Cds212 SP14

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CDS 110b: Introduction to Control Theory


  • John Doyle,
  • Lectures: Tu/Th, 2:30-4 314 ANB
  • Office hours: TBD (please e-mail to schedule)

Teaching Assistants

  • Vanessa Jonsson
  • Contact:
  • Office hours: TH, 4-5 pm, Ann 213, and upon request

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.


  • 2 Apr 2014: web page creation

Tentative Lecture Schedule

Week Date Topic Reading Homework Talks
1 1 Apr
3 Apr
Course overview, Norms for signals and systems DFT Ch 1, 2 
DP Ch 3
<! -- HW 1 -->
2 8 Apr
10 Apr
Norms for signals and systems <! --HW 2 -->
3 15 Apr
17 Apr
Hinf DFT Ch 4
(FBS 12.1‑12.3)
HW 3
4 22 Apr
24 Apr
  • Fundamental limits
  • Realization theory, controllability, observability
DFT Ch 6
(FBS 11.4, 12.4),
DP Ch 2, 4
HW 4
5 29 Apr
1 May
  • Lyapunov equation and stability conditions
  • LMIs
DP Ch 4
LMIs Ch 2
HW 5
6 6 May
8 May
  • KYP lemma
  • Model reduction
DP Ch 4,7
HW 6
7 13 May
15 May
  • Uncertain systems
  • MIMO robust control, Convex optimization
DP Ch 8
HW 7
8 20 May
22 May
  • Stability of nonlinear systems
  • Sum-of-squares
FBS Ch 4
HW 8
  • IPAM: robust optimization

Course Text and References

The main course text is

You may find the following texts useful as well:

Selected Papers

1. M Chiang, SH Low, AR Calderbank, JC. Doyle (2007) Layering As Optimization Decomposition, PROCEEDINGS OF THE IEEE, Volume: 95 Issue: 1 Jan 2007 link

2. Martins NC, Dahleh MA, Doyle JC (2007) Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information, IEEE Trans Auto Control, Feb 2007 link

3. Bowman, Balch, Artaxo, Bond, Carlson, Cochrane, D’Antonio, DeFries, Doyle, et al. Fire in the Earth System, Science, Vol. 324 no. 5926 pp. 481-484 24 April 2009 link

4. Willinger W, Alderson D, and Doyle JC (2009) Mathematics and the internet: A source of enormous confusion and great potential. Notices Amer Math Soc 56:586-599. link

5. Alderson DL, Doyle JC (2010) Contrasting views of complexity and their implications for network-centric infrastructures. IEEE Trans Systems Man Cybernetics—Part A: Syst Humans 40:839-852. link

6. Gayme DF, McKeon BJ, Papachristodoulou P, Bamieh B, Doyle JC (2010) A streamwise constant model of turbulence in plane Couette flow, J Fluid Mech, vol 665, pp 99-119 link

7. H. Sandberg, J. C. Delvenne, J. C. Doyle. (2011) On Lossless Approximations, the Fluctuation-Dissipation Theorem, and Limitations of Measurements, IEEE Trans Auto Control, Feb 2011

8. J Lavaei, A Babakhani, A Hajimiri, and JC Doyle (2011), Solving Large-Scale Hybrid Circuit-Antenna Problems, IEEE Transactions on Circuits and Systems I, vol. 58, no. 2, pp. 374-387, Feb. 2011. link

9. Chandra F, Buzi G, Doyle JC (2011) Glycolytic oscillations and limits on robust efficiency. Science, Vol 333, pp 187-192. link

10. JC Doyle, ME Csete (2011) Architecture, Constraints, and Behavior, P Natl Acad Sci USA, vol. 108, Sup 3 15624-15630 link

11. Gayme DF, McKeon BJ, Bamieh B, Papachristodoulou P, Doyle JC (2011) Amplification and Nonlinear Mechanisms in Plane Couette Flow, Physics of Fluids, V23, Issue 6, 065108 link

12. Page, M. T., D. Alderson, and J. Doyle (2011), The magnitude distribution of earthquakes near Southern California faults, J. Geophys. Res., 116, B12309, doi:10.1029/2010JB007933.

13. Namas R, Zamora R, An, G, Doyle, J et al, (2012) Sepsis: Something old, something new, and a systems view, Journal Of Critical Care Volume: 27 Issue: 3 link

14. Chen, L; Ho, T; Chiang, M, Low S; Doyle J,(2012) Congestion Control for Multicast Flows With Network Coding, IEEE Trans On Information Theory Volume: 58 Issue: 9 Pages: 5908-5921 link