View source for CDS 212 Fall 2011

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<font color='blue' size='+2'>Feedback Control Theory</font>__NOTOC__

[http://www. http://www.cds.caltech.edu/wiki/index.php/CDS_212_Fall_2011]
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'''Instructor'''
* [http://cds-web1.cds.caltech.edu/~doyle2/wiki/index.php?title=Main_Page John Doyle], doyle@cds.caltech.edu
* Lectures: Tu/Th, 2:30-4 pm, 314 Annenberg
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'''Teaching Assistants'''
*[http://www.cds.caltech.edu/~nali/ Na (Lina) Li], nali@caltech.edu
* Office hours: Wed, 3:00-4:00pm, 230 Annen
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=== Course Description ===
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. State-space methods, time and frequency domain, stability and stabilization, realization theory. Time-varying and nonlinear models. Uncertainty and robustness.

===Announcements ===
*22 Nov 2011: 
*17th Nov 2011: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_9/PabloSOS.pdf SOS.pdf]
Reading materials: http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/

Please read [http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/Megretskich8.pdf Megretskich8] and [http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/rantzerKYP.pdf RantzerKYP]; others are more adavanced
*1st Nov 2011: Reading: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_6/SDP_LMI.pdf SDP Duality and LTI] [http://www.stanford.edu/class/ee364a/lectures/duality.pdf Duality]
*25 Oct 2011: Notes from lecture: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_5/ slides]
*19 Oct 2011: Notes from lecture: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_4/slides/ slides]
Other materials: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_4/others/ A Fundamental Limit on the Robustness of Complex Systems]
*13 Oct 2011: Notes from lecture: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_3/Chap4Slides.pdf Chapter 4] [http://www.cds.caltech.edu/~nali/pub/CDS212/week_3/chap6.pdf Chapter 6]
* 6 Oct 2011: Today's class: 2:00pm-3:00pm, 107 Annen
Reading materials: [http://www.math.rutgers.edu/~sontag/Keyword/INTERNAL-MODEL-PRINCIPLE.html Internal model principle]
* 5 Oct 2011: Doodle for class on Thu (7th Oct) and Tue (11 Oct): http://doodle.com/dgei34wxabpfx466
* 27 Sep 2011: Notes from Lecture 1: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_1/Lecture1BioBodePlusPlus.pptx Lecture1BioBodePlusPlus.pptx]; [http://www.cds.caltech.edu/~nali/pub/CDS212/week_1/Lecture1Extras.pptx Lecture1Extras.pptx] <br> Paper to read: [http://www.cds.caltech.edu/~nali/pub/CDS212/week_1/CorrectedScienceGlycolyticOscOnlineFinal.pdf Glycolytic Oscillations and Limits on Robust Efficiency](Supporting materials can be founded [http://www.sciencemag.org/content/suppl/2011/07/06/333.6039.187.DC1.html here]); [http://www.cds.caltech.edu/~nali/pub/CDS212/week_1/OnlineFinalPNASSackler.pdf Architecture, constraints, and behavior]

* 22 Sep 2011: created homepage; [http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_212_Fall_2010 2010 home page]

=== Textbook ===

The two primary texts for the course (available via the online bookstore) are
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| align=right | &nbsp;[DFT]&nbsp;
| J. Doyle, B. Francis and A. Tannenbaum, ''Feedback Control Theory'', Dover, 2009 (originally published by Macmillan, 1992).  Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.
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| align=right | &nbsp;[DP]&nbsp;
| G. Dullerud and F. Paganini, ''A Course in Robust Control Theory'', Springer, 2000.
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The following additional texts may be useful for some students:
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| align=right | &nbsp;[FBS]&nbsp;
| K. J. Astrom and R. M. Murray, ''Feedback Systems: An Introduction for Scientists and Engineers'', Princeton University Press, 2008.  Available online at http://www.cds.caltech.edu/~murray/amwiki.
|}

=== Lecture Schedule ===

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| '''Week'''
| '''Date'''
| '''Trunk'''
| '''Reading'''
| '''Homework'''
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| 1
| 27&nbsp;Sep&nbsp;<br> 29 Sep
| 
* Norms for signals and systems
| {{DFT}}&nbsp;Ch&nbsp;1,&nbsp;2&nbsp; <br> DP Ch 3
| [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_1.pdf HW1]
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| 2
| 4 Oct <br> 6 Oct
| 
* Feedback, stability and performance
| {{DFT}} Ch 3 <br> ({{FBS}}&nbsp;9.1-9.3) <br> ({{FBS}}&nbsp;11.1-11.2)
| [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_2.pdf HW2]
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| 3
| 11&nbsp;Oct <br> 13 Oct
| 
* Uncertainty and robustness
| {{DFT}} Ch 4 <br> ({{FBS}}&nbsp;12.1&#8209;12.3)
| [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_3.pdf HW3]
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| style="border-bottom:3px solid gray;" | 4
| style="border-bottom:3px solid gray;" | 18 Oct <br> 20 Oct
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*Fundamental limits

| style="border-bottom:3px solid gray;" | {{DFT}} Ch 6 <br> ({{FBS}}&nbsp;11.4,&nbsp;12.4)
| style="border-bottom:3px solid gray;" | [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_4.pdf HW4]
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| 5
| 25 Oct <br> 27 Oct
| 
*Fundamental limits in control and information theory
*Realization theory, controllability, observability
* Lyapunov equation and stability conditions
| DP Ch 2 ,4 <br> 
|  [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_5.pdf HW5] <br> [http://www.cds.caltech.edu/~nali/pub/CDS212/week_5/analytic_function.pdf analytic_function.pdf]
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| style="border-bottom:3px solid gray;" | 6
| style="border-bottom:3px solid gray;" | 1 Nov <br> 3 Nov
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* LMIs
* Model reduction
|  style="border-bottom:3px solid gray;" | DP Ch 2,4 <br>[http://www.stanford.edu/class/ee364a/lectures/duality.pdf Duality] <br>[http://www.cds.caltech.edu/~nali/pub/CDS212/week_6/SDP_LMI.pdf SDP Duality and LTI] <br> [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf LMIs] Ch 2 
| style="border-bottom:3px solid gray;" | NO HW
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| 7
| 8 Nov <br> 10 Nov
| 
* SDP duality for LTI
* H2 optimal control
| DP Ch 5, 6 <br> [http://www.cds.caltech.edu/~nali/pub/CDS212/week_6/SDP_LMI.pdf SDP Duality and LTI]
| [http://www.cds.caltech.edu/~nali/pub/CDS212/homework_6.pdf HW6]
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| 8 <br> <br> 9
| 15 Nov <br> 17 Nov <br> 22 Nov
|
* H2 synthesis by SDP 
* KYP Lemma
* MIMO
* Model Uncertainty
| DP Ch 6, 7 , 8<br> [http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/Megretskich8.pdf Megretskich8] <br>[http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/rantzerKYP.pdf RantzerKYP] <br> [http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/MIMO.pdf MIMO]
|[http://www.cds.caltech.edu/~nali/pub/CDS212/homework_7.pdf HW7]
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| style="border-bottom:3px solid gray;" | 10
| style="border-bottom:3px solid gray;" | 29 Nov <br> 1 Dec
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* 
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| rowspan=2 style="border-bottom:3px solid gray;" | [[CDS 212, Homework 8, Fall 2010|HW 8]] 
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=== Grading ===
The ﬁnal grade will be based on homework:
There will be 9 one-week problem sets, due each Thursday by 5pm in the TA's mailbox on the third floor of Annenberg. Each student may hand in at most one homework late (no more than 5 days). 

The lowest homework score you receive will be dropped in computing your homework average.  In addition, if your score on the ﬁnal is higher than the weighted average of your homework and ﬁnal, your ﬁnal will be used to determine your course grade.

=== Collaboration Policy ===
Collaboration on homework assignments is encouraged. You may  consult outside reference materials, other students, the TA, or the instructor.  Use of solutions from previous years in the course is not allowed.  All solutions that are handed should reﬂect your understanding of the subject matter at the time of writing. 


=== Additional References (Optional)===

[[Category:Courses]]