsarn |url=http:robotics.caltech.edu/~nok |thesis=CaltechTHESIS:05272010-153304667}}
{{PhD alum|Yong Wu |option= |completed= |thesis=CaltechTHESIS:08302017-121452132}}
{{PhD alum|Huan (Mumu) Xu |url=http:www.aero.umd.edu/~mumu |thesis=CaltechTHESIS:05312013-103940337}}
{{PhD alum|Enoch Yeung |option=CDS |completed=Jan 2016 |thesis=CaltechTHESIS:05272016-145559554}}
{{PhD alum|Simon Yeung |url=http:www.linkedin.com/pub/3/a32/258 |thesis=CaltechETD:etd-02272008-083453}}
</table>
</table>
|}
|}
Line 168: Line 210:


==== Former postdocs: ====
==== 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
* Ersin Das (2021-22) - CMS Postdoctoral Fellow
<blockquote>
<blockquote>
{| width=100% border=0 cellpadding=0 cellspacing=0
{| width=100% border=0 cellpadding=0 cellspacing=0
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| width=33% |  
| width=33% |  
<table>
<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>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
<tr><td>Noel du Toit (2011)</td></tr>
{{Postdoc alum|Chuchu Fan|years=2019-20|title=CMS Postdoctoral Fellow}}
<tr><td>Samira Farahani (2014-15) </td></tr>
<tr><td>David Garcia (2020-21) </td></tr>
{{Postdoc alum|Jin Ge|years=2016-18|title=CMS Postdoctoral Fellow}}
<tr><td>Leopold Green (2018-21) </td></tr>
<tr><td>Sofie Haesaert (2016-18) </td></tr>
<tr><td>Yutaka Hori (2013-16) </td></tr>
<tr><td>[http://www.ece.louisville.edu/~t0inan01/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>[http://www.ece.louisville.edu/~t0inan01/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>[http://soslab.ee.washington.edu/mw/index.php/User:Klavins Eric Klavins]* (2001-03)</td></tr>
<tr><td>Jongmin Kim (2010-14)</td></tr>
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
</table>
</table>
| width=33% |  
| width=33% |  
<table>
<table>
<tr><td>[http://soslab.ee.washington.edu/mw/index.php/User:Klavins Eric Klavins]* (2001-03)</td></tr>
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
<tr><td>Jun Liu (2011-2012)</td></tr>
<tr><td>Michaelle Mayalu (2017-22) </td></tr>
<tr><td>Catherine McGhan (2014-16)</td></tr>
{{Postdoc alum|John McManus*|years=2018-19|title=Visiting Postdoctoral Fellow}}
<tr><td>Yilin Mo (2013-15)</td></tr>
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~yasi Yasamin Mostofi] (2004-06)</td></tr>
<tr><td>[http://www.ece.ucsb.edu/~ymostofi/ Yasamin Mostofi] (2004-06)</td></tr>
<tr><td>[http://engineering.dartmouth.edu/~Reza_Olfati_Saber/ Reza Olfati-Saber] (2001-04)</td></tr>
<tr><td>Reza Olfati-Saber (2001-04)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~izi/ Yizhar Or] (2007--09)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~izi/ Yizhar Or] (2007-09)</td></tr>
</table>
</table>
| width=33% |  
| width=33% |  
<table>
<table>
<tr><td>Necmiye Ozay (2010-13)</td></tr>
<tr><td>Pavithra Prabhakar (2011-12)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
<tr><td>Vasu Raman (2013-15)</td></tr>
<tr><td>[http://www.ee.kth.se/php/index.php?action=people&cmd=extended&peopleid=768 Henrik Sandberg] (2005-07)</td></tr>
<tr><td>[http://www.ee.kth.se/php/index.php?action=people&cmd=extended&peopleid=768 Henrik Sandberg] (2005-07)</td></tr>
<tr><td>[http://me.nmsu.edu/~shashi/ B. N. Shashikanth]* (1998-2000)</td></tr>
<tr><td>Shaunak Sen (2011-12)</td></tr>
<tr><td>[http://me.nmsu.edu/~shashi/ B. N. Shashikanth*] (1998-2000)</td></tr>
<tr><td>Dan Siegal (2012-15)</td></tr>
<tr><td>[[http:www.its.caltech.edu/~astraw/|Andrew Straw*]] (2010)</td></tr>
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
<tr><td>Ufuk Topcu (2008-12)</td></tr>
</table>
</table>
|}
|}
</blockquote>
</blockquote>
 
'''Additional group alumni:''' &nbsp; [[SURF alumni|SURF]] &nbsp;&nbsp; [[Undergraduate alumni|Undergrads]]  &nbsp;&nbsp; [[Visitors]]
'''Additional group alumni:''' &nbsp; [[SURF alumni|SURF]] &nbsp;&nbsp; [[Undergraduate alumni|Senior thesis]]  &nbsp;&nbsp; [[Visitors]]


== Teaching ==
== Teaching ==
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* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
-->
-->
* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07)
* [[ACM/EE 116]] - Probability and Random Processes ([[ACM/EE_116,_Fall_2011|Fa11]])
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (04-05, 05-06, 07-08. 08-09)
* [[BE 107]] - Exploring Biological Principles Through Bio-Inspired Design ([[BE 107, Spring 2015|Sp15]], [[BE 107, Spring 2016|Sp16]], [[BE 107, Spring 2019|Sp19]])
* [[CDS 101|CDS 101/110a]] - 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]])
* [[BE 150/Bi 250b]] - Systems Biology ([[Bi/BE_250c_Winter_2011|Wi11]], [[BE_150/Bi_250b_Winter_2012|Wi12]], [[BE_150/Bi_250b_Winter_2013|Wi13]], [[BE 150/Bi 250 Spring 2014|Sp14]])
* [[CDS 110b]] - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]])
* [[BE/EE/MedE 189a]] - Design and Construction of Biodevices ([[BE/EE/MedE 189a, Fall 2024|Fa24]])
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [[http:www.cds.caltech.edu/~murray/courses/cds202/wi04/|Wi04]], [[CDS 202, Winter 2009|Wi09]])
* [[Bi/BE/CS 183]] - Introduction to Computational Biology and Bioinformatics ([[Bi/BE/CS 183, Winter 2024|Wi24]])
* [[CDS 270-2|CDS 270]] - Networked Control Systems ([[CDS 270-2, Spring 2006|Sp06]])
* [[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 273]] - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, [[CDS 273, Spring 2006|Sp06]])
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020-2024)
* [[Teaching Archive|Older courses]] (not taught in the last 5 years)
* [[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]])
* [[:Category:Guest lectures|Guest lectures]] - individual lectures I have given in various courses
* [[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]])
* [[CDS 131]] - Linear Systems Theory ([[CDS 131, Fall 2018|Fa18]], [[CDS 131, Fall 2019|Fa19]], [[CDS 131, Fall 2020|Fa20]])
* [[CDS 140]] - Differential Equations and Dynamical Systems ([[AM 101b/AM 125b/CDS 140a, Winter 2011|Wi11]], [[AM 101b/AM 125b/CDS 140a, Winter 2013|Wi13]], [[ACM 101b/AM 125b/CDS 140a, Winter 2014|Wi14]], [[CDS 140, Winter 2015|Wi15]])
* [[CDS 240]] - Nonlinear Dynamical Systems ([[CDS 140b, Spring 2014|Sp14]], [[CDS 240, Spring 2016|Sp16]])
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [[http:www.cds.caltech.edu/~murray/courses/cds202/wi04/|Wi04]], [[CDS 202, Winter 2009|Wi09]], [[CDS 202, Spring 2013|Sp13]])
* [[http:www.cds.caltech.edu/cs142|CS 142]] - Distributed Computing ([[CS 142, Fall 2017|Fa17]], [[CS 142, Fall 2019|Fa19]])
* 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, 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


== Contact ==
== Contact ==
Line 230: Line 307:
==== Contact information ====
==== Contact information ====
E-mail: murray@cds.caltech.edu <br>
E-mail: murray@cds.caltech.edu <br>
Office: 109 Steele, (626) 395-6460 <br>
Office: 109 Steele Lab, (626) 395-6460 <br>
Asst: Anissa Scott, x4140 <br>
Asst: Nuvia Alvarez, x2464 <br>
Lab: 12 Steele, 040 Keck
Labs: 108, 116, 136 Keck
|- valign=bottom
|- valign=bottom
|
|
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[http://www.caltech.edu Caltech]<br>
[http://www.caltech.edu Caltech]<br>
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
[http://ist.caltech.edu Information Science and Technology]<br>
[http://cms.caltech.edu Computing and Mathematical Sciences]<br>
|
|
[http://be.caltech.edu/ Bioengineering]<br>
[http://be.caltech.edu/ Bioengineering]<br>

Latest revision as of 17:37, 4 April 2025

Murray-26Oct2021.jpg

Richard M. Murray

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

California Institute of Technology


Papers Research Group Teaching Contact

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:

[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.

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

Other links

Caltech
Engineering and Applied Science
Computing and Mathematical Sciences

Bioengineering
Control and Dynamical Systems
LinkedIn

Retrieved from "https://murray.cds.caltech.edu/index.php?title=Main_Page&oldid=27004"