Instructor: Email
Lectures
 CDS 110b: MWF 2  3 pm ; 206 Thomas

TAs: Email

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 PredictorCorrector 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: cds110students mailing list: All students who were either registered for the class or added their name to the class signup 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.

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 1.11.2 
Faq1 
HW 1, Soln 1 
2 
12 Jan 
Optimal Control
L2.1,
L2.2, 
Murray 2.12.3 
Faq2 
HW 2, Soln 2 
3 
19 Jan (MLK day) 
Linear quadratic regulator (LQR)
L3.1 
Murray 2.42.5 

HW 3, Soln 3 
4 
26 Jan (NO friday lecture!) 
Receding horizon control L4 
Carson Ch 2 

HW 4, Soln 4 
5 
2 Feb (midterm: 410) 
Midterm review, (notes) Stochastic systems,
L5.1 
Murray 4.14.5 

Midterm soln 
6 
9 Feb 
Kalman filter L6.1a, L6.1b, L6.2 
Murray 5.15.2, 6.1 

HW 5, Soln 5 
7 
16 Feb (Presidents day) 
LQG control L7.1, L7.2 
Murray 5.35.4 
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, discretetime systemsL10, final review (notes) 



