CDSWiki - User contributions [en]

CDS270(Fall2014)

2014-11-20T19:45:19Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structured Systems
|[http://www.sciencedirect.com/science/article/pii/S0005109803001043 A Survey Paper] [https://www.cds.caltech.edu/~murray/wiki/images/8/81/Cds27015.pdf Handout]
|-
|20 Nov (Th)
|Secure Control: Intrusion Detection and Identification
|[http://www.fabiopas.it/papers/FP-AB-FB-10a.pdf Secure Consensus] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=16422 Fault Detection and Identification][https://www.cds.caltech.edu/~murray/wiki/images/2/27/Handout.pdf Handout]
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|No class
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-20T07:28:22Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structured Systems
|[http://www.sciencedirect.com/science/article/pii/S0005109803001043 A Survey Paper] [https://www.cds.caltech.edu/~murray/wiki/images/8/81/Cds27015.pdf Handout]
|-
|20 Nov (Th)
|Secure Control: Intrusion Detection and Identification
|[http://www.fabiopas.it/papers/FP-AB-FB-10a.pdf Secure Consensus] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=16422 Fault Detection and Identification]
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|No class
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-18T19:49:46Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structured Systems
|[http://www.sciencedirect.com/science/article/pii/S0005109803001043 A Survey Paper] [https://www.cds.caltech.edu/~murray/wiki/images/8/81/Cds27015.pdf Handout]
|-
|20 Nov (Th)
|Fault Detection and Identification
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-18T05:33:21Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structured Systems
|[http://www.sciencedirect.com/science/article/pii/S0005109803001043 A Survey Paper]
|-
|20 Nov (Th)
|Fault Detection and Identification
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-17T07:56:07Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structural Systems
|[http://www.sciencedirect.com/science/article/pii/S0005109803001043 A Survey Paper]
|-
|20 Nov (Th)
|Fault Detection and Identification
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-16T07:49:42Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Generic Properties of Linear Structural Systems
|
|-
|20 Nov (Th)
|Fault Detection and Identification
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-13T19:00:26Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/images/4/45/Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-13T18:38:23Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System] [https://www.cds.caltech.edu/~murray/wiki/index.php/File:Cds27014.pdf Handout]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-13T07:26:46Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices and Distributed Control
|[http://www.math.harvard.edu/library/sternberg/slides/1180912pf.pdf Perron-Frobenius theorem] [http://arxiv.org/pdf/1203.0047v3.pdf Control of Positive System]
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-13T06:35:43Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Nonnegative Matrices
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-13T05:51:10Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation (Ania, Yorie)
|
|-
|4 Dec (Th)
|Research Presentation (Niangjun, Thomas)
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-11T19:26:01Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy] [https://www.cds.caltech.edu/~murray/wiki/images/e/e8/Cds27013.pdf Handout]
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-11T18:44:08Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://paduaresearch.cab.unipd.it/90/1/DistributedKalmanFiltering.pdf Constant Gain Strategy]
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-11T18:17:18Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5399678 Another Reference]
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-11T04:45:03Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Estimation
|[http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_270-4:_Distributed_Kalman_Filtering References]
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-06T09:09:11Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference] [https://www.cds.caltech.edu/~murray/wiki/images/f/f9/Cds27012.pdf Handout]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-04T19:08:57Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|[http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5771607 Reference]
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-11-04T08:01:51Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|[http://www.ifp.illinois.edu/~srikant/ECE567/Fall09/cramer-many-sources.pdf Cramer's Theorem]
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-30T05:40:11Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout] [http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-30T05:40:00Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout][http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=4524051 Good Topology]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-30T05:38:27Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices] [https://www.cds.caltech.edu/~murray/wiki/images/1/13/Cds27010.pdf Handout]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-30T04:56:49Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper] [http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-30T04:56:33Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper][http://www.jstor.org/discover/10.2307/2237962?uid=2&uid=4&sid=21104430055591 Products of Random Matrices]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-29T08:05:13Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Large Deviation
|
|-
|6 Nov (Th)
|Distributed Hypothesis Testing
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-29T04:08:37Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|[http://web.stanford.edu/~boyd/papers/gossip.html Gossip paper]
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|6 Nov (Th)
|Large Deviation
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Hypothesis Testing
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-27T16:03:54Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Distributed Kalman Filtering
|
|-
|6 Nov (Th)
|Large Deviation
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Hypothesis Testing
|
|-
|13 Nov (Th)
|Distributed Control of Positive Systems
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-27T16:03:03Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)] [https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Distributed Control of Positive Systems
|
|-
|6 Nov (Th)
|Large Deviation
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Hypothesis Testing
|
|-
|13 Nov (Th)
|Distributed Kalman Filtering
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-27T16:02:44Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)][https://www.cds.caltech.edu/~murray/wiki/images/7/7d/Cds2709.pdf Handout]
|-
|30 Oct (Th)
|Gossip Algorithm
|
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Distributed Control of Positive Systems
|
|-
|6 Nov (Th)
|Large Deviation
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Hypothesis Testing
|
|-
|13 Nov (Th)
|Distributed Kalman Filtering
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-26T18:35:17Z

Yilinmo: /* Course Schedule */

Networked Control Systems

----

Tu/Th 1:00-2:25 pm, 243 ANB

Instructor: Yilin Mo (yilinmo@caltech.edu)

==Pre-requisites==
Undergraduate linear algebra, probability and signal processing, understanding of modern (state space) control theory

==Course Schedule==

{| border=1 width=100%
|-
| Week || Date || Topic || Reading
|-
| align=center rowspan=3 | 1
|-
| 30 Sept (Tu)
| Course Overview
| [http://www.cds.caltech.edu/~murray/cdspanel/report/cdspanel-15aug02.pdf Control in an Information Rich World], [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds270lecture1.pdf Slides]
|-
| 2 Oct (Th)
| State Estimation, Kalman Filtering
| [http://www.cs.unc.edu/~welch/kalman/ Kalman Filtering], [https://www.cds.caltech.edu/~murray/wiki/images/0/05/Cds270lecture2.pdf Handout]
|-
| align=center rowspan=2 |2
|7 Oct (Tu)
|Functions of Symmetric Matrices
|[https://www.cds.caltech.edu/~murray/wiki/images/0/06/Cds2703.pdf Handout]
|-
|9 Oct (Th)
|Estimation over Lossy Networks
|[https://www.cds.caltech.edu/~murray/wiki/images/2/2a/Cds270lecture4.pdf Handout]
|-
| align=center rowspan=2 |3
|14 Oct (Tu)
|Control Over Lossy Networks, Witsenhausen's counterexample
|[http://www.isr.umd.edu/~mcrotk/courses/references/counterexample.pdf Witsenhausen's paper] [http://users.ece.cmu.edu/~brunos/Publications/IEEE_proceedings_2006.pdf Control over Lossy Networks] [https://www.cds.caltech.edu/~murray/wiki/images/3/33/Cds2705.pdf Handout]
|-
|16 Oct (Th)
|Sensor Selection
|[http://web.stanford.edu/~boyd/papers/sensor_selection.html Convex opt] [http://las.ethz.ch/files/krause12survey.pdf Submodularity] [https://www.cds.caltech.edu/~murray/wiki/images/4/4d/Cds2706.pdf Handout]
|-
| align=center rowspan=2 |4
|21 Oct (Tu)
|Event-based Estimation
|[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6760850 Event-triggered Estimation] [http://www.seas.ucla.edu/~tabuada/Papers/EventTriggered.pdf Event-based Control] [https://www.cds.caltech.edu/~murray/wiki/images/f/f5/Cds2707.pdf Handout]
|-
|23 Oct (Th)
|Average Consensus
|[https://www.cds.caltech.edu/~murray/wiki/images/b/b3/Cds2708.pdf Handout]
|-
| align=center rowspan=2 |5
|28 Oct (Tu)
|Variants of Average Consensus
|[http://users.ece.cmu.edu/~soummyak/Asilomar_07_sub.pdf Consensus with Switching Topology and Channel Noise] [https://ece.uwaterloo.ca/~ssundara/papers/acc07_distcon.pdf Finite Time Consensus] [http://arxiv.org/pdf/math/0701724.pdf Finite Time Consensus(continuous time)]
|-
|30 Oct (Th)
|Gossip Algorithm
|
|-
|-
| align=center rowspan=2 |6
|4 Nov (Tu)
|Distributed Control of Positive Systems
|
|-
|6 Nov (Th)
|Large Deviation
|
|-
| align=center rowspan=2 |7
|11 Nov (Tu)
|Distributed Hypothesis Testing
|
|-
|13 Nov (Th)
|Distributed Kalman Filtering
|
|-
| align=center rowspan=2 |8
|18 Nov (Tu)
|Fault Detection and Identification
|
|-
|20 Nov (Th)
|Generic Properties of Linear Structural Systems
|
|-
| align=center rowspan=2 |9
|25 Nov (Tu)
|Secure Consensus Algorithm
|
|-
|27 Nov (Th)
|Thanksgiving, No class
|
|-
| align=center rowspan=2 |10
|2 Dec (Tu)
|Research Presentation
|
|-
|4 Dec (Th)
|Research Presentation
|
|-
|}

==Course Description==

Networked control systems are spatially distributed systems for which the communication between sensors, actuators and controllers is supported by communication networks. Recent advances in sensing, communication technologies and computer architecture have led to the rapid growth of cost effective and low power devices, which dramatically increases the adaptability, efficiency and functionality of the control systems. However, networked control systems also introduce new challenges, as the information becomes local to each node and the information sharing between nodes may subject to network effects such as packet drop or delay.

In this course, we will review several recent advancements in networked control theory. We first consider a centralized control scheme, where the communication between the sensor, the controller and the actuator is unreliable. We then move to distributed control schemes and analyze the consensus algorithm, as it is key for many distributed control applications. Next, we study the performance of a consensus-based distributed inference algorithm. Finally, we discuss the consensus algorithm in adversarial environment.

==Course Administration==
There is no required homework and no midterm or final exam. Course grades will be based on a research presentation on last week.

CDS270(Fall2014)

2014-10-26T17:50:11Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-23T19:16:50Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-21T07:44:03Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-20T22:20:46Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-20T22:11:46Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-20T22:08:38Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-16T08:07:32Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-16T06:44:36Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-15T22:03:17Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-15T22:02:49Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-14T09:49:39Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T22:19:00Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T21:57:28Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T21:55:37Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T21:39:10Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T21:38:53Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-13T21:37:46Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-09T21:37:48Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-08T05:35:26Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-03T23:49:08Z

Yilinmo: /* Course Schedule */

CDS270(Fall2014)

2014-10-03T23:48:54Z

Yilinmo: /* Course Schedule */