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, tracking | 1.1-1.2 | 1.2, 1.3, 1.4, 1.5 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 | 2.1-2.2 | 2.3, 2.4a-d, 2.6 solns | |
| 16 Jan (W) | Applications | 2.3 | ||
| 18 Jan (F) | Project meeting | |||
| 3 |
Linear Quadratic Regulators (LQR) | |||
| 21 Jan (M) | Martin Luther King Day (holiday) | HW #3 solns | ||
| 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 | |||
