Difference between revisions of "CDS 101/110a, Fall 2008"
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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 2008. __NOTOC__  This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__  
−  <table width=  +  <table width=100%> 
<tr valign=top>  <tr valign=top>  
−  <td  +  <td> 
−  '''  +  '''Instructors''' 
* [[Main PageRichard Murray]], murray@cds.caltech.edu  * [[Main PageRichard Murray]], murray@cds.caltech.edu  
* Doug MacMynowski, macmardg@cds.caltech.edu  * Doug MacMynowski, macmardg@cds.caltech.edu  
* Lectures: MWF, 23 pm, 74 JRG  * Lectures: MWF, 23 pm, 74 JRG  
−  * Office hours: Fridays, 34 pm (by appt)  +  * Office hours (RMM): Fridays, 34 pm (by appt) 
−  * Prior years:  +  * Prior years: [[CDS 101/110a, Fall 2006FA06]], [[CDS 101/110a, Fall 2007FA07]] 
</td><td>  </td><td>  
−  '''Teaching Assistants''' (  +  '''Teaching Assistants''' (cds110tas@cds) 
* Julia Braman, head TA  * Julia Braman, head TA  
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto  * Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto  
−  * Office hours:  +  * Office hours: Fri 45, Sun 45 in 114 STL 
'''Course Ombuds'''  '''Course Ombuds'''  
−  *  +  * Clara O'Farrell and Albert Wu 
</td></tr>  </td></tr>  
</table>  </table>  
== Announcements ==  == Announcements ==  
−  <table  +  <table style="float: right" border=0><tr><td>[[#Old AnnouncementsArchive]]</td></tr></table> 
−  *  +  * 10 Dec 08: HW 8 has been graded; averages are for 101: 17/20, 5 hours; for 110: 34/40, 9.5 hours. 
−  +  * 1 Dec 08: [[CDS 101/110  Robust PerformanceWeek 10  Robust Performance]]  
−  +  ** The CDS 101/110/210 final will be handed out on Friday at 3 pm (after the review)  
+  * 1 Dec 08: HW 7 has been graded; averages are for 101: 18/20; for 110: 25.5/30, 10 hours.  
+  * 26 Nov 08: HW 6 has been graded; averages are for 101: 17/20, 4.5 hours; for 110: 26/30, 9 hours.  
+  * 24 Nov 08: [[CDS 101/110  PID ControlWeek 9  PID control]]  
+  ** {{cds101 handoutshw8fa08.pdfHW #8}} is posted; due 3 Nov (Wed)  
+  * 22 Nov 08: {{cds101 localsoln6fa08.pdfSolutions}} for HW #6 are posted; graded sets will be available on Tue (25 Nov)  
+  = Course Syllabus =  
+  <table style="float: right" border=1 width=20% cellpadding=6>  
+  <tr><td>  
+  <center>'''Contents'''</center>  
+  <ul>  
+  <li> [[#GradingGrading]] </li>  
+  <li> [[#Lectures and RecitationsLectures/Recitations]] </li>  
+  <li> [[#Collaboration PolicyCollaboration Policy]] </li>  
+  <li> [[#SoftwareSoftware]] </li>  
+  <li> [[#Course Text and ReferencesCourse Text]] </li>  
+  <li> [[#Course_ScheduleCourse Schedule]]</li>  
+  </ul>  
+  </td></tr></table>  
CDS 101/110 provides an introduction to feedback and control in physical,  CDS 101/110 provides an introduction to feedback and control in physical,  
biological, engineering, and information sciences. Basic principles of  biological, engineering, and information sciences. Basic principles of  
Line 42:  Line 50:  
managing uncertainty. Key themes throughout the course will include  managing uncertainty. Key themes throughout the course will include  
input/output response, modeling and model reduction, linear versus nonlinear  input/output response, modeling and model reduction, linear versus nonlinear  
−  models, and local versus global behavior.  +  models, and local versus global behavior. The course has several variants: 
+  
+  * CDS 101 is a 6 unit (204) 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 12 unit class (309) 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.  
+  
+  * CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.  
+  
+  === Lectures and Recitations ===  
+  The main course lectures are on MW from 23 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 23 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.  
−  +  The TAs will hold office hours on Fridays from 45 pm and Sundays from 46 pm in 114 Steele  
−  +  (CDS library).  
−  +  <! {\em All students must show up for office hours or  
−  +  recitation at least once in the first three weeks of the course (even  
−  +  if you just stop in and introduce yourself to the TAs at office  
−  +  hours).}  
−  +  >  
−  
=== Grading ===  === Grading ===  
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No collaboration is allowed on the midterm or final exams.  No collaboration is allowed on the midterm or final exams.  
+  
+  === Software ===  
+  Computer exercises will be assigned as part of the regular homeworks. The  
+  exercises are designed to be done in MATLAB, using the Control Toolbox and  
+  SIMULINK. Caltech has a site license for this software and it may be obtained  
+  from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at  
+  <center>  
+  http://www.engin.umich.edu/group/ctm/basic/basic.html  
+  </center>  
=== Course Text and References ===  === Course Text and References ===  
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The primary course text is [[AM:Main Page''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Pagecompanion web site]]. The following additional references may also be useful:  The primary course text is [[AM:Main Page''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Pagecompanion web site]]. The following additional references may also be useful:  
−  * A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://  +  * A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access]. 
In addition to the books above, the textbooks below may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.  In addition to the books above, the textbooks below may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.  
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=== Course Schedule ===  === Course Schedule ===  
−  +  A detailed course schedule is available on the [[CDS 101/110a, Fall 2008  Course Schedulecourse schedule]] page (also shown on the "menu bar" at the top of each course page).  
== Old Announcements ==  == Old Announcements ==  
+  * 21 Aug 08: created course homepage  
+  * 28 Sep 08: [[CDS 101/110  Introduction and ReviewWeek 1  Introduction and Review]]  
+  ** Please take the {{cds101 handoutsbgsurvey.pdfbackground survey}} and turn in at class on Wed  
+  ** Wed lecture is for ''all'' students (including CDS 101  this week only)  
+  ** Fri: MATLAB/SIMULINK sessions from 24p and 46 pm in 328 SFL; bring a laptop with MATLAB installed if you have one  
+  ** {{cds101 handoutshw1fa08.pdfHW #1}} is posted; due 6 Oct  
+  * 6 Oct 08: [[CDS 101/110  Dynamic BehaviorWeek 2  Dynamic Behavior]]  
+  ** [[CDS 101/110a, Fall 2008  Recitation ScheduleRecitations]] begin this week: Fridays, 23 pm (see schedule for locations)  
+  ** {{cds101 handoutshw2fa08.pdfHW #2}} is posted (updated 8 Oct); due 13 Oct  
+  * 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 localsoln1fa08.pdfSolutions for HW #1}} have been posted (only available from Caltech network).  
+  * 13 Oct 08: [[CDS 101/110  Linear SystemsWeek 3  Linear Systems]]  
+  ** {{cds101 handoutshw3fa08.pdfHW #3}} is posted; due 20 Oct  
+  * 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.  
+  ** This week only, the CDS 210 section will be on Thursday (10/23) from 23pm  
+  * 20 Oct 08: [[CDS 101/110  State FeedbackWeek 4  State Feedback]]  
+  ** {{cds101 handoutshw4fa08.pdfHW #4}} is posted; due 27 Oct  
+  * 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.  
+  * 27 Oct 08: [[CDS 101/110  Output FeedbackWeek 5  Output Feedback]]  
+  ** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.  
+  ** CDS 210: {{cds101 handoutshwMfa08.pdfHW #M}} is posted; due 3 Nov  
+  ** CDS 210 students note the additional recitation section scheduled on Mondays from 12. More info on the recitation page.  
+  * 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.  
+  * 3 Nov 08: [[CDS 101/110  Transfer FunctionsWeek 6  Transfer Functions]]  
+  ** {{cds101 handoutshw5fa08.pdfHW #5}} is posted; due 10 Nov  
+  * 10 Nov 08: Midterm is graded and {{cds101 localsolnMTfa08.pdfsolutions}} are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.  
+  * 10 Nov 08: [[CDS 101/110  Loop AnalysisWeek 7  Loop Analysis]]  
+  ** {{cds101 handoutshw6fa08.pdfHW #6}} is posted; due 17 Nov  
+  * 15 Nov 08: HW 5 has been graded and {{cds101 localsoln5fa08.pdfsolutions}} are posted; averages are for 101: 16/20, 4 hours; for 110: 34/40, 11 hours.  
+  * 17 Nov 08: [[CDS 101/110  Loop ShapingWeek 8  Loop Shaping]]  
+  ** {{cds101 handoutshw7fa08.pdfHW #7}} is posted; due 24 Nov  
+  * 21 Nov 08: A revised version of {{cds101 handoutshw7fa08.pdfHW #7}} has been posted that corrects some errors in problem 1 of the CDS 110 problems  
[[Category: Courses]] [[Category: 200809 Courses]]  [[Category: Courses]] [[Category: 200809 Courses]] 
Latest revision as of 03:48, 17 December 2012
CDS 101/110a  Schedule  Recitations  FAQ  AM08 (errata) 
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008.
Instructors

Teaching Assistants (cds110tas@cds)
Course Ombuds

Announcements
Archive 
 10 Dec 08: HW 8 has been graded; averages are for 101: 17/20, 5 hours; for 110: 34/40, 9.5 hours.
 1 Dec 08: Week 10  Robust Performance
 The CDS 101/110/210 final will be handed out on Friday at 3 pm (after the review)
 1 Dec 08: HW 7 has been graded; averages are for 101: 18/20; for 110: 25.5/30, 10 hours.
 26 Nov 08: HW 6 has been graded; averages are for 101: 17/20, 4.5 hours; for 110: 26/30, 9 hours.
 24 Nov 08: Week 9  PID control
 HW #8 is posted; due 3 Nov (Wed)
 22 Nov 08: Solutions for HW #6 are posted; graded sets will be available on Tue (25 Nov)
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. The course has several variants:
 CDS 101 is a 6 unit (204) 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 12 unit class (309) 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.
 CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.
Lectures and Recitations
The main course lectures are on MW from 23 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 23 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.
The TAs will hold office hours on Fridays from 45 pm and Sundays from 46 pm in 114 Steele (CDS library).
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. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. 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 period (29 Oct) and due at the end of the midterm examination period (4 Nov). 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 (5 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.
Software
Computer exercises will be assigned as part of the regular homeworks. The exercises are designed to be done in MATLAB, using the Control Toolbox and SIMULINK. Caltech has a site license for this software and it may be obtained from IMSS (Caltech students only). An online tutorial is available at
Course Text and References
The primary course text is by Åström and Murray (2008). This book is available in the Caltech bookstore and via download from the. 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. They are available in the library (nonreserve), from other students, or you can order them online.
 B. Friedland, Control System Design: An Introduction to StateSpace Methods, McGrawHill, 1986.
 G. F. Franklin, J. D. Powell, and A. EmamiNaeni, Feedback Control of Dynamic Systems, AddisonWesley, 2002.
Course Schedule
A detailed course schedule is available on the course schedule page (also shown on the "menu bar" at the top of each course page).
Old Announcements
 21 Aug 08: created course homepage
 28 Sep 08: Week 1  Introduction and Review
 Please take the background survey and turn in at class on Wed
 Wed lecture is for all students (including CDS 101  this week only)
 Fri: MATLAB/SIMULINK sessions from 24p and 46 pm in 328 SFL; bring a laptop with MATLAB installed if you have one
 HW #1 is posted; due 6 Oct
 6 Oct 08: Week 2  Dynamic Behavior
 Recitations begin this week: Fridays, 23 pm (see schedule for locations)
 HW #2 is posted (updated 8 Oct); due 13 Oct
 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. Solutions for HW #1 have been posted (only available from Caltech network).
 13 Oct 08: Week 3  Linear Systems
 HW #3 is posted; due 20 Oct
 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.
 This week only, the CDS 210 section will be on Thursday (10/23) from 23pm
 20 Oct 08: Week 4  State Feedback
 HW #4 is posted; due 27 Oct
 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.
 27 Oct 08: Week 5  Output Feedback
 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.
 3 Nov 08: Week 6  Transfer Functions
 HW #5 is posted; due 10 Nov
 10 Nov 08: Midterm is graded and solutions are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.
 10 Nov 08: Week 7  Loop Analysis
 HW #6 is posted; due 17 Nov
 15 Nov 08: HW 5 has been graded and solutions are posted; averages are for 101: 16/20, 4 hours; for 110: 34/40, 11 hours.
 17 Nov 08: Week 8  Loop Shaping
 HW #7 is posted; due 24 Nov
 21 Nov 08: A revised version of HW #7 has been posted that corrects some errors in problem 1 of the CDS 110 problems