Difference between revisions of "CDS 212 Fall 2010"
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'''  '''Instructor'''  
* John Doyle, doyle@cds.caltech.edu  * [http://cdsweb1.cds.caltech.edu/~doyle2/wiki/index.php?title=Main_Page John Doyle], doyle@cds.caltech.edu  
* Lectures: Tu/Th, 2:304 pm,  * Lectures: Tu/Th, 2:304 pm, 314 Annenberg  
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'''Teaching Assistants'''  '''Teaching Assistants'''  
* Somayeh Sojoudi,  *[http://www.cds.caltech.edu/~sojoudi Somayeh Sojoudi], sojoudi@cds.caltech.edu  
* Richard Murray, murray@cds.caltech.edu  * Richard Murray, murray@cds.caltech.edu  
}  }  
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=== Course Description ===  === Course Description ===  
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. Statespace methods, time and frequency domain, stability and stabilization, realization theory. Timevarying and nonlinear models. Uncertainty and robustness.  Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. Statespace methods, time and frequency domain, stability and stabilization, realization theory. Timevarying and nonlinear models. Uncertainty and robustness.  
===Announcements ===  
* 16 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/LinearNotes.pdf Slides] for lecture 15 are now posted.  
* 11 Nov 2010: Notes from lecture 14: [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf 1], [http://www.cds.caltech.edu/~sojoudi/MITBoydintro.pdf 2], [http://www.cds.caltech.edu/~sojoudi/MuNotes.pdf 3], [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf 4], [http://www.cds.caltech.edu/~sojoudi/Nov11Overview.pdf 5].  
* 9 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/DetCondUpperBound.pdf Slides] for lecture 13 (PDCh 8) are now posted.  
* 4 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/ModelRed.pdf Slides] form Prof. Keith Glover's Lecture and the [http://www.cds.caltech.edu/~sojoudi/TutorialModelred.pdf tutorial paper] on Hankel norm approximations are now posted.  
* 2 Nov 2010: A reference for lectures 9 and 10: [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf Linear Matrix Inequalities in System and Control Theory, Stephen Boyd.]  
* 7 Oct 2010: [http://www.cds.caltech.edu/~sojoudi/Chap4.pdf Slides] for lecture 4 (DFTCh 4) are now posted.  
* 4 Oct 2010: Office Hours: Wed 45pm, 314 Annenberg  
* 29 Sep 2010: [http://www.cds.caltech.edu/~sojoudi/2.1_BioBodeDetails.pdf Slides] for lecture 1 are now posted.  
=== Textbook ===  === Textbook ===  
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 J. Doyle, B. Francis and A. Tannenbaum, ''Feedback Control Theory'', Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.   J. Doyle, B. Francis and A. Tannenbaum, ''Feedback Control Theory'', Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.  
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 align=right  [   align=right  [DP]  
 F. Paganini   G. Dullerud and F. Paganini, ''A Course in Robust Control Theory'', Springer, 2000.  
}  }  
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=== Lecture Schedule ===  === Lecture Schedule ===  
{ width=100% border=1  { width=100% border=1 cellspacing=0 cellpadding=5  
    
 Week   '''Week'''  
 Date   '''Date'''  
 Trunk   '''Trunk'''  
 Reading   '''Reading'''  
 Homework   '''Homework'''  
 Branch   '''Branch'''  
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 1   1  
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 5 Oct+ <br> 7 Oct   5 Oct+ <br> 7 Oct  
 Feedback, stability and performance   Feedback, stability and performance  
 {{DFT}} Ch 3 <br> {{FBS}} 9.19.3 <br> {{FBS}} 11.111.2   {{DFT}} Ch 3 <br> ({{FBS}} 9.19.3) <br> ({{FBS}} 11.111.2)  
 [[CDS 212, Homework 2, Fall 2010HW 2]]   [[CDS 212, Homework 2, Fall 2010HW 2]]  
    
*  * 6 Oct: Mung Chiang (Princeton), An Axiomatic Theory of Fairness  
*  * 6 Oct: Mung Chiang (Princeton), Can Random Access Be Optimal?  
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 3   3  
 12 Oct+ <br> 14 Oct+   12 Oct+ <br> 14 Oct+  
 Uncertainty and robustness   Uncertainty and robustness  
 {{DFT}} Ch 4 <br> {{FBS}} 12.1‑12.3   {{DFT}} Ch 4 <br> ({{FBS}} 12.1‑12.3)  
 [[CDS 212, Homework 3, Fall 2010HW 3]]   [[CDS 212, Homework 3, Fall 2010HW 3]]  
    
* 12 Oct: Raff D'Andrea (ETHZ), Some applications of distributed estimation and control  * 12 Oct: Raff D'Andrea (ETHZ), Some applications of distributed estimation and control  
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 4   style="borderbottom:3px solid gray;"  4  
 19 Oct <br> 21 Oct+   style="borderbottom:3px solid gray;"  19 Oct <br> 21 Oct+  
 Fundamental limits   style="borderbottom:3px solid gray;"   
 {{DFT}} Ch 6 <br> {{FBS}} 11.4&  *Fundamental limits  
 [[CDS 212, Homework 4, Fall 2010HW 4]]  *Realization theory, controllability, observability  
   style="borderbottom:3px solid gray;"  {{DFT}} Ch 6 <br> ({{FBS}} 11.4, 12.4),<br> DP Ch 2, 4  
 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 4, Fall 2010HW 4]]  
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 5   5  
 26 Oct+ <br> 28 Oct*   26 Oct+ <br> 28 Oct*  
    
* Lyapunov equation and stability conditions  
* LMIs  
 style="borderbottom:3px solid gray;"  DP Ch 4 <br> [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf LMIs] Ch 2  
 [[CDS 212, Homework 5, Fall 2010HW 5]]   [[CDS 212, Homework 5, Fall 2010HW 5]]  
    
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 6   style="borderbottom:3px solid gray;"  6  
 2 Nov*   style="borderbottom:3px solid gray;"  2 Nov* <br> 4 Nov*  
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  * KYP lemma  
 [[CDS 212, Homework 6, Fall 2010HW 6]]  * Model reduction  
   style="borderbottom:3px solid gray;"  DP Ch 4,7 <br> [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V4X3VTSW0Y2&_user=10&_coverDate=06%2F03%2F1996&_rdoc=1&_fmt=high&_orig=search&_origin=search&_sort=d&_docanchor=&view=c&_acct=C000050221&_version=1&_urlVersion=0&_userid=10&md5=7cadd4d3ff3995a6e887e15c1a57b578&searchtype=a KYP]  
 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 6, Fall 2010HW 6]]  
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* Keith Glover  
** Model reduction  
** Loop shaping  
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 7   7  
 9 Nov   9 Nov <br> 11 Nov  
    
* Uncertain systems  
* MIMO robust control, Convex optimization  
 DP Ch 8 <br> [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf MIMO] <br> [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf CvxOpt1]<br>[http://www.cds.caltech.edu/~sojoudi/MITBoydintro.pdf CvxOpt2]  
 [[CDS 212, Homework 7, Fall 2010HW 7]]   [[CDS 212, Homework 7, Fall 2010HW 7]]  
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 8   8  
 16 Nov+ <br> 18 Nov   16 Nov+ <br> 18 Nov  
 rowspan=2  Sumofsquares   rowspan=2 style="borderbottom:3px solid gray;"   
 rowspan=2   * Stability of nonlinear systems  
 rowspan=2  [[CDS 212, Homework 8, Fall 2010HW 8]]  * Sumofsquares  
 rowspan=2 style="borderbottom:3px solid gray;"  {{FBS}} Ch 4<br>[http://www.cds.caltech.edu/~utopcu/VerInCtrl/lecture4.pdf SOS]  
 rowspan=2 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 8, Fall 2010HW 8]]  
  
* IPAM: robust optimization  * IPAM: robust optimization  
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 9   style="borderbottom:3px solid gray;"  9  
 23 Nov+   style="borderbottom:3px solid gray;"  23 Nov+  
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* Pablo Parrilo?  
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 10   10  
 30 Nov <br> 2 Dec   30 Nov <br> 2 Dec  
 Links with nformation theory and statistical mechanics   Links with nformation theory and statistical mechanics  
   rowspan=2 style="borderbottom:3px solid gray;"   
   rowspan=2 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 9, Fall 2010HW 9]]  
    
* IPAM: applications of optimization  * IPAM: applications of optimization  
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=== Grading ===  === Grading ===  
The ﬁnal grade will be based on homework and a ﬁnal exam:  The ﬁnal grade will be based on homework and a ﬁnal exam:  
* Homework (75%)  There will be 9 oneweek problem sets, due in  * Homework (75%)  There will be 9 oneweek problem sets, due each Thursday by 5pm in the TA's mailbox on the third floor of Annenberg. Each student may hand in at most one homework late (no more than 5 days).  
* Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).  * Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).  
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No collaboration is allowed on the ﬁnal exam.  No collaboration is allowed on the ﬁnal exam.  
=== Additional References (Optional)===  
{ width=100% border=1 cellspacing=0 cellpadding=2  
  
 '''Date'''  
 '''Reading'''  
 valign=top  
 28 Sep  
[http://www.cds.caltech.edu/~sojoudi/AldersonDoyletsmcaJuly2010.pdf AldersonDoyletsmca (Paper)],[http://www.cds.caltech.edu/~sojoudi/Glycolysis_Main.pdf Glycolysis (Paper)], [http://www.cds.caltech.edu/~sojoudi/SuppInfo.pdf SuppInfo], [http://www.cds.caltech.edu/~sojoudi/1NetCmplxIntro.pdf 1NetCmplxIntro (Slides)]  
 valign=top  
 5 Oct  
[http://www.cds.caltech.edu/~sojoudi/layering.pdf layering (Slides)]  
 valign=top  
 19 Oct  
[http://www.cds.caltech.edu/~sojoudi/BioMetabModeling.pdf BioMetabModeling (Slides)],[http://www.cds.caltech.edu/~sojoudi/FinalBodyCaptions.pdf Glycolysis (Paper)],[http://www.cds.caltech.edu/~sojoudi/Figures.pdf Figures],[http://www.cds.caltech.edu/~sojoudi/Chap6.pdf Chap6 (Slides)]  
}  
== Old Announcements ==  == Old Announcements ==  
[[Category:Courses]]  [[Category:Courses]] 
Latest revision as of 03:46, 3 April 2014
Feedback Control Theory  
Instructor

Teaching Assistants

Course Description
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. Statespace methods, time and frequency domain, stability and stabilization, realization theory. Timevarying and nonlinear models. Uncertainty and robustness.
Announcements
 16 Nov 2010: Slides for lecture 15 are now posted.
 11 Nov 2010: Notes from lecture 14: 1, 2, 3, 4, 5.
 9 Nov 2010: Slides for lecture 13 (PDCh 8) are now posted.
 4 Nov 2010: Slides form Prof. Keith Glover's Lecture and the tutorial paper on Hankel norm approximations are now posted.
 2 Nov 2010: A reference for lectures 9 and 10: Linear Matrix Inequalities in System and Control Theory, Stephen Boyd.
 7 Oct 2010: Slides for lecture 4 (DFTCh 4) are now posted.
 4 Oct 2010: Office Hours: Wed 45pm, 314 Annenberg
 29 Sep 2010: Slides for lecture 1 are now posted.
Textbook
The two primary texts for the course (available via the online bookstore) are
[DFT]  J. Doyle, B. Francis and A. Tannenbaum, Feedback Control Theory, Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html. 
[DP]  G. Dullerud and F. Paganini, A Course in Robust Control Theory, Springer, 2000. 
The following additional texts may be useful for some students:
[FBS]  K. J. Astrom and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Available online at http://www.cds.caltech.edu/~murray/amwiki. 
Lecture Schedule
Week  Date  Trunk  Reading  Homework  Branch 
1  28 Sep 30 Sep 
Norms for signals and systems  DFT Ch 1, 2 DP Ch 3 
HW 1  
2  5 Oct+ 7 Oct 
Feedback, stability and performance  DFT Ch 3 (FBS 9.19.3) (FBS 11.111.2) 
HW 2 

3  12 Oct+ 14 Oct+ 
Uncertainty and robustness  DFT Ch 4 (FBS 12.1‑12.3) 
HW 3 

4  19 Oct 21 Oct+ 

DFT Ch 6 (FBS 11.4, 12.4), DP Ch 2, 4 
HW 4  
5  26 Oct+ 28 Oct* 

DP Ch 4 LMIs Ch 2 
HW 5  
6  2 Nov* 4 Nov* 

DP Ch 4,7 KYP 
HW 6 

7  9 Nov 11 Nov 

DP Ch 8 MIMO CvxOpt1 CvxOpt2 
HW 7  
8  16 Nov+ 18 Nov 

FBS Ch 4 SOS 
HW 8 

9  23 Nov+ 
 
10  30 Nov 2 Dec 
Links with nformation theory and statistical mechanics  HW 9 

Grading
The ﬁnal grade will be based on homework and a ﬁnal exam:
 Homework (75%)  There will be 9 oneweek problem sets, due each Thursday by 5pm in the TA's mailbox on the third floor of Annenberg. Each student may hand in at most one homework late (no more than 5 days).
 Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).
The lowest homework score you receive will be dropped in computing your homework average. In addition, if your score on the ﬁnal is higher than the weighted average of your homework and ﬁnal, your ﬁnal will be used to determine your course grade.
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. Use of solutions from previous years in the course is not allowed. All solutions that are handed should reﬂect your understanding of the subject matter at the time of writing.
No collaboration is allowed on the ﬁnal exam.
Additional References (Optional)
Date  Reading 
28 Sep  AldersonDoyletsmca (Paper),Glycolysis (Paper), SuppInfo, 1NetCmplxIntro (Slides) 
5 Oct  layering (Slides) 
19 Oct  BioMetabModeling (Slides),Glycolysis (Paper),Figures,Chap6 (Slides) 