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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

Feedback Systems

CDS 90
CDS 110b




Recent publications:


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. Template:Active projects [Archive]


Dionysios Barmpoutis (CNS)
Julia Braman (ME)
John Carson (ME)
Mary Dunlop (ME)
Sawyer Fuller (BE)
Elisa Franco (CDS)
Shuo Han (EE)
Doug MacMynowski (CDS)
Yizhar Or (CDS)
Dominic Rizzo (CS)
Ling Shi (CDS)
Pete Trautman (CDS)
Johan Ugander+ (Lund)
Nok Wongpiromsarn (ME)
Francisco Zabala+ (CSUF)

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

Former graduate students:

  • Melvin Flores (CDS) - Ph.D. in Control and Dynamical Systems, February 2008 (thesis)
  • Michael Epstein (ME) - Ph.D. in Mechanical Engineering, December 2007
  • Steve Waydo* (CDS) - Ph.D. in Control and Dynamical Systems, October 2007
  • Tim Chung* (ME) - Ph.D. in Mechanical Engineering, June 2007
  • Zhipu Jin (EE) - Ph.D. in Electrical Engineering, August 2006
  • Abhishek Tiwari - Ph.D. in Electrical Engineering, August 2006
  • Vijay Gupta - Ph.D. in Electrical Engineering, August 2006
  • Lars Cremean - Ph.D. in Mechanical Engineering, June 2006 (thesis)
  • Demetri Spanos - Ph.D. in Control and Dynamical Systems, March 2006 (thesis)
Robert Behnken (thesis)
Francesco Bullo (thesis)
Robert Bodenheimer*
Raff D'Andrea*
Samantha (Feakins) Daly#
Domitilla Del Vecchio (thesis)
William Dunbar
Alex Fax (thesis)
Jimmy Fung
Martha Gallivan (thesis)
Sonja Glavaski*
Adam Hayes*
Sean Humbert (thesis)
Scott Kelly (thesis)
Dmitriy Kogan#
Andrew Lewis (thesis)
Robert M'Closkey (thesis)
Mark Milam (thesis)
Michiel van Nieuwstadt (thesis)
Muruhan Rathinam (thesis)
Clancy Rowley*
Ben Shapiro (thesis)
Sudipto Sur (thesis)
Amber Thweatt#
Jorge Tierno*
David van Gogh#
Tony Vanelli# (thesis)
Yong Wang (thesis)
Simon Yeung (thesis)

# Masters or Engineers degree

Former postdocs:

Raktim Bhattacharya (2002-04)
Brianno Coller (1995-97)
Tamer Inanc (2002-04)
Eric Klavins* (2001-03)
Feng-Li Lian (2001-02)
Kristi Morgansen (1999-2001)
Pascal Morin (1996-97)
Yasamin Mostofi (2004-06)
Reza Olfati-Saber (2001-04)
Nicolas Petit (2001-02)
Henrik Sandberg (2005-07)
B. N. Shashikanth* (1998-2000)
Willem Sluis (1994-96)
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.

  • 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)
  • CDS 101 - Analysis and Design of Feedback Systems (Fa02, Fa03, Fa04, Fa 06, Fa 07)
  • CDS 110ab - Introduction to Control Theory (97-98, 01-02, 02-03, 03-04, Fa04, Wi 06, Wi 07, Wi 08)
  • 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