CDS 101/110a, Fall 2006

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


  • Richard Murray,
  • Lectures: MWF, 2-3 pm, 74 Jorgenson
  • Office hours: Fridays, 3-4 pm, 109 Steele

Teaching Assistants (cds110-tas@cds)


  • 27 Aug 06: web page created

Course Syllabus


Collaboration Policy

Course Text and References

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.

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