Difference between revisions of "CDS 110b, Winter 2006"

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<tr valign=top>
 
<tr valign=top>
 
<td> Week <td> Date <td> Topic <td> Reading <td> Homework
 
<td> Week <td> Date <td> Topic <td> Reading <td> Homework
 +
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 
===== 1 =====
 
===== 1 =====
<td>4 Jan (W) <td> [[CDS 110b: Course Overview]] <td> {{am05|Ch_1_-_Introduction|Ch 1}}, [http://www.cds.caltech.edu/~murray/books/AM05/wiki/index.php/Chapter_11_-_Robust_Performance Section 11.1]<td rowspan=5>
+
<td>4 Jan (W) <td> [[CDS 110b: Course Overview|Course Overview]] + [[CDS 110b: Optimal Control|Optimal Control]] <td>Handout <td rowspan=3> [[CDS 110b: Homework 1|HW1]]
<tr><td>6 Jan (F) <td> Project Overview (optional) <td> <td>
+
<tr><td>6 Jan (F) <td> Course Project overview (optional) <td>
 +
 
 
<tr><td rowspan=3 valign=middle>
 
<tr><td rowspan=3 valign=middle>
 
===== 2 =====
 
===== 2 =====
<td>  9 Jan (M)* <td> No class (Mon, 9 Jan) <td>
+
<td>  9 Jan (M)* <td> No class <td>  
<tr><td> 11 Jan (W) <td> [[CDS 110b: Robust Performance|Robust Stability]] <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.2}}, DFT Ch 1-3
+
<tr><td> 11 Jan (W) <td> [[CDS 110b: Linear Quadratic Regulators|Linear Quadratic Regulators]] <td>Friedland, Ch 9 <td rowspan=3>[[CDS 110b: Homework 2|HW 2]]
<tr><td> 13 Jan (F) <td> [[CDS 110b: Control Implementation]] (optional) <td> {{am05|Chapter_12_-Implementation|Ch 12}}  
+
<tr><td> 13 Jan (F) <td> [[CDS 110b: Control Implementation|Control Implementation]] (optional) <td> {{am05|Chapter_12_-Implementation|Ch 12}}  
 +
 
 
<tr><td rowspan=3 valign=middle>
 
<tr><td rowspan=3 valign=middle>
 
===== 3 =====
 
===== 3 =====
<td> 16 Jan (M) <td> No class (Institute holiday) <td> <td rowspan=3>
+
<td> 16 Jan (M) <td> No class (Institute holiday) <td>  
<tr><td> 18 Jan (W) <td> [[CDS 110b: Robust Performance|Robust Stability]] <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.2}}, DFT Ch 4
+
<tr><td> 18 Jan (W) <td> [[CDS 110b: Receding Horizon Control|Receding Horizon Control]] <td> Handout <td rowspan=3>[[CDS 110b: Homework 3|HW 3]]
<tr><td> 20 Jan (F) <td> [[CDS 110b: Control Implementation]] (optional) <td>
+
<tr><td> 20 Jan (F) <td> [[CDS 110b: Control Implementation|Control Implementation]] (optional) <td>
 +
 
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 
===== 4 =====
 
===== 4 =====
<td> 23 Jan (M) <td> [[CDS 110b: Robust Performance|Robust Performance]] <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.3}}, DFT Ch 4 <td rowspan=2>
+
<td> 23 Jan (M) <td> Observability and Estimators<td> {{am05|Chapter_6_-_Output_Feedback|Ch 6}}  
<tr><td> 25 Jan (W) <td> [[CDS 110b: Robust Performance|Design Constraints]] <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.4}}, DFT Ch 6
+
<tr><td> 25 Jan (W) <td> Introduction to Random Processes <td> Friedland, Ch 10 <td rowspan=2> [[CDS 110b: Homework 4|HW 4]]
 +
 
 
<tr><td rowspan=3 valign=middle>
 
<tr><td rowspan=3 valign=middle>
 
 
===== 5 =====
 
===== 5 =====
<td> 30 Jan (M) <td> [[CDS 110b: Robust Performance|Loop Shaping, Revisited]]  <td> DFT Ch 7<td rowspan=3> Midterm exam (due 6 Feb)
+
<td> 30 Jan (M) <td> Linear Quadratic Estimators (LQE) <td rowspan=2> Friedland, Ch 11
<tr><td> 1 Feb (W) <td> [[CDS 110b: Robust Performance|Design Example]]  <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.5}}
+
<tr><td> 1 Feb (W) <td> Kalman Filtering <td rowspan=2> Midterm (due 6 Feb)
 
<tr><td> 2 Feb (F) <td> Midterm review (optional) <td>
 
<tr><td> 2 Feb (F) <td> Midterm review (optional) <td>
 +
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 
===== 6 =====
 
===== 6 =====
<td> 6 Feb (M) <td> Optimization-Based Control <td><td rowspan=2>  
+
<td> 6 Feb (M) <td> [[CDS 110b: Introduction to Robust Control|Intro to Robust Control]] <td rowspan=2> DFT Ch 1-3, {{am05|Chapter_11_-_Robust_Performance|Sec 11.1}} <td rowspan=2> [[CDS 110b: Homework 5|HW 5]]
<tr><td>8 Feb (W) <td> Optimal Control <td>
+
<tr><td>8 Feb (W) <td> [[CDS 110b:Norms of Signals and Systems|Norms of Signals and Systems]]
 +
 
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 
===== 7 =====
 
===== 7 =====
<td> 13 Feb (M) <td> Linear Quadratic Regulators <td> Friedland, Ch 9 <td rowspan=2>
+
<td> 13 Feb (M) <td> [[CDS 110b: Uncertainty Modeling|Uncertainty Modeling]] <td> DFT 4.1, {{am05|Chapter_11_-_Robust_Performance|Sec 11.2}} <td rowspan=2>[[CDS 110b: Homework 6|HW 6]]
<tr><td> 15 Feb (W) <td> Receding Horizon Control <td>
+
<tr><td> 15 Feb (W) <td> [[CDS 110b: Robust Stability|Robust Stability]] <td> DFT 4.2, {{am05|Chapter_11_-_Robust_Performance|Sec 11.2}}
 +
 
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 +
===== 8 =====
 +
<td> 20 Feb (M) <td> No class (Institute holiday) <td> <td rowspan=2> [[CDS 110b: Homework 7|HW 7]]
 +
<tr><td> 22 Feb (W) <td> [[CDS 110b: Robust Performance|Robust Performance]] <td> DFT 4.3, {{am05|Chapter_11_-_Robust_Performance|Sec 11.3}}
  
===== 8 =====
 
<td> 20 Feb (M) <td> No class (Institute holiday) <td> <td rowspan=2>
 
<tr><td> 22 Feb (W) <td> Observability and Estimators<td>  {{am05|Chapter_6_-_Output_Feedback|Ch 6}}
 
 
<tr><td rowspan=2 valign=middle>
 
<tr><td rowspan=2 valign=middle>
 
===== 9 =====
 
===== 9 =====
<td> 27 Feb (M) <td> Introduction to Random Processes <td> Friedland, Ch 10 <td rowspan=2>
+
<td> 27 Feb (M) <td rowspan=2> [[CDS 110b: Design Constraints|Design Constraints]] <td rowspan=2> DFT, Ch 6 {{am05|Chapter_11_-_Robust_Performance|Sec 11.4}}  <td rowspan=2>[[CDS 110b: Homework 8|HW 8]]
<tr><td> 1 Mar (W) <td> Linear Quadratic Estimators (LQE) <td> Friedland, Ch 11
+
<tr><td> 1 Mar (W)  
 +
 
 
<tr><td rowspan=3 valign=middle>
 
<tr><td rowspan=3 valign=middle>
 
===== 10 =====
 
===== 10 =====
<td> 6 Mar (M) <td> Kalman Filtering<td> Friedland, Ch 11 <td rowspan=3> Final exam (due 17 Mar)
+
<td> 6 Mar (M) <td rowspan=2> [[CDS 110b: Design Example|Design Example]] <td rowspan=2> {{am05|Chapter_11_-_Robust_Performance|Sec 11.5}} <td rowspan=3> Final (due 17 Mar)  
<tr><td> 8 Mar (W) <td> Extended Kalman Filters <td>
+
<tr><td> 8 Mar (W)  
 
<tr><td> 10 Mar <td> Final review (optional) <td>
 
<tr><td> 10 Mar <td> Final review (optional) <td>
 
</table>
 
</table>
  
 
=== Course Project ===
 
=== Course Project ===

Revision as of 17:41, 1 January 2006

Contents

1 Grading
2 Collaboration Policy
3 Course Text and References
4 Course Schedule
5 Course Project

This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2006.

Course Desciption and Goals: CDS 110b focuses on intermediate topics in control theory, including H_\infty control theory for robust performance, optimal control methods, and state estimation using Kalman filters. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of selected homework problems. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.

Instructor

Teaching Assistants

  • Jeremy Gillula, jeremy@caltech.edu
  • James Martin, duck@caltech.edu
  • Shaunak Sen, shaunak@cds.caltech.edu

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 will generally be due one week later at 5 pm to the box outside of 109 Steele. Late homework will not be accepted without prior permission from the instructor.
  • Midterm: 20%
    A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.
  • Final: 30%
    The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your 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.

No collaboration is allowed on the midterm of final exams.

Course Text and References

The recommended course texts are:

  • K. J. Åström and R. M. Murray, Design and Analysis of Feedback Systems, Preprint, 2006. Available online.
  • B. Friedland, Control System Design: An Introduction to State-Space Methods, Dover, 2004. Available in the Caltech bookstore.
  • J. Doyle, B. Francis, A. Tannenbaum, Feedback Control Theory, Macmillan, 1992. Available online.

You may find the following texts useful as well:

  • 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.

Course Schedule

The course is currently scheduled for MW 1:30-3:00 pm in 104 Watson (course scheduling page).

Week Date Topic Reading Homework
1
4 Jan (W) Course Overview + Optimal Control Handout HW1
6 Jan (F) Course Project overview (optional)
2
9 Jan (M)* No class
11 Jan (W) Linear Quadratic Regulators Friedland, Ch 9 HW 2
13 Jan (F) Control Implementation (optional) AM05 Ch 12
3
16 Jan (M) No class (Institute holiday)
18 Jan (W) Receding Horizon Control Handout HW 3
20 Jan (F) Control Implementation (optional)
4
23 Jan (M) Observability and Estimators AM05 Ch 6
25 Jan (W) Introduction to Random Processes Friedland, Ch 10 HW 4
5
30 Jan (M) Linear Quadratic Estimators (LQE) Friedland, Ch 11
1 Feb (W) Kalman Filtering Midterm (due 6 Feb)
2 Feb (F) Midterm review (optional)
6
6 Feb (M) Intro to Robust Control DFT Ch 1-3, AM05 Sec 11.1 HW 5
8 Feb (W) Norms of Signals and Systems
7
13 Feb (M) Uncertainty Modeling DFT 4.1, AM05 Sec 11.2 HW 6
15 Feb (W) Robust Stability DFT 4.2, AM05 Sec 11.2
8
20 Feb (M) No class (Institute holiday) HW 7
22 Feb (W) Robust Performance DFT 4.3, AM05 Sec 11.3
9
27 Feb (M) Design Constraints DFT, Ch 6 AM05 Sec 11.4 HW 8
1 Mar (W)
10
6 Mar (M) Design Example AM05 Sec 11.5 Final (due 17 Mar)
8 Mar (W)
10 Mar Final review (optional)

Course Project