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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