Difference between revisions of "CDS 212 Fall 2010"

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===Announcements ===
===Announcements ===
* 11 Nov 2010: Notes from lecture 14: [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf 1], [http://www.cds.caltech.edu/~sojoudi/MITBoydintro 2], [http://www.cds.caltech.edu/~sojoudi/MuNotes.pdf 3],[http://www.cds.caltech.edu/~sojoudi/Nov11Overview.pdf 4], [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf 5].
* 9  Nov 2010: [http://www.cds.caltech.edu/~sojoudi/DetCondUpperBound.pdf Slides] for lecture 13 (PD-Ch 8) are now posted.  
* 9  Nov 2010: [http://www.cds.caltech.edu/~sojoudi/DetCondUpperBound.pdf Slides] for lecture 13 (PD-Ch 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/Tutorial-Modelred.pdf tutorial paper] on Hankel norm approximations 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/Tutorial-Modelred.pdf tutorial paper] on Hankel norm approximations are now posted.

Revision as of 22:32, 12 November 2010

Feedback Control Theory


  • John Doyle, doyle@cds.caltech.edu
  • Lectures: Tu/Th, 2:30-4 pm, 314 Annenberg

Teaching Assistants

  • Somayeh Sojoudi, sojoudi@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.



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.
 [PD]  F. Paganini and G. Dullerud, 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 9.1-9.3)
(FBS 11.1-11.2)
HW 2
  • 6 Oct: Mung Chiang (Princeton), An Axiomatic Theory of Fairness
  • 6 Oct: Mung Chiang (Princeton), Can Random Access Be Optimal?
3 12 Oct+
14 Oct+
Uncertainty and robustness DFT Ch 4
(FBS 12.1‑12.3)
HW 3
  • 12 Oct: Raff D'Andrea (ETHZ), Some applications of distributed estimation and control
4 19 Oct
21 Oct+
Fundamental limits DFT Ch 6
(FBS 11.4, 12.4)
HW 4
5 26 Oct+
28 Oct*
Stability in state space
  • Realization theory, controllability, observability
  • Lyapunov equation and stability conditions
PD, Ch 2, 4, 5 HW 5
6 2 Nov*
4 Nov*
Model reduction, LMIs
  • Balanced realizations
  • KYP lemma
HW 6
  • Keith Glover
    • Model reduction
    • Loop shaping
7 9 Nov
11 Nov
Nonlinear systems
  • Stability of nonlinear systems
  • L2-gain for nonlinear systems
FBS, Ch 4 HW 7
8 16 Nov+
18 Nov
  • Semi-algebraic sets
  • Semidefinite programming
  • Sum-of-squares
HW 8
  • IPAM: robust optimization
9 23 Nov+
  • Pablo Parrilo?
10 30 Nov
2 Dec
Links with nformation theory and statistical mechanics
  • IPAM: applications of optimization


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

  • Homework (75%) - There will be 9 one-week 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 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.

Additional References (Optional)

Date Reading
28 Sep  AldersonDoyle-tsmca (Paper),Glycolysis (Paper), SuppInfo, 1NetCmplxIntro (Slides)
5 Oct  layering (Slides)
19 Oct  BioMetabModeling (Slides),Glycolysis (Paper),Figures,Chap6 (Slides)

Old Announcements