CDS 101/110a, Fall 2006

WARNING: This page is for a previous year. See current course homepage to find most recent page available.

CDS 101/110a

Schedule

Recitations

FAQ

AM06 (errata)

Contents Grading Collaboration Policy Course Texts Course Schedule Course Project

This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2006.

Instructor Richard Murray, murray@cds.caltech.edu Lectures: MWF, 2-3 pm, 74 JRG Office hours: Fri, 3-4 pm (110 STL) & Sun, 6-8 pm (114 STL), TA Schedule Prior years: FA03, FA04,

Teaching Assistants (cds110-tas@cds) Mary Dunlop (head TA) John Carson, Elisa Franco, Laura Lindzey, Ling Shi Recitation schedule

Announcements

Archive

• 27 Nov 06: CDS 101/110, Week 10 - Robust Performance
• 20 Nov 06: CDS 101/110, Week 9 - Loop Shaping
• 13 Nov 06: CDS 101/110, Week 8 - PID Control
• 13 Nov 06: HW #5 has been graded. CDS 110 average: 36.5 +/- 3.5 in 9.6 +/- 2.3 hours. CDS 101 and project average: 18.5 +/- 2.6 in 5.5 +/- 2.0 hours.
• 6 Nov 06: CDS 101/110, Week 7 - Loop Analysis
• 5 Nov 06: Midterms are graded and are in the homework return box. The CDS 110 average was 44.4 +/- 6.0 (out of 50) and CDS 101 average was 30.3 +/- 4.2 (out of 35).
• 2 Nov 06: A revised version of HW #5 is now available.

Course Syllabus

CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. Basic principles of feedback and its use as a tool for altering the dynamics of systems and managing uncertainty. Key themes throughout the course will include input/output response, modeling and model reduction, linear versus nonlinear models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required.

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 due on Mondays by 5 pm to the box outside of 109 Steele. Late homework will not be accepted without prior permission from the instructor. MATLAB code and Simulink diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

• Midterm exam (20%): A midterm exam will be handed out at the beginning of midterms week (25 Oct) and due at the end of the midterm examination period (31 Oct). The midterm exam will be open book and computers will be allowed (though not required).

• Final exam (30%): The final exam will be handed out on the last day of class (1 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own 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 (you can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

Course Text and References

The primary course text is Feedback Systems: An Introduction for Scientists and Engineers by Åström and Murray (2006). This book is available in the Caltech bookstore and via download from the companion web site. The following additional references may also be useful:

• A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.

In addition to the books above, the textbooks below may also be useful. Most of these books have been reserved for the course in the Sherman Fairchild Library. They can also be ordered from online booksellers.

• B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, 1986.
• 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.
• B. C. Kuo, Automatic Control Systems, Prentice-Hall, 1995.
• S. Strogatz, Nonlinear dynamics and Chaos: with applications in physics, biology, chemistry, and engineering, Addison-Wesley, 1994.

Course Schedule

The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the course schedule page.

Course Project

Students interested in the implementation of control systems may opt to do a course project in lieu of the midterm and final exams. The course project will involve implementing control algorithms on a working application. For 2006, the experiment will be control of an autonomous road vehicle, Alice.

The following work must be performed as part of the class project:

• Midterm report: 20%
  By midterm, all students should implement and test a state space controller on the experimental system. A report describing the control design and experimental results is due no later than 5 pm on the last day of the midterm examination period. The report should include a description of the (nonlinear) model for the system, an analysis and design of a control law based on the linearization of that model, and a comparison between simulation and experimental results on the system. For 2006, students will implement a longitudinal control law that controls the velocity of the vehicle.

• Final report: 30%
  By the end of the course, students should longitudinal and lateral controller on the experimental system. A presentation and report describing the control design and experimental results will be given in lieu of the final. The final presentation will be made after the end of classes and the report is due no later than 5 pm on the last day of finals. The report should build on the report submitted at midterms and should include a design, analysis and demonstration of the full system. A dynamic compensator (eg, PID) must be part of the design.

A special set of lectures on control implementation will be given for students interested in pursuing the course project.

Old Announcements

• 30 Oct 06: HW #4 has been graded. CDS 110 average score was 34.3 +/- 5.2 in 9.3 +/- 2.7 hours. CDS 101 average score was 18.7 +/- 1.0 in 5.5 +/- 2.7 hours.
• 30 Oct 06: CDS 101/110, Week 6 - Transfer Functions
• 27 Oct 06: HW #4 solution is online. Graded problem sets will be returned on Monday.
• 24 Oct 06: A course project web page has been created.
• 23 Oct 06: HW #3 solution is online. CDS 110 average score was 34.1 +/- 5.6 in 10.9 +/- 3.6 hours. CDS 101 average score was 13.4 +/- 5.5 in 5.7 +/- 1.0 hours.
• 23 Oct 06: CDS 101/110, Week 5 - State Feedback
• 16 Oct 06: HW #2 solution is online. CDS 110 average score was 30.5 +/- 7.7 in 12.6 +/- 3.7 hours. CDS 101 average score was 16.5 +/- 5.2 in 7.2 +/- 3.5 hours.
• 16 Oct 06: Homework #4 is now posted.
• 16 Oct 06: CDS 101/110, Week 4 - Linear Systems
• 11 Oct 06: Matlab/Simulink tutorial on Thursday Oct 12 from 4-5 pm in 306 Thomas
• 9 Oct 06: HW #1 solution is online.
• 9 Oct 06: CDS 101/110, Week 3 - Dynamic Behavior
• 6 Oct 06: HW #1 is graded; solutions will be posted this weekend. CDS 110 average score was 33.7 +/- 4.5 in 6.5 +/- 2.3 hours. CDS 101 average score was 19.4 +/- 0.5 in 3 hours.
• 2 Oct 06: CDS 101/110, Week 2 - System Modeling
• 25 Sep 06: CDS 101/110, Week 1 - Introduction to Feedback and Control
• 27 Aug 06: web page created