CDS 110b, Winter 2006

Contents 1 Grading 2 Collaboration Policy 3 Course Text and References 4 Course Schedule

This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2006.

Course Desciption and Goals: CDS 110b focuses on intermediate topics in control theory, including H_\infty control theory for robust performance, optimal control methods, and state estimation using Kalman filters. 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 selected homework problems. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.

Instructor Richard Murray, murray@cds.caltech.edu

Teaching Assistants Jeremy Gillula, jeremy@caltech.edu James Martin, duck@caltech.edu Shaunak Sen, shaunak@cds.caltech.edu

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.
  

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, Preprint, 2006. Available online.
• B. Friedland, Control System Design: An Introduction to State-Space Methods, Dover, 2004. Available in the Caltech bookstore.
• J. Doyle, B. Francis, A. Tannenbaum, Feedback Control Theory, Macmillan, 1992. Available online.

You may find the following texts useful as well:

• 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.

Course Schedule

The course is currently scheduled for MW 1:30-3:00 pm in 104 Watson (course scheduling page).

Week	Date	Topic	Reading	Homework
1	4 Jan (W)	CDS 110b: Course Overview	AM05 Ch 1, Section 11.1
	6 Jan (F)	Project Overview (optional)
2	9 Jan (M)*	No class (Mon, 9 Jan)
	11 Jan (W)	Robust Stability	AM05 Sec 11.2, DFT Ch 1-3
	13 Jan (F)	CDS 110b: Control Implementation (optional)	AM05 Ch 12
3	16 Jan (M)	No class (Institute holiday)
	18 Jan (W)	Robust Stability	AM05 Sec 11.2, DFT Ch 4
	20 Jan (F)	CDS 110b: Control Implementation (optional)
4	23 Jan (M)	Robust Performance	AM05 Sec 11.3, DFT Ch 4
	25 Jan (W)	Design Constraints	AM05 Sec 11.4, DFT Ch 6
5	30 Jan (M)	Loop Shaping, Revisited	DFT Ch 7	Midterm exam (due 6 Feb)
	1 Feb (W)	Design Example	AM05 Sec 11.5
	2 Feb (F)	Midterm review (optional)
6	6 Feb (M)	Optimization-Based Control
	8 Feb (W)	Optimal Control
7	13 Feb (M)	Linear Quadratic Regulators	Friedland, Ch 9
	15 Feb (W)	Receding Horizon Control
8	20 Feb (M)	No class (Institute holiday)
	22 Feb (W)	Observability and Estimators	AM05 Ch 6
9	27 Feb (M)	Introduction to Random Processes	Friedland, Ch 10
	1 Mar (W)	Linear Quadratic Estimators (LQE)	Friedland, Ch 11
10	6 Mar (M)	Kalman Filtering	Friedland, Ch 11	Final exam (due 17 Mar)
	8 Mar (W)	Extended Kalman Filters
	10 Mar	Final review (optional)