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Richard M. Murray

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

Division of Engineering and Applied Science
California Institute of Technology

Papers Research Group Teaching Contact

Other Activities:

Group meetings

CDS 90
CDS 270-2
CDS 273

Public homepage



My group's research is in the application of feedback and control to mechanical, information, and biological systems. Current projects include integration of control, communications, and computer science in multi-agent systems, information dynamics in networked feedback systems, analysis of insect flight control systems, and synthetic biology using genetically-encoded finite state machines. <ncl>Active projects</ncl>[Archive]


Julia Braman (ME) Melvin Flores (CDS) Henrik Sandberg (CDS)
John Carson (ME) Sawyer Fuller° (BE) Ling Shi (CDS)
Tim Chung* (ME) Vijay Gupta (EE) Demetri Spanos (CDS)
Lars Cremean (ME) Zhipu Jin (EE) Abhishek Tiwari (EE)
Mary Dunlop (ME) Doug MacMynowski (CDS) Fei Wang (EE)
Michael Epstein (ME) Yasamin Mostofi (EE) Steve Waydo (CDS)

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


The list below is the courses that I have taught at Caltech since 1994. 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.

  • CDS 90 - Senior Thesis in Control and Dynamical Systems (04-05, 05-06)
  • CDS 101 - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04)
  • CDS 110 - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, Wi 06)
  • CDS 111, Introduction to Control Technology (Sp95, Sp96, Sp97, Sp98, Sp00)
  • CDS 121, Nonlinear Systems and Adaptive Control (Wi95, Wi97)
  • CDS 122, Geometric Nonlinear Control Theory (Si94)
  • CDS 190 - Independent Work in Control and Dynamical Systems
  • CDS 202, Geometry of Nonlinear Systems (Wi93, Wi94, Wi04)
  • CDS 212, Introduction to Theory of Feedback Systems (Fa94)
  • CDS 221, Applications of Nonlinear Control Technology (Su00)
  • CDS 270, Optimal Control (Fa96)
  • CDS 270 - Networked Control Systems
  • CDS 273 - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, Sp 06)
  • ME 90, Senior Thesis (96-97, 97-98)
  • ME 96, Mechanical Measurements Laboratory (S94, S96)
  • Reading groups
    • LPE Reading Group, 2001
    • Controls Primer, Fall 2001


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

Office: 109 Steele, (626) 395-6460
Asst: Gloria Bain, x4140
Labs: 12 STL, 110 GUG (x2319)

Other links

Engineering and Applied Science
Control and Dynamical Systems
Mechanical Engineering

Additional information

Recent CV
PGP key
Travel info