CDS 110b, Winter 2008 - Course Schedule

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CDS 110b Schedule Project Course Text

This page contains the course schedule for CDS 110b. The bold links for each week take you to a page that contains the a summary of the lectures for that week plus links to all course handouts.

Week Date Topic Reading Homework
1
Two Degree of Freedom Control Design
7 Jan (M) Course overview, two degree of freedom design HW #1 solns
9 Jan (W) Trajectory generation and flatness
11 Jan (F) Project meeting
2
Optimal Control
14 Jan (M) Maximum principle HW #2 solns
16 Jan (W) Applications
18 Jan (F) Project meeting
3
Linear Quadratic Regulators (LQR)
21 Jan (M) Martin Luther King Day (holiday) HW #3solns
23 Jan (W) Linear quadratic optimal control
25 Jan (F) LQR design considerations
4
Receding Horizon Optimal Control
28 Jan (M) Receding horizon control (RHC) HW 4 solns
30 Jan (W) RHC design examples
1 Feb* (F) No class
5
State Estimation
4 Feb* (M) Random Processes Friedland, Ch 10 Midterm Solns
6 Feb (W) Stochastic Systems
8 Feb (F) Course project meeting
6
Stochastic Systems
11 Feb (M) President's Day (holiday) HW #5 solns
13 Feb* (W) Kalman Filtering
15 Feb* (F) Linear Quadratic Estimators
7
Kalman Filters
18 Feb (M) Discrete Time Kalman Filter HW #6 solns
20 Feb (W) Sensor Fusion via Kalman Filtering
22 Feb (F) Course project meeting
8
Sensor Fusion
25 Feb (M) Moving horizon estimation and applications HW 7 solns
27 Feb (W) Midterm exam review
29 Feb (F)
9
Robust Stability
3 Mar (M) HW #8solns
5 Mar (W) Modeling Uncertainty
7 Mar (F) Robust Stability
10
H Infinity Control
10 Mar (M) No class (recitation) Final
12 Mar (W) Networked control for autonomous systems