Cds212 SP14: Difference between revisions

From Murray Wiki
Jump to navigationJump to search
No edit summary
Line 24: Line 24:
=== Tentative Lecture Schedule ===
=== Tentative Lecture Schedule ===


{| class="mw-collapsible " width=100% border=1 cellpadding=5
{| width=100% border=1 cellspacing=0 cellpadding=5
|-
|-
| '''Week'''
| '''Date'''
| '''Date'''
| '''Topic'''
| '''Trunk'''
| '''Reading'''
| '''Reading'''
| '''Homework'''
| '''Homework'''
| '''Branch'''
|- valign=top
|- valign=top
|- valign=top
| 1
| 7 Jan <br> 9 Jan
| 28&nbsp;Sep&nbsp;<br> 30 Sep
| Robustness, fragility, complexity and control I
| Norms for signals and systems
* Examples in neuroscience, glycolysis, technology
| {{DFT}}&nbsp;Ch&nbsp;1,&nbsp;2&nbsp; <br> DP Ch 3
Inverted pendulum revisited <br>
| [[CDS 212, Homework 1, Fall 2010|HW 1]]
Discrete time, finite horizon LQR
|  
|  
* [https://www.cds.caltech.edu/~murray/wiki/images/b/b5/InvertedPendulum_classnote.pdf  notes]<br>
* [https://www.cds.caltech.edu/~murray/wiki/images/0/04/CDS110bLect1.pdf  slides1],  [https://www.cds.caltech.edu/~murray/wiki/images/a/a6/CDS110bLect1.pptx slides2]
| [https://www.cds.caltech.edu/~murray/wiki/images/0/0f/Cds110bwi14_hw1.pdf hw1]
|- valign=top
|- valign=top
| 14 Jan <br> 16 Jan
| 2
| Discrete time stochastic LQR <br>
| 5 Oct+ <br> 7 Oct
*  Finite horizon, infinite horizon
| Feedback, stability and performance
|  
| {{DFT}} Ch 3 <br> ({{FBS}}&nbsp;9.1-9.3) <br> ({{FBS}}&nbsp;11.1-11.2)
* [https://www.cds.caltech.edu/~murray/wiki/images/c/c5/Ln1.pdf lecnotes1 ]
| [[CDS 212, Homework 2, Fall 2010|HW 2]]
* [https://www.cds.caltech.edu/~murray/wiki/images/8/83/Ln2.pdf lecnotes2]
|
* [http://lall.stanford.edu/svn/engr207b_2012_to_2013_winter/data/matrix_facts_2011_02_07_01.pdf matrixnotes]
* 6 Oct: Mung Chiang (Princeton), An Axiomatic Theory of Fairness
| [https://www.cds.caltech.edu/~murray/wiki/images/d/d9/Cds110bwi14hw2.pdf hw2]
* 6 Oct: Mung Chiang (Princeton), Can Random Access Be Optimal?
|- valign=top
|- valign=top
| 21 Jan <br> 23 Jan
| 3
|Norms for signals and systems
| 12&nbsp;Oct+ <br> 14 Oct+
|  
| Uncertainty and robustness
|  
| {{DFT}} Ch 4 <br> ({{FBS}}&nbsp;12.1&#8209;12.3)
| [[CDS 212, Homework 3, Fall 2010|HW 3]]
|
* 12 Oct: Raff D'Andrea (ETHZ), Some applications of distributed estimation and control
|- valign=top
| style="border-bottom:3px solid gray;" | 4
| style="border-bottom:3px solid gray;" | 19 Oct <br> 21 Oct+
| style="border-bottom:3px solid gray;" |
*Fundamental limits
*Realization theory, controllability, observability
| style="border-bottom:3px solid gray;" | {{DFT}} Ch 6 <br> ({{FBS}}&nbsp;11.4,&nbsp;12.4),<br> DP Ch 2, 4
| style="border-bottom:3px solid gray;" | [[CDS 212, Homework 4, Fall 2010|HW 4]]
| style="border-bottom:3px solid gray;" |
|- valign=top
|- valign=top
| 28 Jan <br> 30 Jan
| 5
| State estimation <br>  
| 26 Oct+ <br> 28 Oct*
Kalman Filters
|
| [https://www.cds.caltech.edu/~murray/wiki/images/4/47/Cds110bwi14_hw3.pdf hw3]
|- valign=top
| 4 Feb <br> 6 Feb
| Discrete time output feedback LQG
* Connections with H2 optimal control
|  
|  
* Lyapunov equation and stability conditions
* LMIs
|  style="border-bottom:3px solid gray;" | DP Ch 4 <br> [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf LMIs] Ch 2
| [[CDS 212, Homework 5, Fall 2010|HW 5]]
|
|
|- valign=top
|- valign=top
| 11 Feb <br> 13 Feb
| style="border-bottom:3px solid gray;" | 6
| Modeling, Robustness/efficiency tradeoffs <br>
| style="border-bottom:3px solid gray;" | 2 Nov* <br> 4 Nov*
* Heart rate variability
| style="border-bottom:3px solid gray;" |
|  
* KYP lemma
* [https://www.cds.caltech.edu/~murray/wiki/images/c/cb/2HRVdetails.pdf lecslides]
* Model reduction
*[https://www.cds.caltech.edu/~murray/wiki/images/4/4b/Main_text.pdf HRVpreprint ] [https://www.cds.caltech.edu/~murray/wiki/images/b/b4/SI.PDF HRVSI]
|  style="border-bottom:3px solid gray;" | DP Ch 4,7 <br> [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V4X-3VTSW0Y-2&_user=10&_coverDate=06%2F03%2F1996&_rdoc=1&_fmt=high&_orig=search&_origin=search&_sort=d&_docanchor=&view=c&_acct=C000050221&_version=1&_urlVersion=0&_userid=10&md5=7cadd4d3ff3995a6e887e15c1a57b578&searchtype=a  KYP]
|  
| style="border-bottom:3px solid gray;" | [[CDS 212, Homework 6, Fall 2010|HW 6]]
| style="border-bottom:3px solid gray;" |
* Keith Glover
** Model reduction
** Loop shaping
|- valign=top
|- valign=top
| 18 Feb <br> 20 Feb <br>
| 7
|
| 9 Nov <br> 11 Nov
|
|  
|  
* Uncertain systems
* MIMO robust control, Convex optimization
| DP Ch 8 <br> [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf MIMO] <br> [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf CvxOpt1]<br>[http://www.cds.caltech.edu/~sojoudi/MITBoydintro.pdf CvxOpt2]
| [[CDS 212, Homework 7, Fall 2010|HW 7]]
|- valign=top
|- valign=top
|- valign=top
| 8
| 25 Feb <br> 27 Feb <br>
| 16 Nov+ <br> 18 Nov
|  
| rowspan=2 style="border-bottom:3px solid gray;" |
* Stability of nonlinear systems
* Sum-of-squares
| rowspan=2 style="border-bottom:3px solid gray;" | {{FBS}}&nbsp;Ch 4<br>[http://www.cds.caltech.edu/~utopcu/VerInCtrl/lecture-4.pdf SOS]
| rowspan=2 style="border-bottom:3px solid gray;" | [[CDS 212, Homework 8, Fall 2010|HW 8]]
|  
|  
* IPAM: robust optimization
|- valign=top
|- valign=top
| 4 Mar <br> 6 Mar <br>
| style="border-bottom:3px solid gray;" | 9
|  
| style="border-bottom:3px solid gray;" | 23&nbsp;Nov+
|  
| style="border-bottom:3px solid gray;" |
|
* Pablo Parrilo?
|- valign=top
|- valign=top
| 11 Mar <br>  
| 10
| 30 Nov <br> 2 Dec
| Links with nformation theory and statistical mechanics
| rowspan=2 style="border-bottom:3px solid gray;" |
| rowspan=2 style="border-bottom:3px solid gray;" | [[CDS 212, Homework 9, Fall 2010|HW 9]]
|
|
|
* IPAM: applications of optimization
|
|}
|}


Revision as of 03:39, 3 April 2014

CDS 110b: Introduction to Control Theory

Instructors

  • John Doyle, doyle@cds.caltech.edu
  • Lectures: Tu/Th, 2:30-4 314 ANB
  • Office hours: TBD (please e-mail to schedule)

Teaching Assistants

  • Vanessa Jonsson
  • Contact: vjonssons@cds.caltech.edu
  • Office hours: TH, 4-5 pm, Ann 213, and upon request

Course Description

Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. State-space methods, time and frequency domain, stability and stabilization, realization theory. Time-varying and nonlinear models. Uncertainty and robustness.

Announcements

  • 2 Apr 2014: web page creation

Tentative Lecture Schedule

Week Date Trunk Reading Homework Branch
1 28 Sep 
30 Sep 		Norms for signals and systems DFT Ch 1, 2 
DP Ch 3 		HW 1
2 5 Oct+
7 Oct 		Feedback, stability and performance DFT Ch 3
(FBS 9.1-9.3)
(FBS 11.1-11.2) 		HW 2
  • 6 Oct: Mung Chiang (Princeton), An Axiomatic Theory of Fairness
  • 6 Oct: Mung Chiang (Princeton), Can Random Access Be Optimal?
3 12 Oct+
14 Oct+ 		Uncertainty and robustness DFT Ch 4
(FBS 12.1‑12.3) 		HW 3
  • 12 Oct: Raff D'Andrea (ETHZ), Some applications of distributed estimation and control
4 19 Oct
21 Oct+
  • Fundamental limits
  • Realization theory, controllability, observability
 DFT Ch 6
(FBS 11.4, 12.4),
DP Ch 2, 4 		HW 4
5 26 Oct+
28 Oct*
  • Lyapunov equation and stability conditions
  • LMIs
 DP Ch 4
LMIs Ch 2 		HW 5
6 2 Nov*
4 Nov*
  • KYP lemma
  • Model reduction
 DP Ch 4,7
KYP 		HW 6
  • Keith Glover
    • Model reduction
    • Loop shaping
7 9 Nov
11 Nov
  • Uncertain systems
  • MIMO robust control, Convex optimization
 DP Ch 8
MIMO
CvxOpt1
CvxOpt2 		HW 7
8 16 Nov+
18 Nov
  • Stability of nonlinear systems
  • Sum-of-squares
 FBS Ch 4
SOS 		HW 8
  • IPAM: robust optimization
9 23 Nov+
  • Pablo Parrilo?
10 30 Nov
2 Dec 		Links with nformation theory and statistical mechanics HW 9
  • IPAM: applications of optimization

Course Text and References

The main course text is

You may find the following texts useful as well:

Selected Papers

1. M Chiang, SH Low, AR Calderbank, JC. Doyle (2007) Layering As Optimization Decomposition, PROCEEDINGS OF THE IEEE, Volume: 95 Issue: 1 Jan 2007 link

2. Martins NC, Dahleh MA, Doyle JC (2007) Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information, IEEE Trans Auto Control, Feb 2007 link

3. Bowman, Balch, Artaxo, Bond, Carlson, Cochrane, D’Antonio, DeFries, Doyle, et al. Fire in the Earth System, Science, Vol. 324 no. 5926 pp. 481-484 24 April 2009 link

4. Willinger W, Alderson D, and Doyle JC (2009) Mathematics and the internet: A source of enormous confusion and great potential. Notices Amer Math Soc 56:586-599. link

5. Alderson DL, Doyle JC (2010) Contrasting views of complexity and their implications for network-centric infrastructures. IEEE Trans Systems Man Cybernetics—Part A: Syst Humans 40:839-852. link

6. Gayme DF, McKeon BJ, Papachristodoulou P, Bamieh B, Doyle JC (2010) A streamwise constant model of turbulence in plane Couette flow, J Fluid Mech, vol 665, pp 99-119 link

7. H. Sandberg, J. C. Delvenne, J. C. Doyle. (2011) On Lossless Approximations, the Fluctuation-Dissipation Theorem, and Limitations of Measurements, IEEE Trans Auto Control, Feb 2011

8. J Lavaei, A Babakhani, A Hajimiri, and JC Doyle (2011), Solving Large-Scale Hybrid Circuit-Antenna Problems, IEEE Transactions on Circuits and Systems I, vol. 58, no. 2, pp. 374-387, Feb. 2011. link

9. Chandra F, Buzi G, Doyle JC (2011) Glycolytic oscillations and limits on robust efficiency. Science, Vol 333, pp 187-192. link

10. JC Doyle, ME Csete (2011) Architecture, Constraints, and Behavior, P Natl Acad Sci USA, vol. 108, Sup 3 15624-15630 link

11. Gayme DF, McKeon BJ, Bamieh B, Papachristodoulou P, Doyle JC (2011) Amplification and Nonlinear Mechanisms in Plane Couette Flow, Physics of Fluids, V23, Issue 6, 065108 link

12. Page, M. T., D. Alderson, and J. Doyle (2011), The magnitude distribution of earthquakes near Southern California faults, J. Geophys. Res., 116, B12309, doi:10.1029/2010JB007933.

13. Namas R, Zamora R, An, G, Doyle, J et al, (2012) Sepsis: Something old, something new, and a systems view, Journal Of Critical Care Volume: 27 Issue: 3 link

14. Chen, L; Ho, T; Chiang, M, Low S; Doyle J,(2012) Congestion Control for Multicast Flows With Network Coding, IEEE Trans On Information Theory Volume: 58 Issue: 9 Pages: 5908-5921 link

Retrieved from "https://murray.cds.caltech.edu/index.php?title=Cds212_SP14&oldid=17081"