CDS 212 Fall 2011

Feedback Control Theory http://www.cds.caltech.edu/wiki/index.php/CDS_212_Fall_2011
Instructor John Doyle, doyle@cds.caltech.edu Lectures: Tu/Th, 2:30-4 pm, 314 Annenberg	Teaching Assistants Na (Lina) Li, nali@caltech.edu Office hours: Wed, 3:00-4:00pm, 230 Annen

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

• 17th Nov 2011:

Reading materials: http://www.cds.caltech.edu/~nali/pub/CDS212/week_8/

Please read Megretskich8 and RantzerKYP; others are more adavanced

• 1st Nov 2011: Reading: SDP Duality and LTI Duality
• 25 Oct 2011: Notes from lecture: slides
• 19 Oct 2011: Notes from lecture: slides

Other materials: A Fundamental Limit on the Robustness of Complex Systems

• 13 Oct 2011: Notes from lecture: Chapter 4 Chapter 6
• 6 Oct 2011: Today's class: 2:00pm-3:00pm, 107 Annen

Reading materials: 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: Lecture1BioBodePlusPlus.pptx; Lecture1Extras.pptx
  Paper to read: Glycolytic Oscillations and Limits on Robust Efficiency(Supporting materials can be founded here); Architecture, constraints, and behavior

• 22 Sep 2011: created homepage; 2010 home page

Textbook

The two primary texts for the course (available via the online bookstore) are

[DFT]	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.
[DP]	G. Dullerud and F. Paganini, A Course in Robust Control Theory, Springer, 2000.

The following additional texts may be useful for some students:

[FBS]

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

Week	Date	Trunk	Reading	Homework
1	27 Sep  29 Sep	Norms for signals and systems	DFT Ch 1, 2  DP Ch 3	HW1
2	4 Oct 6 Oct	Feedback, stability and performance	DFT Ch 3 (FBS 9.1-9.3) (FBS 11.1-11.2)	HW2
3	11 Oct 13 Oct	Uncertainty and robustness	DFT Ch 4 (FBS 12.1‑12.3)	HW3
4	18 Oct 20 Oct	Fundamental limits	DFT Ch 6 (FBS 11.4, 12.4)	HW4
5	25 Oct 27 Oct	Fundamental limits in control and information theory Realization theory, controllability, observability Lyapunov equation and stability conditions	DP Ch 2 ,4	HW5 analytic_function.pdf
6	1 Nov 3 Nov	LMIs Model reduction	DP Ch 2,4 Duality SDP Duality and LTI LMIs Ch 2	NO HW
7	8 Nov 10 Nov	SDP duality for LTI H2 optimal control	DP Ch 5, 6 SDP Duality and LTI	HW6
8 9	15 Nov 17 Nov 22 Nov	H2 synthesis by SDP KYP Lemma MIMO Model Uncertainty	DP Ch 6, 7 Megretskich8 RantzerKYP MIMO	HW7
10	29 Nov 1 Dec	Links with information theory and statistical mechanics		HW 9

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.