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[edit]
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[edit]
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)[edit]
21 Jan (M) Martin Luther King Day (holiday) HW #3
solns
23 Jan (W) Linear quadratic optimal control 2.4
25 Jan (F) LQR design considerations 2.5
4
Receding Horizon Control[edit]
28 Jan (M) Receding horizon control (RHC) 3.1 3.1, 3.2, 3.3
solns
30 Jan (W) RHC design examples 3.2-3.4
1 Feb* (F) No class
5
State Estimation[edit]
4 Feb* (M) No class Midterm
solns
6 Feb (W) Midterm review/Project meeting
8 Feb (F) Observability and state estimation , 7.1-7.3
6
Stochastic Systems[edit]
11 Feb (M) Random processes 4.1-4.3 HW #5
solns
13 Feb (W) Linear stochastic systems 4.4
15 Feb (F) Frequency domain interpretation 4.5
7
Kalman Filters[edit]
18 Feb (M) President's Day (holiday) HW #6
solns
20 Feb (W) Linear quadratic estimators 5.1
22 Feb (F) Applications and extensions 5.2, 5.4
8
Sensor Fusion[edit]
25 Feb (M) Discrete-time Kalman filter and sensor fusion 6.1 HW 7
solns
27 Feb (W) Applications and extension of Kalman filtering 6.2
29 Feb (F) Project meeting
9
Robust Performance[edit]
3 Mar (M) Robust stability , 12.1-12.2 HW #8
solns
5 Mar (W) Robust performance , 12.3-12.4
7 Mar (F) Project meeting
10
H Infinity Control[edit]
10 Mar (M) H infinity control design Final
12 Mar (W) Final exam review