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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 Schedule

CDS 90
CDS 270-2
CDS 273




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.



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

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

Former graduate students:

Robert Behnken (thesis)
Adam Hayes*
Ben Shapiro (thesis)
Robert Bodenheimer*
Scott Kelly (thesis)
Sudipto Sur (thesis)
Francesco Bullo (thesis)
Andrew Lewis (thesis)
Amber Thweatt#
Raff D'Andrea*
Robert M'Closkey (thesis)
Jorge Tierno*
Alex Fax (thesis)
Mark Milam thesis]
David van Gogh#
Samantha (Feakins) Daly#
Michiel van Nieuwstadt (thesis)
Tony Vanelli# (thesis)
Martha Gallivan (thesis)
Clancy Rowley*
Yong Wang (thesis)
Sonja Glavaski*
Muruhan Rathinam (thesis)
Simon Yeung (thesis)

# Masters or Engineers degree

Former postdocs:

Raktim Bhattacharya (2002-04)
Feng-Li Lian (2001-02)
Nicolas Petit (2001-02)
Brianno Coller (1995-97)
Kristi Morgansen (1999-2001)
B. N. Shashikanth* (1998-2000)
Tamer Inanc (2002-04)
Pascal Morin (1996-97)
Willem Sluis (1994-96)
Eric Klavins* (2001-03)
Reza Olfati-Saber (2001-04)
Herbert Streumper (1997-99)


The list below is the courses that I have taught at Caltech in the last 5 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 older courses are available on a separate page.

  • 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 190 - Independent Work in Control and Dynamical Systems
  • CDS 202, Geometry of Nonlinear Systems (Wi93, Wi94, Wi04)
  • CDS 270 - Networked Control Systems (Sp 06)
  • CDS 273 - Frontiers in Control and Dynamical Systems (Sp01, Sp02, Sp03, Sp04, Sp05, Sp 06)


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