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<td align=center width=20%> [[Image:Murray-cds04.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 <br>
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of Control and Dynamical Systems<br><br>
Thomas E. and Doris Everhart Professor of <br>
Division of Engineering and Applied Science<br>
Control & Dynamical Systems and Bioengineering
California Institute of Technology<br>
 
California Institute of Technology
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<br><hr>
<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]]
 
[[AM:Main Page|''Feedback Systems'']]<br>
 
[[CDS 90]]<br>
[[CDS 110b, Winter 2008|CDS 110b]]<br>


[http://www.ist.caltech.edu IST]
<!-- [[Group Schedule]] <br> -->
</font></td>
<!-- [[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''] <br>
[[http:python-control.org|python-control]]
<!-- [https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems''] -->
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<br>
<!-- '''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. -->
<!-- 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: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:
* [[AMwiki:Main_Page|Feedback Systems: An Introduction for Scientists and Engineers]] (textbook)
* [http://www.cds.caltech.edu/~murray/papers/2005t_cre+06-jfr.html Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation] (JFR 06)
* [http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4118472 Consensus and Cooperation in Networked Multi-Agent Systems] (Proc of the IEEE 07)
* [http://www.cds.caltech.edu/%7Emurray/papers/2004l_dmk04-automatica.html Discrete State Estimators for Systems on a Lattice] (Automatica 06)
| align=center |
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[http://www.cds.caltech.edu/~murray/papers/index.shtml Overview] <br>
[[Preprint archive]] <br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdblist.cgi?papers/config.db List] <br>
[http://thesis.library.caltech.edu/view/advisor/Murray-R-M.html Caltech theses]<br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdbsearch.cgi?papers/config.db Search]
[http://scholar.google.com/scholar?q=author:richard-m-murray Google Scholar]
|} &nbsp;
|}
|}
 
Active projects:
== Research ==
{{#ask:
My group's research is in the application
  [[Category:Active projects]]
of feedback and control to mechanical, information, and biological systems.  Current projects include integration of control, communications, and computer science in multi-agent systems, information dynamics in networked feedback systems, analysis of insect flight control systems, and synthetic biology using genetically-encoded finite state machines.
  | ?agency =  
{{Active projects}}
  | format = ul
  | sort=Start date
  | order=descending
}}
[[Projects|<nowiki>[Archive]</nowiki>]]
[[Projects|<nowiki>[Archive]</nowiki>]]


== Group ==
== Group ==
<blockquote>
<blockquote>
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<table>
{|
<tr><td>Dionysios Barmpoutis (CNS)</td></tr>
{{group entry|Josefine Graebener|AE}}
<tr><td>Julia Braman (ME)</td></tr>
{{group entry|Sal Ibarra*|BE}}
<tr><td>John Carson (ME)</td></tr>
{{group entry|[[http:da-johnson.github.io|Alex Johnson]]|BE}}
<tr><td>[http://www.its.caltech.edu/~mjdunlop Mary Dunlop] (ME)</td></tr>
{{group entry|Zoila Jurado|CMS}}
<tr><td>Sawyer Fuller (BE)</td></tr>
{{group entry|Manisha Kapasiawala|BE}}
</table>
|}
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| width=33% |  
<table>
{|
<tr><td>Elisa Franco (CDS)</td></tr>
{{group entry|Matthieu Kratz*|BE}}
<tr><td>Shuo Han (EE)</td></tr>
{{group entry|Elin Larsson*|BE}}
<tr><td>[http://www.cds.caltech.edu/~macmardg Doug MacMynowski] (CDS)</td></tr>
{{group entry|Leo Li*|CNS}}
<tr><td>Yizhar Or (CDS)</td></tr>
{{group entry|[[http:mandralis.github.io/|Ioannis Mandralis]]*|AE}}
<tr><td>Dominic Rizzo (CS)</td></tr>
{{group entry|Zach Martinez*|BE}}
</table>
|}
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<table>
{|
<tr><td>[http://www.cds.caltech.edu/~shiling Ling Shi] (CDS)</td></tr>
{{group entry|Kellan Moorse|CNS}}
<tr><td>Pete Trautman (CDS)</td></tr>
{{group entry|Nikos Mynhier*|BE}}
<tr><td>Johan Ugander+ (Lund)</td></tr>
{{group entry|Blade Olson*|BE}}
<tr><td>[http://robotics.caltech.edu/~nok Nok Wongpiromsarn] (ME)</td></tr>
{{group entry|Miki Yun#|EAS}}
<tr><td>Francisco Zabala+ (CSUF)</td></tr>
{{group entry|Han Zhang*|BE}}
</table>
|}
|}
|}
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|-
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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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|}
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<!-- 1 MS student; 2 PhD students (+10 joint); 2 postdocs -->
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==== Former graduate students: ====
==== Former graduate students: ====
* Melvin Flores (CDS) - Ph.D. in Control and Dynamical Systems, February 2008 [http://etd.caltech.edu/etd/available/etd-02192008-153449/ (thesis)]
<!-- 83 PhD students (70 primary; 13 joint); 40 postdocs (incl. 1 visiting); 7 MS students -->
* [http://www.cds.caltech.edu/~epstein/ Michael Epstein] (ME) - Ph.D. in Mechanical Engineering, December 2007
* [http://www.cds.caltech.edu/~waydo Steve Waydo]* (CDS) - Ph.D. in Control and Dynamical Systems, October 2007
* [http://robotics.caltech.edu/~timothyc/ Tim Chung]* (ME) - Ph.D. in Mechanical Engineering, June 2007
* [http://www.cds.caltech.edu/~jzp Zhipu Jin] (EE) - Ph.D. in Electrical Engineering, August 2006
* [http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] - Ph.D. in Electrical Engineering, August 2006


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<table>
<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.csl.uiuc.edu/~bullo/ 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://www.cds.caltech.edu/~lars Lars Cremean] [ftp://ftp.cds.caltech.edu/pub/murray/preprints/cremean06-phd.pdf (thesis)]</td></tr>
{{PhD alum|Dionysios Barmpoutis |option= |completed= |thesis=CaltechTHESIS:12102011-161913831}}
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea]*</td></tr>
{{PhD alum|Robert Behnken |url=http:www.linkedin.com/in/bob-behnken-2b6aa81a2/ |thesis=CaltechETD:etd-07102006-085216}}
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly]#</td></tr>
{{PhD alum|Robert Bodenheimer |url=http:engineering.vanderbilt.edu/bio/robert-bodenheimer}}
<tr><td> [http://www.cds.caltech.edu/~ddomitilla Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</tr></td>
{{PhD alum|Francesco Bullo |url=http:fbullo.github.io |thesis=CaltechETD:etd-02072008-100242}}
<tr><td>[http://www.cds.caltech.edu/~dunbar/ William Dunbar] </td></tr>
{{PhD alum|Karena Cai |option=CDS |completed=Mar 2021 |thesis=CaltechTHESIS:04022021-033321217}}
<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|John Carson |thesis=CaltechETD:etd-05072008-131735}}
<tr><td>[http://www.cds.caltech.edu/~fung Jimmy Fung]</td></tr>
{{PhD alum|Andrea Censi |url=http:censi.science |thesis=CaltechTHESIS:10282012-082208075}}
<tr><td>[http://www.che.gatech.edu/Facresearch/gallivan.htm Martha Gallivan]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (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}}
{{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>
</table>
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<table>
<table>
<tr><td>[http://www.cds.caltech.edu/~vijay 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>[http://www.coro.caltech.edu/People/athayes/athayes.html Adam Hayes]*</td></tr>
{{PhD alum|Martha Grover (Gallivan) | url=http:grover.chbe.gatech.edu | thesis=CaltechETD:etd-10222002-115711}}
<tr><td>[http://www.cds.caltech.edu/~jshumber 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.mie.uiuc.edu/content/asp/people/faculty/current/scott_d_kelly.asp Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
{{PhD alum|Vijay Gupta |url=http:ee.nd.edu/faculty/vgupta/ |thesis=CaltechETD:etd-08172006-130145}}
<tr><td> Dmitriy Kogan# </td></tr>
{{PhD alum|Sonja Glavaski*}}
<tr><td>[http://penelope.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
{{PhD alum|Josefine Graebener|option=Aerospace Engineering|completed=April 2024|thesis=CaltechTHESIS:05312024-094443866}}
<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|Shuo Han | url=http:fling.seas.upenn.edu/~hanshuo/cgi-bin/wordpress/ | thesis=CaltechTHESIS:10162013-111333269}}
<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|Adam Hayes*}}
<tr><td>[http://avalon.caltech.edu/~vannieuw/ Michiel van Nieuwstadt] [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
{{PhD alum|Sean Humbert |url=http:www.avl.umd.edu/people/director.html |thesis=CaltechETD:etd-06072005-163739}}
{{PhD alum|Victoria Hsiao |option=BE |completed=May 2016 |thesis=CaltechTHESIS:05082016-170628018}}
{{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}}
</table>
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<table>
<tr><td>[http://www.engineering.ucsb.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
{{PhD alum|William Poole |option=CNS |completed=Aug 2021 |thesis=CaltechTHESIS:11102021-210013472}}
<tr><td>[http://green.caltech.edu/~clancy/ Clancy Rowley]*</td></tr>
{{PhD alum|Muruhan Rathinam | url=http:www.math.umbc.edu/~muruhan/ | thesis=CaltechETD:etd-01152008-082733}}
<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|Xinying (Cindy) Ren |option=CDS |completed=Jun 2021 |thesis=CaltechTHESIS:05262021-072231177}}
<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|Clancy Rowley* |url=http:weblamp.princeton.edu/cwrowley/}}
<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|Ben Shapiro |url=http:www.glue.umd.edu/~benshap/ |thesis=CaltechETD:etd-02272008-083040}}
<tr><td>Amber Thweatt#</td></tr>
{{PhD alum|Ling Shi |url=http:www.cds.caltech.edu/~shiling/ |thesis=CaltechETD:etd-08272008-121822}}
<tr><td>Jorge Tierno*</td></tr>
{{PhD alum|Andrey Shur |option=BE |completed=Dec 2021 |thesis=CaltechTHESIS:12212021-193826426}}
<tr><td>[http://www.its.caltech.edu/~dvangogh/~dvangogh.html 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://avalon.caltech.edu/~cxy/ Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
{{PhD alum|Sudipto Sur | url=http:alumnus.caltech.edu/~sur/ |thesis=CaltechETD:etd-01172008-092801}}
{{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>
|}
|}
<font size="-2"># Masters or Engineers degree &nbsp;&nbsp; * Co-advised student</font>
</blockquote>
</blockquote>
<font size="-2"># Masters or Engineers degree</font>


==== 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
Line 161: Line 220:
| 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>Brianno Coller (1995-97) </td></tr>
<tr><td>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
<tr><td>[http://www.cds.caltech.edu/~tinanc/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>Noel du Toit (2011)</td></tr>
<tr><td>[http://www.cs.caltech.edu/~klavins Eric Klavins]* (2001-03)</td></tr>
{{Postdoc alum|Chuchu Fan|years=2019-20|title=CMS Postdoctoral Fellow}}
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
<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>Jongmin Kim (2010-14)</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://www.cds.caltech.edu/~olfati Reza Olfati-Saber] (2001-04)</td></tr>
<tr><td>Reza Olfati-Saber (2001-04)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</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>[http://www.cds.caltech.edu/~henriks/ Henrik Sandberg] (2005-07)</td></tr>
<tr><td>Necmiye Ozay (2010-13)</td></tr>
<tr><td>[http://www.me.nmsu.edu/faculty/shashi.htm B. N. Shashikanth]* (1998-2000)</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>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>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]]


== Teaching ==
== Teaching ==
The list below is the courses that I have taught at Caltech in the last 5 years. 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 [[Teaching Archive|older courses]] are available on a separate page.
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 [[Teaching Archive|older courses]] are available on a separate page.


* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07)
<!--
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (04-05, 05-06)
* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
* [[CDS 101]] - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04, [[CDS 101/110a, Fall 2006|Fa 06]], [[CDS 101/110a, Fall 2007|Fa 07]])
-->
* CDS 110[[CDS 101/110a|a]][[CDS 110b|b]] - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, [[CDS 110b, Winter 2006|Wi 06]], [[CDS 110b, Winter 2007|Wi 07]], [[CDS 110b, Winter 2008|Wi 08]])
* [[ACM/EE 116]] - Probability and Random Processes ([[ACM/EE_116,_Fall_2011|Fa11]])
* [[CDS 190]] - Independent Work in Control and Dynamical Systems  
* [[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 202 - Geometry of Nonlinear Systems (Wi93, Wi94, Wi04)
* [[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 270-2|CDS 270]] - Networked Control Systems (Sp 06)
* [[BE/EE/MedE 189a]] - Design and Construction of Biodevices ([[BE/EE/MedE 189a, Fall 2024|Fa24]])
* [[CDS 273]] - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, [[CDS 273, 2006|Sp 06]])
* [[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, 2020-2024)
* [[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]])
* [[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 ==
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==== 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: Gloria Bain, x4140 <br>
Asst: Nuvia Alvarez, x2464 <br>
Labs: 12 STL, 110 GUG (x2319)
Labs: 108, 116, 136 Keck
|-
|- 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://cms.caltech.edu Computing and Mathematical Sciences]<br>
|
[http://be.caltech.edu/ Bioengineering]<br>
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
[http://www.me.caltech.edu Mechanical Engineering]
[http://www.linkedin.com/in/murrayrm LinkedIn]
|
 
==== Additional information ====
Presentations<br>
Recent CV<br>
PGP key<br>
Travel info
|}
|}

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"