Cds110b WI14: Difference between revisions
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* 8 Jan 2014: web page creation, uploaded lecture 1 material | * 8 Jan 2014: web page creation, uploaded lecture 1 material | ||
=== Lecture Schedule === | |||
{| class="mw-collapsible " width=100% border=1 cellpadding=5 | |||
|- | |||
| '''Date''' | |||
| '''Topic''' | |||
| '''Reading''' | |||
| '''Homework''' | |||
|- valign=top | |||
|- valign=top | |||
| 7 Jan <br> 9 Jan | |||
| Linear Differential Equations I | |||
* Course overview and administration | |||
* Linear differential equations | |||
* Matrix exponential, diagonalization | |||
* Stable and unstable spaces | |||
* Planar systems, behavior of solutions | |||
| | |||
Perko, 1.1-1.6<br> | |||
| [[CDS 140a Winter 2014 Homework 1|HW 1]] <br> Due: 15 Jan (Wed) | |||
|- valign=top | |||
| 14 Jan <br> 16 Jan | |||
| Linear Differential Equations II | |||
* S + N decomposition, Jordan form | |||
* Stability theory | |||
* Linear systems with inputs (nonhomogeneous systems) | |||
| Perko, 1.7-1.10 | |||
| [[CDS 140a Winter 2014 Homework 2|HW 2]] <br> Due: 22 Jan (Wed) | |||
|- valign=top | |||
| 21 Jan <br> 23 Jan | |||
| Nonlinear differential equations | |||
* Existence and uniqueness | |||
* Flow of a differential equation | |||
* Linearization | |||
| Perko, 2.1-2.6 | |||
| [[CDS 140a Winter 2014 Homework 3|HW 3]] <br> Due: 29 Jan (Wed) | |||
|- valign=top | |||
| 28 Jan <br> 30 Jan | |||
| Behavior of differential equations | |||
* Stable and unstable manifolds | |||
* Stability of equilibrium points | |||
| Perko, 2.7-2.10 | |||
<!-- | |||
* [[Media:cds140a-wi11-Week4Notes.pdf|Some notes]] | |||
* [[Media:cds140a-wi11-InvManRemark.pdf|Remark on invariant manifolds]] | |||
--> | |||
| | [[CDS 140a Winter 2014 Homework 4|HW 4]] <br> Due: 5 Feb (Wed) | |||
|- valign=top | |||
| 4 Feb <br> 6 Feb | |||
| Non-hyperbolic differential equations | |||
* Lyapunov functions | |||
* Center manifold theorem | |||
| Perko, 2.11-2.13 | |||
<!-- | |||
* [[Media:cds140a-wi11-Week5Notes.pdf|Notes on Lyapunov]] | |||
* [[Media:cds140a-wi11-Week5NotesCMT.pdf|Notes on Center Manifold]] | |||
* [[Media:cds140a-wi11-CMTLimitCycleExample.pdf|An Example (Center Manifold / Limit Cycle)]] | |||
--> | |||
| [[CDS 140a Winter 2014 Homework 5|HW 5]] <br> Due: 12 Feb (Wed) | |||
|- valign=top | |||
| 11 Feb <br> 13 Feb | |||
| Hamiltonian systems | |||
* Gradient and Hamiltonian systems | |||
* Energy based stability methods | |||
* Applications | |||
| Perko 2.14 + notes | |||
<!-- | |||
* [http://www.cds.caltech.edu/~macmardg/courses/cds140a/L6-Hamiltonian.pdf Scanned lecture notes] | |||
* [http://www.cds.caltech.edu/~macmardg/courses/cds140a/MarsdenMechSystems.pdf Marsden, Mechanical systems] | |||
* [[Media:cds140a-wi11-Week6NotesHamGrad.pdf|Gradient and Hamiltonian Systems]] | |||
* [[Media:cds140a-wi11-Week6NotesLagHamSum.pdf|Lagrangian, Summary]] | |||
--> | |||
| [[CDS 140a Winter 2014 Homework 6|HW 6]] <br> Due: 19 Feb (Wed) | |||
|- valign=top | |||
| 18 Feb* <br> 20 Feb* <br> 25 Feb | |||
| Limit cycles | |||
* Limit sets and attractors | |||
* Periodic orbits and limit cycles | |||
* Poincare' map | |||
* Bendixson criterion for limit cycles in the plane | |||
| Perko, 3.1-3.5, 3.7, 3.9 | |||
<!-- | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L7-1_orbits-15Feb11.pdf Lecture notes on orbits and attractors] | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L7-2_limitcycles-17Feb11.pdf Lecture notes on limit cycles] | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L7-3_bfs_oscillators.pdf BFS notes on oscillators] | |||
--> | |||
| [[CDS 140a Winter 2014 Homework 7|HW 7]] <br> Due: 5 Mar (Wed) | |||
|- valign=top | |||
|- valign=top | |||
| 27 Feb <br> 4 Mar <br> 6 Mar | |||
| Bifurcations | |||
* Structural stability | |||
* Bifurcation of equilibrium points | |||
* Hopf bifurcation | |||
| Perko 4.1-4.4 + notes | |||
<!-- | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L8-1_parmsens-24Feb11.pdf Lecture notes on structural stability, parameter sensitivity] | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L8-1_bfs_sensitivity.pdf BFS notes on parameter sensitivity] | |||
* [http://www.cds.caltech.edu/~murray/courses/cds140/wi11/caltech/L8-2_bifurcations-01Mar11.pdf Lecture notes on bifurcations] | |||
--> | |||
| [[CDS 140a Winter 2014 Homework 8|HW 8]] <br> Due: 12 Mar (Wed) | |||
|- valign=top | |||
| 11 Mar* <br> | |||
| Course review | |||
| <!-- Reading --> | |||
| Final exam <br> Due: 19 Mar (Wed) | |||
|} | |||
=== Course Text and References === | === Course Text and References === |
Revision as of 22:18, 8 January 2014
CDS 110b: Introduction to Control Theory | |
Instructors
|
Teaching Assistants
|
Course Description
Announcements
- 8 Jan 2014: web page creation, uploaded lecture 1 material
Lecture Schedule
Date | Topic | Reading | CollapseHomework |
7 Jan 9 Jan |
Linear Differential Equations I
|
Perko, 1.1-1.6 |
HW 1 Due: 15 Jan (Wed) |
14 Jan 16 Jan |
Linear Differential Equations II
|
Perko, 1.7-1.10 | HW 2 Due: 22 Jan (Wed) |
21 Jan 23 Jan |
Nonlinear differential equations
|
Perko, 2.1-2.6 | HW 3 Due: 29 Jan (Wed) |
28 Jan 30 Jan |
Behavior of differential equations
|
Perko, 2.7-2.10 | HW 4 Due: 5 Feb (Wed) |
4 Feb 6 Feb |
Non-hyperbolic differential equations
|
Perko, 2.11-2.13 | HW 5 Due: 12 Feb (Wed) |
11 Feb 13 Feb |
Hamiltonian systems
|
Perko 2.14 + notes | HW 6 Due: 19 Feb (Wed) |
18 Feb* 20 Feb* 25 Feb |
Limit cycles
|
Perko, 3.1-3.5, 3.7, 3.9 | HW 7 Due: 5 Mar (Wed) |
27 Feb 4 Mar 6 Mar |
Bifurcations
|
Perko 4.1-4.4 + notes | HW 8 Due: 12 Mar (Wed) |
11 Mar* |
Course review | Final exam Due: 19 Mar (Wed) |
Course Text and References
The main course text is
- J. Doyle, B. Francis, A. Tannenbaum, Feedback Control Theory, Macmillan, 1992.
- R. M. Murray, Optimization-Based Control, Preprint, 2008.
You may find the following texts useful as well:
- K. J. Åström and R. M. Murray, Feedback Systems, Princeton University Press, 2008.
- B. Friedland, Control System Design: An Introduction to State-Space Methods, Dover, 2004.
- F. L. Lewis and V. L. Syrmos, Optimal Control, Second Edition, Wiley-IEEE, 1995. (Google Books)
- A. D. Lewis, A Mathematical Approach to Classical Control, 2003.