Difference between revisions of "CDS 212 Fall 2010"

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{| width=100% border=1
{{cds212-fa10 week|Week|Lec 1|Lec 2|Topic|text|Reading|text|Homework}}
{{cds212-fa10 week| 1| 6 Jan| N/A|Course introduction and scheduling|text|[http://www.cds.caltech.edu/~murray/papers/1994f_mur94-nas.html Murray (1994)]|text|None}}
| Week
{{cds212-fa10 week| 2| 8 Jan|13 Jan|Point set topology|mra|1|homework|1}}
| Date
{{cds212-fa10 week| 3|15 Jan|20 Jan|Manifolds, maps, tangent spaces|mra|2.3-2.4, 3.1-3.3| homework |2}}
| Trunk
{{cds212-fa10 week| 4|22 Jan|27 Jan|Immersions, submersions, inverse function theorem|mra|2.5, 3.5| homework |3}}
| Reading
{{cds212-fa10 week| 5|29 Jan|3 Feb|Tangent bundle, vector fields, flows|dft|3.3, 4.1-4.2| homework |4}}
| Homework
{{cds212-fa10 week| 6|5 Feb|10 Feb|Distributions, Frobenius theorem|mra|4.2, 4.4| homework |5}}
| Branch
{{cds212-fa10 week| 7|12 Feb|17 Feb|Lie groups and Lie algebras|mra|5.1-5.2| homework |6}}
{{cds212-fa10 week| 8|19 Feb|24 Feb|Applications of Lie groups|mra|5.3 + [[http:www.cds.caltech.edu/~murray/papers/1994h_km94-cds.html|KM94]]| homework |7}}
{{cds212-fa10 week| 9|26 Feb|3 Mar|Differential forms|mra|6.1-6.2, 7.1-7.3| homework |8}}
{{cds212-fa10 week|10|5 Mar|10 Mar|Integration on manifolds, exterior derivative|mra|7.4-7.5,8.1-8.3| homework |9}}
{{cds212-fa10 week|10|5 Mar|10 Mar|Integration on manifolds, exterior derivative|mra|7.4-7.5,8.1-8.3| homework |9}}

Revision as of 16:28, 6 September 2010

Feedback Control Theory


  • John Doyle, doyle@cds.caltech.edu
  • Lectures: Tu/Th, 2:30-4 pm, 214 Steele

Teaching Assistants

  • Somayeh Sojoudi, soujoudi@cds.caltech.edu
  • Richard Murray, murray@cds.caltech.edu

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. State-space methods, time and frequency domain, stability and stabilization, realization theory. Time-varying and nonlinear models. Uncertainty and robustness.


Lecture Schedule

Week Date Trunk Reading Homework Branch

Template:Cds212-fa10 week


The final grade will be based on homework and a final exam:

  • Homework (75%) - There will be 9 one-week problem sets, due in class one week after they are assigned. Late homework will not be accepted without prior permission from the instructor.
  • 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 4-8N 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.

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