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<td align=center width=20%> [[Image:Murray-sp07.jpg]]</td>
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<b>Richard M. Murray</b><br><br>
<b>Richard M. Murray</b><br><br>
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Thomas E. and Doris Everhart Professor <br>
Thomas E. and Doris Everhart Professor of <br>
of Control and Dynamical Systems<br><br>
Control & Dynamical Systems and Bioengineering<br><br>
Division of Engineering and Applied Science<br>
California Institute of Technology<br>
California Institute of Technology<br>
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<table width=100%> __NOTOC__
<table width=100%> __NOTOC__
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<td width=20% align=center> [[#Publications|Papers]]</td>
<td width=20% align=center> [[Papers]]</td>
<td width=20% align=center> [[#Projects|Research]]</td>
<td width=20% align=center> [[Research Overview|Research]]</td>
<td width=20% align=center> [[#Group|Group]]</td>
<td width=20% align=center> [[#Group|Group]]</td>
<td width=20% align=center> [[#Teaching|Teaching]]</td>
<td width=20% align=center> [[#Teaching|Teaching]]</td>
<td width=20% align=center> [[#Contact|Contact]]</td>
<td width=20% align=center> [[#Contact|Contact]]</td>
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Other Activities:
Quick Links:
 
[[Group Schedule]]


[[AM:Main Page|''Feedback Systems'']]<br>
<!-- [[CDS 112/Ae 103a]]  
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[[Group Schedule]]


[http://ist.caltech.edu/mpp Molecular Programming Project]<br>
[https://fbswiki.org/wiki/index.php/Feedback_Systems:_An_Introduction_for_Scientists_and_Engineers ''Feedback Systems'']


[http://www.ist.caltech.edu IST]
[https://fbswiki.org/wiki/index.php/Biomolecular_Feedback_Systems ''Biomolecular Feedback Systems'']
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<br>
<br>
Prospective graduate students: I admit students through the [http://www.cds.caltech.edu CDS], [http://be.caltech.edu/academics/ssb.html SSB] and [http://www.cs.caltech.edu CS] graduate programs at Caltech.  Many of my students also come from the EE and ME departments, but I do not actively participate in admissions decisions in those programs.
<!-- '''Prospective graduate students''': Students in my group come through the [[http:www.cds.caltech.edu|CDS]], [[http:www.cms.caltech.edu/academics/grad_cms|CMS]], [[http:be.caltech.edu|BE]], [[http:/www.its.caltech.edu/~biochem|BMB]], [[http:www.cms.caltech.edu/academics/grad_acm|ACM]], [[http:www.cms.caltech.edu/academics/grad_cs|CS]] and [[http:www.me.caltech.edu|ME]] graduate programs at Caltech.  Some of my students also come from the CNS and EE departments, but I do not actively participate in admissions decisions in those programs.  Please take a look at my current [[Research Overview|research interests]] to get a sense of what my group is currently working on.  -->
<!-- '''Prospective postdocs''': I typically make decisions about postdocs in the April-May timeframe, when I know what my grants look like for fall.  Please take a look at my current [[Research Overview|research interests]] to see what projects we are currently working on. -->
<!-- Caltech has several postdoc programs that admit exceptionally qualified postdocs for independent study at Caltech:
* Caltech [[http:cmi.caltech.edu|Center for the Mathematics of Information (CMI)]] postdocs - applications due mid-December
* Caltech [[http:www.its.caltech.edu/~bi/fellows.html|Beckman Fellows program]] - applications due early January
-->
== Research ==
My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy.  Current projects include work on biomolecular feedback systems, novel architectures for control systems, and networked control systems (see my [[Research Overview|research overview]] for more details).


== Publications ==
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Recent publications:
[[Preprint archive]] <br>
* [[AMwiki:Main_Page|Feedback Systems: An Introduction for Scientists and Engineers]] (textbook)
[http://thesis.library.caltech.edu/view/advisor/Murray-R-M.html Caltech theses]<br>
* [http://www.cds.caltech.edu/~murray/papers/2008v_dun+08-naturegen.html Regulatory activity revealed by dynamic correlations in gene expression noise] (Nature Genetics, 2008)
[http://scholar.google.com/scholar?q=author:richard-m-murray Google Scholar]
* [http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4118472 Consensus and cooperation in networked multi-agent systems] (Proc of the IEEE 2007)
* [http://www.cds.caltech.edu/%7Emurray/papers/2004l_dmk04-automatica.html Discrete state estimators for systems on a lattice] (Automatica 2006)
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[http://www.cds.caltech.edu/~murray/papers/index.shtml Overview] <br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdblist.cgi?papers/config.db List] <br>
[http://www.cds.caltech.edu/~murray/cgi-bin/htdbsearch.cgi?papers/config.db Search]
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Active projects:
== Research ==
{{#ask:
My group's research is in the application
  [[Category:Active projects]]
of feedback and control to information, biological and mechanical systems.  Current projects include verification and validation of distributed embedded systems, analysis of insect flight control systems, and biological circuit design.
  | ?agency =  
{{Active projects}}
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[[Projects|<nowiki>[Archive]</nowiki>]]
[[Projects|<nowiki>[Archive]</nowiki>]]


== Group ==
== Group ==
<blockquote>
<blockquote>
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{|
{|
{{group entry|Dionysios Barmpoutis|CNS}}
{{group entry|Apurva Badithela|CDS}}
{{group entry|[http://www.its.caltech.edu/~braman/ Julia Braman]|ME}}
{{group entry|Abhishek Dey+|India}}
{{group entry|[http://www.cds.caltech.edu/~andrea/ Andrea Censi]|CDS}}
{{group entry|Chelsea Hu|BE}}
{{group entry|[http://web.mit.edu/minster/www/ Sawyer Fuller]|BE}}
{{group entry|Josefine Graebener|AS}}
{{group entry|[http://www.cds.caltech.edu/~elisa/ Elisa Franco]|CDS}}
{{group entry|Zoila Jurado|ME}}
{{group entry|Shuo Han|EE}}
{{group entry|Manisha Kapasiawala|BE}}
{{group entry|Walid Krichene+|ENSMP}}
|}
|}
| width=33% |  
| width=33% |  
{|
{|
{{group entry|Yizhar Or|CDS}}
{{group entry|Alex Johnson*|BE}}
{{group entry|Stephen Pleines+|ETHZ}}
{{group entry|Matthieu Kratz*|BE}}
{{group entry|Dominic Rizzo|CS/ME}}
{{group entry|Elin Larsson*|BE}}
{{group entry|Håkan Terelius+|KTH}}
{{group entry|John Marken|BE}}
{{group entry|[http://www.cds.caltech.edu/~utopcu Ufuk Topcu]|CDS}}
{{group entry|Ioannis Mandralis*|AE}}
{{group entry|Pete Trautman|CDS}}
{{group entry|Zach Martinez*|BE}}
|}
|}
| width=33% |  
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{|
{|
{{group entry|Ophelia Venturelli|BMB}}
{{group entry|Joe Meyerowitz|BMB}}
{{group entry|[http://robotics.caltech.edu/~nok Nok Wongpiromsarn]|ME}}
{{group entry|Kellan Moorse|CNS}}
{{group entry|Mumu Xu|ME}}
{{group entry|[[http:ayush-pandey.github.io|Ayush Pandey]]|CDS}}
{{group entry|Jing Yu+|Zhejiang Univ}}
{{group entry|Mark Prator#|EAS}}
{{group entry|[http://www.cds.caltech.edu/~fzabala/ Francisco Zabala*]|CDS}}
{{group entry|Joe Rich°|MD/PhD}}
{{group entry|Aldo Zgraggen+|ETHZ}}
{{group entry|Miki Yun#|EAS}}
|}
|}
|}
|}
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{| width=100%
{| width=100%
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| * co-advised students  || + visiting researchers
| * co-advised students  || + visiting researchers
| ° rotation students || † undergraduates
| ° rotation students || † undergraduates || # research staff
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<!-- 8 PhD students (+4 joint); 1 postdocs -->
'''2022 Summer Students'''
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{|
{{group entry|Anthony Chiang|WUSTL}}
{{group entry|Andy Dimnaku|CS}}
{{group entry|Trinity Lee|BE}}
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{|
{{group entry|Robert Hansen Jagrelius|Sweden}}
{{group entry|Aditi Seetharaman|BE}}
|}
| width=33% |
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{{group entry|Olivia Wang|Harvard-Westlake}}
{{group entry|Alina Zhang|CS/Ch}}
|}
|}
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==== Former graduate students: ====
==== Former graduate students: ====
* [http://www.cds.caltech.edu/~shiling/ Ling Shi] (CDS) - Ph.D. in Control and Dynamical Systems, August 2008 [http://etd.caltech.edu/etd/available/etd-08272008-121822/ (thesis)]
<!-- 77 PhD students (64 primary; 13 joint); 35 postdocs (incl. 1 visiting); 7 MS students -->
* [http://www.cds.caltech.edu/~mjdunlop Mary Dunlop] (ME) - Ph.D. in Mechanical Engineering, May 2008 [http://etd.caltech.edu/etd/available/etd-05302008-141602/ (thesis)]
* Andrey Shur - PhD in Bioengineering, December 2021
* John Carson (ME) - Ph.D. in Mechanical Engineering, May 2008 [http://etd.caltech.edu/etd/available/etd-05072008-131735/ (thesis)]
* Rory Williams - PhD in Bioengineering, December 2021
* Melvin Flores (CDS) - Ph.D. in Control and Dynamical Systems, February 2008 [http://etd.caltech.edu/etd/available/etd-02192008-153449/ (thesis)]
* Samuel Clamons - PhD in Bioengineering, September 2021
* [http://www.cds.caltech.edu/~epstein/ Michael Epstein] (ME) - Ph.D. in Mechanical Engineering, December 2007 [http://etd.caltech.edu/etd/available/etd-12192007-153619/ (thesis)]
* [http://www.cds.caltech.edu/~waydo Steve Waydo]* (CDS) - Ph.D. in Control and Dynamical Systems, October 2007 [http://etd.caltech.edu/etd/available/etd-11022007-104734/ (thesis)]


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<tr><td>[http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
<tr><td> Dionysios Barmpoutis [http://resolver.caltech.edu/CaltechTHESIS:12102011-161913831 (thesis)]</td></tr>
<tr><td>[http://motion.mee.ucsb.edu/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
<tr><td> [http://www.jsc.nasa.gov/Bios/htmlbios/behnken-rl.html Robert Behnken] [http://www.cds.caltech.edu/~murray/papers/1996_rlb96-phd.html (thesis)]</td></tr>
<tr><td>[http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
<tr><td> [http://www.its.caltech.edu/~braman/ Julia Badger (Braman)] [http://resolver.caltech.edu/CaltechETD:etd-05292009-111937 (thesis)]</td></tr>
<tr><td>[http://robotics.caltech.edu/~timothyc/ Tim Chung]*</td></tr>
<tr><td> Ania Baetica [https://resolver.caltech.edu/CaltechTHESIS:06042018-171639726 (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~lars Lars Cremean] [http://www.cds.caltech.edu/~murray/papers/2006_lbc06-phd.html (thesis)]</td></tr>
<tr><td> [http://motion.mee.ucsb.edu/ Francesco Bullo] [http://www.cds.caltech.edu/~murray/papers/1998_fb98-phd.html (thesis)]</td></tr>
<tr><td>[http://www.mae.cornell.edu/Raff/ Raff D'Andrea]*</td></tr>
<tr><td> [http://www.vuse.vanderbilt.edu/~bobbyb/ Robert Bodenheimer]*</td></tr>
<tr><td>[http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly]#</td></tr>
<tr><td> John Carson [http://thesis.library.caltech.edu/1664/ (thesis)]</td></tr>
<tr><td> [http://www.eecs.umich.edu/~ddv/ Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</tr></td>
{{PhD alum|Karena Cai|option=CDS|completed=Mar 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:04022021-033321217}}
<tr><td>[http://www.soe.ucsc.edu/~dunbar/ William Dunbar] [http://etd.caltech.edu/etd/available/etd-05282004-170123/ (thesis)]</td></tr>
<tr><td> [[http:censi.mit.edu|Andrea Censi]] [http://thesis.library.caltech.edu/7248/ (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
{{PhD alum|Richard Cheng*|url=http:rcheng805.github.io|option=ME|completed=Feb 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:01052021-195655093}}
<tr><td>[http://www.cds.caltech.edu/~fung Jimmy Fung] [http://etd.caltech.edu/etd/available/etd-05272005-165938/ (thesis)]</td></tr>
<tr><td> Benson Christalin# </td></tr>
<tr><td>[http://www.chbe.gatech.edu/grover/ Martha Grover (Gallivan)[http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
<tr><td> [http://robotics.caltech.edu/~timothyc/ Tim Chung*]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~lars Lars Cremean] [http://www.cds.caltech.edu/~murray/papers/2006_lbc06-phd.html (thesis)]</td></tr>
<tr><td> Nadine Dabby* </td></tr>
<tr><td> [http://www.mae.cornell.edu/Raff/ Raff D'Andrea*]</td></tr>
<tr><td> Sumanth Dathathri [https://resolver.caltech.edu/CaltechTHESIS:04292020-165136662 (thesis)]</td></tr>
<tr><td> [http://www.its.caltech.edu/~feakins/index.html Samantha (Feakins) Daly#]</td></tr>
<tr><td> Emzo de los Santos [http://resolver.caltech.edu/CaltechTHESIS:05182015-163708506 (thesis)]
<tr><td>[http://www.mit.edu/~ddv/ Domitilla Del Vecchio] [http://www.cds.caltech.edu/~murray/papers/2005_ddv05-phd.html (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~mjdunlop Mary Dunlop] [http://resolver.caltech.edu/CaltechETD:etd-05302008-141602 (thesis)]</td></tr>
<tr><td> [http://www.soe.ucsc.edu/~dunbar/ William Dunbar] [http://resolver.caltech.edu/CaltechETD:etd-05282004-170123 (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~epstein/ Michael Epstein] [http://resolver.caltech.edu/CaltechETD:etd-12192007-153619 (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~fax Alex Fax] [http://www.cds.caltech.edu/~murray/papers/2002_fax02-phd.html (thesis)]</td></tr>
<tr><td> Ioannis Filippidis [https://resolver.caltech.edu/CaltechTHESIS:07202018-115217471 (thesis)]</td></tr>
<tr><td> Anthony Fragoso [http://resolver.caltech.edu/CaltechTHESIS:10242017-193520989 (thesis)]</td></tr>
<tr><td> [http://www.media.mit.edu/~minster/ Sawyer Fuller] (thesis)</td></tr>
<tr><td> Melvin Flores [http://resolver.caltech.edu/CaltechETD:etd-02192008-153449 (thesis)]</td></tr>
</table>
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<table>
<tr><td>[hthttp://ee.nd.edu/faculty/vgupta/ Vijay Gupta] [http://etd.caltech.edu/etd/available/etd-08172006-130145/ (thesis)]</td></tr>
<tr><td> [https://samueli.ucla.edu/people/elisa-franco/ Elisa Franco] [http://resolver.caltech.edu/CaltechTHESIS:10192011-161454857 (thesis)]</td></tr>
<tr><td>Sonja Glavaski*</td></tr>
<tr><td> [http://www.cds.caltech.edu/~fung Jimmy Fung] [http://resolver.caltech.edu/CaltechETD:etd-05272005-165938/ (thesis)]</td></tr>
<tr><td>Adam Hayes*</td></tr>
<tr><td> [http://caltech.academia.edu/MarcellaGomez Marcella Gomez] [http://resolver.caltech.edu/CaltechTHESIS:08282014-165029252 (thesis)]</td></tr>
<tr><td>[http://www.avl.umd.edu/facstaff/director.html Sean Humbert]  [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]</td></tr>
<tr><td> [http://www.chbe.gatech.edu/grover/ Martha Grover (Gallivan)]  [http://www.cds.caltech.edu/~murray/papers/2002_mag02-phd.html (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~jzp Zhipu Jin] [http://etd.caltech.edu/etd/available/etd-09182006-162259/ (thesis)]</td></tr>
<tr><td> Shaobin Guo [http://resolver.caltech.edu/CaltechTHESIS:03082017-163613964 (thesis)]</td></tr>
<tr><td>[hhttp://www.coe.uncc.edu/~skelly52/ Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
<tr><td> [http://ee.nd.edu/faculty/vgupta/ Vijay Gupta] [http://resolver.caltech.edu/CaltechETD:etd-08172006-130145 (thesis)]</td></tr>
<tr><td> [http://www.linkedin.com/pub/1/446/a84 Dmitriy Kogan]# </td></tr>
<tr><td> Sonja Glavaski*</td></tr>
<tr><td>[http://www.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
<tr><td> [[http:fling.seas.upenn.edu/~hanshuo/cgi-bin/wordpress/|Shuo Han]] ([[http:resolver.caltech.edu/CaltechTHESIS:10162013-111333269|thesis]])</td></tr>
<tr><td>[http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
<tr><td> Adam Hayes*</td></tr>
<tr><td>[http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html (thesis)]</td></tr>
<tr><td> [http://www.avl.umd.edu/people/director.html Sean Humbert]  [http://www.cds.caltech.edu/~murray/papers/2005_jsh05-phd.html (thesis)]</td></tr>
<tr><td>Michiel van Nieuwstadt [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
{{PhD alum|Victoria Hsiao|option=BE|completed=May 2016|thesis=http:resolver.caltech.edu/CaltechTHESIS:05082016-170628018}}
<tr><td> [http://www.seas.upenn.edu/~jadbabai Ali Jadbabaie*] [http://www.seas.upenn.edu/~jadbabai/papers/Phdthesis.pdf (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~jzp Zhipu Jin] [http://resolver.caltech.edu/CaltechETD:etd-09182006-162259 (thesis)]</td></tr>
<tr><td> Vanessa Jonsson [http://resolver.caltech.edu/CaltechTHESIS:10132015-121212703 (thesis)]</td></tr>
<tr><td> [http://www.coe.uncc.edu/~skelly52/ Scott Kelly] [http://www.cds.caltech.edu/~murray/papers/1998_sdk98-phd.html (thesis)]</td></tr>
<tr><td> [http://www.linkedin.com/pub/1/446/a84 Dmitriy Kogan#] </td></tr>
<tr><td> [http://www.ee.columbia.edu/~lavaei Javad Lavaei*] [http://thesis.library.caltech.edu/6391/ (thesis)]</td></tr>
<tr><td> [http://www.mast.queensu.ca/~andrew/ Andrew Lewis] [http://www.cds.caltech.edu/~murray/papers/1995_adl95-phd.html (thesis)] </td></tr>
{{PhD alum|[[http:scottman.net/|Scott Livingston]]|option=CDS|completed=Dec 2015|thesis=http:resolver.caltech.edu/CaltechTHESIS:12312015-131513787}}
{{PhD alum|Reed McCardell|option=BE|completed=May 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:05082021-185615529}}
<tr><td> [http://www.seas.ucla.edu/~mcloskey/ Robert M'Closkey] [http://www.cds.caltech.edu/~murray/papers/1994_rtm94-phd.html (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~milam/ Mark Milam] [http://www.cds.caltech.edu/~murray/papers/2003_milam03-phd.html (thesis)]</td></tr>
<tr><td> Michiel van Nieuwstadt [http://www.cds.caltech.edu/~murray/papers/1996_mvn96-phd.html (thesis)]</td></tr>
<tr><td> Ivan Papusha [http://resolver.caltech.edu/CaltechTHESIS:06032016-102336160 (thesis)]</td></tr>
{{PhD alum|James Parkin|option=BE|completed=Mar 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:03262021-160841703}}
<tr><td> Tung Phan [https://resolver.caltech.edu/CaltechTHESIS:01132021-065636010 (thesis)]</td></tr>
{{PhD alum|William Poole|option=CNS|completed=Aug 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:11102021-210013472}}
</table>
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<table>
<table>
<tr><td>[http://www.math.umbc.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
<tr><td> [http://www.math.umbc.edu/~muruhan/ Muruhan Rathinam] [http://www.cds.caltech.edu/~murray/papers/1997_mr97-phd.html (thesis)]</td></tr>
<tr><td>[http://weblamp.princeton.edu/cwrowley/ Clancy Rowley]*</td></tr>
{{PhD alum|Xinying (Cindy) Ren|option=CDS|completed=Jun 2021|thesis=http:resolver.caltech.edu/CaltechTHESIS:05262021-072231177}}
<tr><td>[http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
<tr><td> [http://weblamp.princeton.edu/cwrowley/ Clancy Rowley*]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~demetri Demetri Spanos] [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]</td></tr>
<tr><td> [http://www.glue.umd.edu/~benshap/ Ben Shapiro] [http://www.cds.caltech.edu/~murray/papers/1999_bs99-phd.html (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~shiling/ Ling Shi] [http://resolver.caltech.edu/CaltechETD:etd-08272008-121822 (thesis)]</td></tr>
<tr><td> Vipul Singhal [https://resolver.caltech.edu/CaltechTHESIS:08262018-213846283 (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~demetri Demetri Spanos] [http://www.cds.caltech.edu/~murray/papers/2006_dps06-phd.html (thesis)]</td></tr>
<tr><td> Zachary Sun [http://resolver.caltech.edu/CaltechTHESIS:10012015-221355676 (thesis)]/</td></tr>
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
<tr><td>[http://alumnus.caltech.edu/~sur/ Sudipto Sur] [http://www.cds.caltech.edu/~murray/papers/1997_ss97-phd.html (thesis)]</td></tr>
<tr><td>Amber Thweatt#</td></tr>
<tr><td> Anandh Swaminathan [https://resolver.caltech.edu/CaltechTHESIS:12132017-121914940 (thesis)]</td></tr>
<tr><td>Jorge Tierno*</td></tr>
<tr><td> Anu Thubagere* [http://resolver.caltech.edu/CaltechTHESIS:06082017-194534497 (thesis)]</td></tr>
<tr><td>[http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] [http://etd.caltech.edu/etd/available/etd-05202007-135411/ (thesis)]</td></tr>
<tr><td> Amber Thweatt#</td></tr>
<tr><td>David van Gogh#</td></tr>
<tr><td> Jorge Tierno*</td></tr>
<tr><td>Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~atiwari/ Abhishek Tiwari] [http://resolver.caltech.edu/CaltechETD:etd-05202007-135411 (thesis)]</td></tr>
<tr><td>[http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
<tr><td> Pete Trautman [http://resolver.caltech.edu/CaltechTHESIS:05182013-191132413 (thesis)]</td></tr>
<tr><td>[http://www.linkedin.com/pub/3/a32/258 Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
<tr><td> Stephanie Tsuei#</td></tr>
<tr><td> David van Gogh#</td></tr>
<tr><td> Tony Vanelli# [http://www.cds.caltech.edu/~murray/papers/1997_cav97-eng.html (thesis)]</td></tr>
<tr><td> Ophelia Venturelli ([[http:resolver.caltech.edu/CaltechTHESIS:06072013-095239958|thesis]])</td></tr>
<tr><td> [http://www.mech.pku.edu.cn/robot/teacher/wangyong/ Yong Wang] [http://www.cds.caltech.edu/~murray/papers/2000_yw00-phd.html (thesis)]</td></tr>
<tr><td> [http://www.cds.caltech.edu/~waydo Steve Waydo*] [http://resolver.caltech.edu/CaltechETD:etd-11022007-104734 (thesis)]</td></tr>
<tr><td> [[http:www.cds.caltech.edu/~ewolff|Eric Wolff]] [http://resolver.caltech.edu/CaltechTHESIS:02172014-121159358/ (thesis)]</td></tr>
<tr><td> [http://robotics.caltech.edu/~nok Nok Wongpiromsarn] [http://thesis.library.caltech.edu/5864/ (thesis)]</td></tr>
<tr><td> Yong Wu [http://resolver.caltech.edu/CaltechTHESIS:08302017-121452132 (thesis)]</td></tr>
<tr><td> [[http:www.aero.umd.edu/~mumu/|Huan (Mumu) Xu]] ([[http:resolver.caltech.edu/CaltechTHESIS:05312013-103940337|thesis]])</td></tr>
{{PhD alum|Enoch Yeung|option=CDS|completed=Jan 2016|thesis=http:resolver.caltech.edu/CaltechTHESIS:05272016-145559554}}
<tr><td> [http://www.linkedin.com/pub/3/a32/258 Simon Yeung] [http://www.cds.caltech.edu/~murray/papers/1998_chy98-phd.html (thesis)]</td></tr>
</table>
</table>
|}
|}
Line 165: Line 231:


==== Former postdocs: ====
==== Former postdocs: ====
* Ersin Das (2021-22) - CMS Postdoctoral Fellow
* Michaelle Mayalu (2017-22) - CMS Postdoctoral Fellow
* David Garcia (2020-21) - BE Postdoctoral Fellow
* Leopold Green (2018-21) - BE Postdoctoral Fellow
<blockquote>
<blockquote>
{| width=100% border=0 cellpadding=0 cellspacing=0
{| width=100% border=0 cellpadding=0 cellspacing=0
Line 171: Line 242:
<table>
<table>
<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~raktim Raktim Bhattacharya] (2002-04)</td></tr>
<tr><td>Brianno Coller (1995-97) </td></tr>
<tr><td>[http://www.niu.edu/faculty/coller.shtml Brianno Coller] (1995-97) </td></tr>
<tr><td>[http://www.cds.caltech.edu/~tinanc/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>Noel du Toit (2011)</td></tr>
<tr><td>[http://www.cs.caltech.edu/~klavins Eric Klavins]* (2001-03)</td></tr>
{{Postdoc alum|Chuchu Fan|years=2019-20|title=CMS Postdoctoral Fellow}}
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
<tr><td>Samira Farahani (2014-15) </td></tr>
{{Postdoc alum|Jen Ge|years=2016-18|title=CMS Postdoctoral Fellow}}
<tr><td>Sofie Haesaert (2016-18) </td></tr>
<tr><td>Yutaka Hori (2013-16) </td></tr>
<tr><td>[http://www.ece.louisville.edu/~t0inan01/ Tamer Inanc] (2002-04)</td></tr>
<tr><td>Jongmin Kim (2010-14)</td></tr>
<tr><td>[http://soslab.ee.washington.edu/mw/index.php/User:Klavins Eric Klavins]* (2001-03)</td></tr>
</table>
</table>
| width=33% |  
| width=33% |  
<table>
<table>
<tr><td>[http://cc.ee.ntu.edu.tw/~fengli/ Feng-Li Lian] (2001-02)</td></tr>
<tr><td>Jun Liu (2011-2012)</td></tr>
<tr><td>Catherine McGhan (2014-16)</td></tr>
{{Postdoc alum|John McManus*|years=2018-19|title=Visiting Postdoctoral Fellow}}
<tr><td>Yilin Mo (2013-15)</td></tr>
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www.aa.washington.edu/faculty/morgansen/ Kristi Morgansen] (1999-2001)</td></tr>
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
<tr><td>[http://www-sop.inria.fr/icare/personnel/morin/morin-personnel.html Pascal Morin] (1996-97)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~yasi Yasamin Mostofi] (2004-06)</td></tr>
<tr><td>[http://www.ece.ucsb.edu/~ymostofi/ Yasamin Mostofi] (2004-06)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~olfati Reza Olfati-Saber] (2001-04)</td></tr>
<tr><td>Reza Olfati-Saber (2001-04)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~izi/ Yizhar Or] (2007-09)</td></tr>
<tr><td>Necmiye Ozay (2010-13)</td></tr>
</table>
</table>
| width=33% |  
| width=33% |  
<table>
<table>
<tr><td>[http://www.cds.caltech.edu/~henriks/ Henrik Sandberg] (2005-07)</td></tr>
<tr><td>Pavithra Prabhakar (2011-12)</td></tr>
<tr><td>[http://www.me.nmsu.edu/faculty/shashi.htm B. N. Shashikanth]* (1998-2000)</td></tr>
<tr><td>[http://cas.ensmp.fr/~petit/ Nicolas Petit] (2001-02)</td></tr>
<tr><td>Vasu Raman (2013-15)</td></tr>
<tr><td>[http://www.ee.kth.se/php/index.php?action=people&cmd=extended&peopleid=768 Henrik Sandberg] (2005-07)</td></tr>
<tr><td>Shaunak Sen (2011-12)</td></tr>
<tr><td>[http://me.nmsu.edu/~shashi/ B. N. Shashikanth*] (1998-2000)</td></tr>
<tr><td>Dan Siegal (2012-15)</td></tr>
<tr><td>[[http:www.its.caltech.edu/~astraw/|Andrew Straw*]] (2010)</td></tr>
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>Willem Sluis (1994-96)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
<tr><td>[http://www.cds.caltech.edu/~herb/ Herbert Streumper] (1997-99)</td></tr>
<tr><td>Ufuk Topcu (2008-12)</td></tr>
</table>
</table>
|}
|}
</blockquote>
'''Additional group alumni:''' &nbsp; [[SURF alumni|SURF]] &nbsp;&nbsp; [[Undergraduate alumni|Undergrads]]  &nbsp;&nbsp; [[Visitors]]


== Teaching ==
== Teaching ==
The list below is the courses that I have taught at Caltech in the last 8 years. The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to [[Teaching Archive|older courses]] are available on a separate page.
The list below is the courses that I have taught at Caltech (or at least most of them). The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to [[Teaching Archive|older courses]] are available on a separate page.


* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07)
<!--
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (04-05, 05-06)
* BE/APh 162 - Physical Biology Laboratory ([http://www.rpgroup.caltech.edu/courses/aph162/2009/ Wi09])
* [[CDS 101|CDS 101/110a]] - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04, [[CDS 101/110a, Fall 2006|Fa06]], [[CDS 101/110a, Fall 2007|Fa 07]], [[CDS 101/110a, Fall 2008|Fa08]])
-->
* CDS 110[[CDS 101/110a|a]][[CDS 110b|b]] - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]])
* [[ACM/EE 116]] - Probability and Random Processes ([[ACM/EE_116,_Fall_2011|Fa11]])
* [[CDS 190]] - Independent Work in Control and Dynamical Systems  
* [[BE 107]] - Exploring Biological Principles Through Bio-Inspired Design ([[BE 107, Spring 2015|Sp15]], [[BE 107, Spring 2016|Sp16]], [[BE 107, Spring 2019|Sp19]])
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [http://www.cds.caltech.edu/~murray/courses/cds202/wi04/ Wi04], [[CDS 202, Winter 2009|Wi09]])
* [[BE 150/Bi 250b]] - Systems Biology ([[Bi/BE_250c_Winter_2011|Wi11]], [[BE_150/Bi_250b_Winter_2012|Wi12]], [[BE_150/Bi_250b_Winter_2013|Wi13]], [[BE 150/Bi 250 Spring 2014|Sp14]])
* [[CDS 270-2|CDS 270]] - Networked Control Systems (Sp 06)
* [[CS/EE/ME 75]] - Introduction to Multi-Disciplinary Systems Engineering (04-05, 06-07, 10-11, [[CS/EE/ME 75, 2015-16|15-16]])
* [[CDS 273]] - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, [[CDS 273, Spring 2006|Sp06]])
* [[CDS 90]] - Senior Thesis in Control and Dynamical Systems (2004-2014, 2020-)
* [[:Category:Guest lectures|Guest lectures]] - individual lectures I have given in various courses
* [[CDS 101|CDS 101/110]] - Analysis and Design of Feedback Systems (Fa97, Fa01, [[http:www.cds.caltech.edu/~murray/courses/cds101/fa02|Fa02]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa03/|Fa03]], [[http:www.cds.caltech.edu/~murray/courses/cds101/fa04/|Fa04]], [[CDS 101/110a, Fall 2006|Fa06]], [[CDS 101/110a, Fall 2007|Fa07]], [[CDS 101/110a, Fall 2008|Fa08]], [[CDS 101/110a, Fall 2012|Fa12]], [[CDS 101/110, Fall 2015|Fa15]])
* [[CDS 112]] - Optimization-Based Control (Wi98, Wi02, Wi03, Wi04, [[CDS 110b, Winter 2006|Wi06]], [[CDS 110b, Winter 2007|Wi07]], [[CDS 110b, Winter 2008|Wi08]], [[CDS 112/Ae 103a, Winter 2022|Wi22]])
* [[CDS 131]] - Linear Systems Theory ([[CDS 131, Fall 2018|Fa18]], [[CDS 131, Fall 2019|Fa19]], [[CDS 131, Fall 2020|Fa20]])
* [[CDS 140]] - Differential Equations and Dynamical Systems ([[AM 101b/AM 125b/CDS 140a, Winter 2011|Wi11]], [[AM 101b/AM 125b/CDS 140a, Winter 2013|Wi13]], [[ACM 101b/AM 125b/CDS 140a, Winter 2014|Wi14]], [[CDS 140, Winter 2015|Wi15]])
* [[CDS 240]] - Nonlinear Dynamical Systems ([[CDS 140b, Spring 2014|Sp14]], [[CDS 240, Spring 2016|Sp16]])
* [[CDS 202]] - Geometry of Nonlinear Systems (Wi93, Wi94, [[http:www.cds.caltech.edu/~murray/courses/cds202/wi04/|Wi04]], [[CDS 202, Winter 2009|Wi09]], [[CDS 202, Spring 2013|Sp13]])
* [[http:www.cds.caltech.edu/cs142|CS 142]] - Distributed Computing ([[CS 142, Fall 2017|Fa17]], [[CS 142, Fall 2019|Fa19]])
* CS 143 - Communication Networks (Fa18)
* [[Teaching Archive|Older courses]] (not taught in the last 15 years)
* [[:Category:Guest lectures|Guest lectures]] - some individual lectures I have given in various courses


== Contact ==
== Contact ==
Line 220: Line 321:
==== Contact information ====
==== Contact information ====
E-mail: murray@cds.caltech.edu <br>
E-mail: murray@cds.caltech.edu <br>
Office: 109 Steele, (626) 395-6460 <br>
Office: 109 Steele Lab, (626) 395-6460 <br>
Asst: Charis Brown, x4140 <br>
Asst: Monica Nolasco, x4140 <br>
Lab: 12 Steele
Labs: B112 Steele, 136 Keck
|- valign=bottom
|- valign=bottom
|
|
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[http://www.caltech.edu Caltech]<br>
[http://www.caltech.edu Caltech]<br>
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
[http://www.eas.caltech.edu Engineering and Applied Science]<br>
[http://ist.caltech.edu Information Science and Technology]<br>
[http://cms.caltech.edu Computing and Mathematical Sciences]<br>
|
|
[http://www.cs.caltech.edu Computer Science] <br>
[http://be.caltech.edu/ Bioengineering]<br>
[http://be.caltech.edu/academics/ssb.html Synthetic and Systems Biology]<br>
[http://www.cds.caltech.edu Control and Dynamical Systems]<br>
[http://www.cds.caltech.edu Control and Dynamical Systems]
[http://www.linkedin.com/in/murrayrm LinkedIn]
|}
|}

Latest revision as of 15:23, 16 June 2022

Murray-26Oct2021.jpg

Richard M. Murray

Thomas E. and Doris Everhart Professor of
Control & Dynamical Systems and Bioengineering

California Institute of Technology



Papers Research Group Teaching Contact

Quick Links:

Group Schedule

Feedback Systems

Biomolecular Feedback Systems


Research

My group's research is in the application of feedback and control to networked systems, with applications in biology and autonomy. Current projects include work on biomolecular feedback systems, novel architectures for control systems, and networked control systems (see my research overview for more details).

Preprint archive
Caltech theses
Google Scholar

Active projects:

[Archive]

Group

Apurva Badithela (CDS)
Abhishek Dey+ (India)
Chelsea Hu (BE)
Josefine Graebener (AS)
Zoila Jurado (ME)
Manisha Kapasiawala (BE)
Alex Johnson* (BE)
Matthieu Kratz* (BE)
Elin Larsson* (BE)
John Marken (BE)
Ioannis Mandralis* (AE)
Zach Martinez* (BE)
Joe Meyerowitz (BMB)
Kellan Moorse (CNS)
Ayush Pandey (CDS)
Mark Prator# (EAS)
Joe Rich° (MD/PhD)
Miki Yun# (EAS)

* co-advised students + visiting researchers ° rotation students † undergraduates # research staff

2022 Summer Students

Anthony Chiang (WUSTL)
Andy Dimnaku (CS)
Trinity Lee (BE)
Robert Hansen Jagrelius (Sweden)
Aditi Seetharaman (BE)
Olivia Wang (Harvard-Westlake)
Alina Zhang (CS/Ch)

Former graduate students:

  • Andrey Shur - PhD in Bioengineering, December 2021
  • Rory Williams - PhD in Bioengineering, December 2021
  • Samuel Clamons - PhD in Bioengineering, September 2021
Dionysios Barmpoutis (thesis)
Robert Behnken (thesis)
Julia Badger (Braman) (thesis)
Ania Baetica (thesis)
Francesco Bullo (thesis)
Robert Bodenheimer*
John Carson (thesis)
Karena Cai (thesis)
Andrea Censi (thesis)
Richard Cheng* (thesis)
Benson Christalin#
Tim Chung*
Lars Cremean (thesis)
Nadine Dabby*
Raff D'Andrea*
Sumanth Dathathri (thesis)
Samantha (Feakins) Daly#
Emzo de los Santos (thesis)
Domitilla Del Vecchio (thesis)
Mary Dunlop (thesis)
William Dunbar (thesis)
Michael Epstein (thesis)
Alex Fax (thesis)
Ioannis Filippidis (thesis)
Anthony Fragoso (thesis)
Sawyer Fuller (thesis)
Melvin Flores (thesis)
Elisa Franco (thesis)
Jimmy Fung (thesis)
Marcella Gomez (thesis)
Martha Grover (Gallivan) (thesis)
Shaobin Guo (thesis)
Vijay Gupta (thesis)
Sonja Glavaski*
Shuo Han (thesis)
Adam Hayes*
Sean Humbert (thesis)
Victoria Hsiao (thesis)
Ali Jadbabaie* (thesis)
Zhipu Jin (thesis)
Vanessa Jonsson (thesis)
Scott Kelly (thesis)
Dmitriy Kogan#
Javad Lavaei* (thesis)
Andrew Lewis (thesis)
Scott Livingston (thesis)
Reed McCardell (thesis)
Robert M'Closkey (thesis)
Mark Milam (thesis)
Michiel van Nieuwstadt (thesis)
Ivan Papusha (thesis)
James Parkin (thesis)
Tung Phan (thesis)
William Poole (thesis)
Muruhan Rathinam (thesis)
Xinying (Cindy) Ren (thesis)
Clancy Rowley*
Ben Shapiro (thesis)
Ling Shi (thesis)
Vipul Singhal (thesis)
Demetri Spanos (thesis)
Zachary Sun (thesis)/
Sudipto Sur (thesis)
Anandh Swaminathan (thesis)
Anu Thubagere* (thesis)
Amber Thweatt#
Jorge Tierno*
Abhishek Tiwari (thesis)
Pete Trautman (thesis)
Stephanie Tsuei#
David van Gogh#
Tony Vanelli# (thesis)
Ophelia Venturelli (thesis)
Yong Wang (thesis)
Steve Waydo* (thesis)
Eric Wolff (thesis)
Nok Wongpiromsarn (thesis)
Yong Wu (thesis)
Huan (Mumu) Xu (thesis)
Enoch Yeung (thesis)
Simon Yeung (thesis)

# Masters or Engineers degree    * Co-advised student

Former postdocs:

  • Ersin Das (2021-22) - CMS Postdoctoral Fellow
  • Michaelle Mayalu (2017-22) - CMS Postdoctoral Fellow
  • David Garcia (2020-21) - BE Postdoctoral Fellow
  • Leopold Green (2018-21) - BE Postdoctoral Fellow
Raktim Bhattacharya (2002-04)
Brianno Coller (1995-97)
Noel du Toit (2011)
Chuchu Fan (2019-20)
Samira Farahani (2014-15)
Jen Ge (2016-18)
Sofie Haesaert (2016-18)
Yutaka Hori (2013-16)
Tamer Inanc (2002-04)
Jongmin Kim (2010-14)
Eric Klavins* (2001-03)
Feng-Li Lian (2001-02)
Jun Liu (2011-2012)
Catherine McGhan (2014-16)
John McManus* (2018-19)
Yilin Mo (2013-15)
Kristi Morgansen (1999-2001)
Pascal Morin (1996-97)
Yasamin Mostofi (2004-06)
Reza Olfati-Saber (2001-04)
Yizhar Or (2007-09)
Necmiye Ozay (2010-13)
Pavithra Prabhakar (2011-12)
Nicolas Petit (2001-02)
Vasu Raman (2013-15)
Henrik Sandberg (2005-07)
Shaunak Sen (2011-12)
B. N. Shashikanth* (1998-2000)
Dan Siegal (2012-15)
Andrew Straw* (2010)
Willem Sluis (1994-96)
Herbert Streumper (1997-99)
Ufuk Topcu (2008-12)

Additional group alumni:   SURF    Undergrads    Visitors

Teaching

The list below is the courses that I have taught at Caltech (or at least most of them). The course links will take you to the (current) course homepage, where you can find the syllabus, handouts, and homework sets. The links for specific terms take you to the course homepage for that term. Links to older courses are available on a separate page.

Contact

Mailing Address

Richard M. Murray
Control and Dynamical Systems 107-81
California Institute of Technology
1200 E. California Blvd
Pasadena, CA 91125 USA

Contact information

E-mail: murray@cds.caltech.edu
Office: 109 Steele Lab, (626) 395-6460
Asst: Monica Nolasco, x4140
Labs: B112 Steele, 136 Keck

Other links

Caltech
Engineering and Applied Science
Computing and Mathematical Sciences

Bioengineering
Control and Dynamical Systems
LinkedIn