CDS 110b, Winter 2008 - Course Schedule

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, tracking	1.1-1.2	HW #1 solns
	9 Jan (W)	Trajectory generation and flatness	1.3
	11 Jan (F)	Implementation + course project discussion
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)	Observability and state estimation		Midterm Solns
	6 Feb (W)	Observer design considerations
	8 Feb (F)	Midterm review/Project meeting
6	Stochastic Systems
	11 Feb (M)	Random processes		HW #5 solns
	13 Feb (W)	Stochastic systems
	15 Feb (F)	Kalman filtering
7	Kalman Filters
	18 Feb (M)	President's Day (holiday)		HW #6 solns
	20 Feb (W)	Linear quadratic estimators
	22 Feb (F)	Discrete time Kalman filter
8	Sensor Fusion
	25 Feb (M)	Sensor fusion via kalman filtering		HW 7 solns
	27 Feb (W)	Information form of the Kalman filter
	29 Feb (F)	Particle filters
9	Robust Performance
	3 Mar (M)	Modeling uncertainty		HW #8solns
	5 Mar (W)	Robust stability and performance
	7 Mar (F)	Project meeting
10	H Infinity Control
	10 Mar (M)	H infinity control design		Final
	12 Mar (W)	Final exam review