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Title: | CDS 110b Winter 2009: Introduction to Control Theory |
Author: | macmardg |
Submitted: | December 19th, 2008 |
Topic: | Courses |
Class: | Caltech Public |
CDS 110b
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CDS 110b --
Winter 2009
Introductory Control Theory
CDS 110b focuses on intermediate topics in control theory, including optimal control methods, stochastic systems, state estimation using Kalman filters, and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. |
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Instructor: Email
Lectures
- CDS 110b: MWF 2 - 3 pm ; 206 Thomas
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TAs: Email
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Announcements
- Mar 15: Soln 8 available.
- Mar 11: final review notes are available.
- Mar 10: NOTE - there is an error in the ducted fan example in the robust performance lecture notes (Page 13 of L8.pdf, current version is corrected); the originally given weighting W2 does not bound the error.
- Mar 9: Soln 7 available. Final review will be this Wed. Final will be handed out in class Wed (or hardcopy in Steele), due Wed March 18.
- Mar 2: HW 8 available, also
Soln 6
- Feb 23: NO LECTURE THIS FRIDAY, Feb 27!! Also, HW 7 available, and Soln 5. Note FAQ below on hw 6.
- Feb 15: HW 6 available. You may find the additional notes on the Predictor-Corrector form of the Kalman filter to be useful if you missed Friday's class.
- Feb 14: Note office hours are now Monday and Tuesday (except this monday, which is a holiday). Midterm solution is available.
- HW 5 available
- Feb 5: Soln 4 available.
- Feb 2: midterm review notes available
- Feb 2: HW 3 solution available. Midterm will be handed out at the end of class on Wed Feb 4.
- Jan 26: HW 2 solution and HW 4 now available. (Updated version of hw 4 posted 1/26/09 at 10:50am.)
- Jan 22: NO LECTURE friday Jan 30. Midterm review will be Monday Feb 2.
- Jan 21, 10:20am: Corrected hw3 posted! (The links point to the corrected version)
- Jan 19: HW 1 solution and HW 3 now available.
- Jan 12: HW 2 now available.
- HW 1 available.
- 2009.01.05: cds110-students mailing list: All students who were either registered for the class or added their name to the class sign-up sheet today were added. If you did not get an email indicating you were subscribed to the list, or want to be subscribed, please email Sawyer.
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Syllabus
Course texts:
Downloads & Links
Lectures:
Week |
Date |
Topic |
Reading |
FAQ |
Homework |
1 |
5 Jan |
Course overview, classical review, tracking
L1.1,
L1.2a
L1.2b |
Murray 1.1-1.2 |
Faq1 |
HW 1, Soln 1 |
2 |
12 Jan |
Optimal Control
L2.1,
L2.2, |
Murray 2.1-2.3 |
Faq2 |
HW 2, Soln 2 |
3 |
19 Jan (MLK day) |
Linear quadratic regulator (LQR)
L3.1 |
Murray 2.4-2.5 |
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HW 3, Soln 3 |
4 |
26 Jan (NO friday lecture!) |
Receding horizon control L4 |
Carson Ch 2 |
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HW 4, Soln 4 |
5 |
2 Feb (midterm: 4-10) |
Midterm review, (notes) Stochastic systems,
L5.1 |
Murray 4.1-4.5 |
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Midterm soln |
6 |
9 Feb |
Kalman filter L6.1a, L6.1b, L6.2 |
Murray 5.1-5.2, 6.1 |
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HW 5, Soln 5 |
7 |
16 Feb (Presidents day) |
LQG control L7.1, L7.2 |
Murray 5.3-5.4 |
Faq6 |
HW 6, Soln 6 |
8 |
23 Feb (No Friday lecture!) |
Uncertainty and robust stability L8 |
DFT, Ch 4, Astrom & Murray Ch 9.5 |
Faq7 |
HW 7, Soln 7 |
9 |
2 Mar |
Robust performance, Hinf control L9 |
DFT, Ch 7.1, 7.3 |
Faq8 |
HW 8, Soln 8 |
10 |
9 Mar |
Implementation, discrete-time systemsL10, final review (notes) |
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