CDS 101/110a, Fall 2010
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This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2010. __NOTOC__  This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2010. __NOTOC__  
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+  '''This page is for a course taught in a previous year! If you are looking for this year's website, please follow the menu bar at left'''  
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−  '''  +  '''Instructor''' 
* Doug MacMynowski, macmardg@cds.caltech.edu  * Doug MacMynowski, macmardg@cds.caltech.edu  
* Lectures: MW, 23 pm, 070 Moore; recitation F 23 pm (see announcement below)  * Lectures: MW, 23 pm, 070 Moore; recitation F 23 pm (see announcement below)  
−  * Office hours (  +  * Office hours (128 Steele): Mondays, 1112 am (by appt!) 
* Prior years: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2006 FA06], [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2007 FA07][http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008 FA08] [[CDS 101/110a, Fall 2009  FA09]]  * Prior years: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2006 FA06], [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2007 FA07][http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008 FA08] [[CDS 101/110a, Fall 2009  FA09]]  
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−  *  +  * 20 Dec 10: Final course grade histogram [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/pdf/final_hist.pdf final_hist.pdf]. (The odd choice of boundaries between grades is chosen to ensure that students who have almost identical numerical grades receive identical letter grades.) 
−  +  * 3 Dec 10: Extra copies of the final are located next to the HW boxes in Steele. Stability and controller design portion of the final review can be found [https://docs.google.com/viewer?a=v&pid=explorer&chrome=true&srcid=0B6AUPAlXzdCIYjE0YjBkYWQtYzNmZC00Y2RiLTkwNDMtZjM3NDI5NDhkYzc3&hl=en&authkey=CLe6xtsD here] .  
−  *  +  * 27 Nov 10: NO OH THIS WEEKEND  new times are 46 PM on Monday and 810 PM on Tuesday in STL 214. Also, the Wednesday deadline for the HW is final. No additional extensions unless you have a note from the dean or the health center. 
−  * Nov  +  * 24 Nov 10: Due to a technical error, today's lecture wasn't recorded, so you missed my description of how to choose P or PI or PID and gains... 
+  * 24 Nov 10: Office hours for next week will be Monday 46pm and Tuesday 810pm (no office hours this weekend).  
+  * 20 Nov 10: Note errata in text re eq 6.24; [http://www.cds.caltech.edu/~murray/amwiki/index.php/Errata:_In_equation_%286.24%29,_the_sign_of_the_sin%28omega_t%29_term_is_incorrect_for_zeta_less_than_one]  
+  * 17 Nov 10: HW #7 is available. You may find the following useful for the final problem: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m maglev.m].  
+  * 17 Nov 10: there will be no recitation on Friday Nov 26th.  
+  * 15 Nov 10: FYI, HW #8 will be due on *Wednesday* Dec 1 rather than Monday Nov 29, however, to allow time for grading, we can't extend this with grace periods (i.e. consider this a free grace period for everyone.)  
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+  * Dec 17: Final  CDS101 [ Avg. Grade = 25.7/40  Course Average = 80% ], CDS110a [ Avg. Grade = 37.5/60  Course Average = 82% ]  
+  * Dec. 9: HW8  CDS101 [ Avg. Grade = 18.75/20  Avg. Time Spent = 6 hrs. ], CDS110a [ Avg. Grade = 37.8/40  Avg. Time Spent = 7.7 hrs. ]  
+  * Dec. 9: HW7  CDS101 [ Avg. Grade = 18.25/20  Avg. Time Spent = 6.7 hrs. ], CDS110a [ Avg. Grade = 55/60  Avg. Time Spent = 12.5 hrs. ]  
+  * Nov. 27: HW6  CDS101 [ Avg. Grade = 19.6/20  Avg. Time Spent = 4.3 hrs. ], CDS110a [ Avg. Grade = 61.9/60  Avg. Time Spent = 9.5 hrs. ]  
+  * Nov. 16: HW5  CDS101 [ Avg. Grade = 29.6/35  Avg. Time Spent = 9.5 hrs. ], CDS110a [ Avg. Grade = 55.2/60  Avg. Time Spent = 12.3 hrs. ]  
* Nov. 3: Midterm  CDS101 [ Avg. Grade = 32/40 ], CDS110a [ Avg. Grade = 40.5/50 ]  * Nov. 3: Midterm  CDS101 [ Avg. Grade = 32/40 ], CDS110a [ Avg. Grade = 40.5/50 ]  
−  * Nov. 3: HW4  CDS101 [ Avg. Grade = 12.6/15  Avg. Time Spent = 3  +  * Nov. 3: HW4  CDS101 [ Avg. Grade = 12.6/15  Avg. Time Spent = 3 hrs. ], CDS110a [ Avg. Grade = 51.4/60  Avg. Time Spent = 9.6 hrs. ] 
−  * Oct. 27: HW3  CDS101 [ Avg. Grade = 19.4/20  Avg. Time Spent = 6  +  * Oct. 27: HW3  CDS101 [ Avg. Grade = 19.4/20  Avg. Time Spent = 6 hrs. ], CDS110a [ Avg. Grade = 58.7/60  Avg. Time Spent = 10 hrs. ] 
* Oct. 18: HW2  CDS101 [ Avg. Grade = 23.2/25  Avg. Time Spent = 3.8 hrs. ], CDS110a [ Avg. Grade = 53.8/60  Avg. Time Spent = 10.6 hrs. ]  * Oct. 18: HW2  CDS101 [ Avg. Grade = 23.2/25  Avg. Time Spent = 3.8 hrs. ], CDS110a [ Avg. Grade = 53.8/60  Avg. Time Spent = 10.6 hrs. ]  
* Oct. 11: HW1  CDS101 [ Avg. Grade = 18.4/20  Avg. Time Spent = 5.1 hrs. ], CDS110a [ Avg. Grade = 55.2/60  Avg. Time Spent = 11.6 hrs. ]  * Oct. 11: HW1  CDS101 [ Avg. Grade = 18.4/20  Avg. Time Spent = 5.1 hrs. ], CDS110a [ Avg. Grade = 55.2/60  Avg. Time Spent = 11.6 hrs. ]  
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== Old Announcements ==  == Old Announcements ==  
<! leaving these as templates !>  <! leaving these as templates !>  
+  * 12 Nov 10: For HW #6: I defined gain and phase margin, but not the "stability margin" asked for in problem 1; you can ignore that and just compute gain and phase margins. (The stability margin is the closest point to 1, that is, the minimum value of 1+L(iw)  
+  * 9 Nov 10: Michelle's modification of amnyquist to plot the unit circle: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/mjnyquist.m mjnyquist.m]  
+  * 9 Nov 09: HW #6 is available. Some useful files: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/ambode.m ambode.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/amnyquist.m amnyquist.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/arrow.m arrow.m]  
+  * Nov 8: Midterm histogram: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/pdf/Midterm_hist.pdf Midterm hist.pdf]  
* Oct 29: If you did not pick up a midterm in class on Wednesday, copies are in Steele next to where you hand homework in.  * Oct 29: If you did not pick up a midterm in class on Wednesday, copies are in Steele next to where you hand homework in.  
* Oct 27: THIS WEEK ONLY: Friday recitation will be in 070 Moore (midterm review).  * Oct 27: THIS WEEK ONLY: Friday recitation will be in 070 Moore (midterm review). 
Latest revision as of 22:49, 3 October 2011
CDS 101/110a  Schedule  Recitations  FAQ  AM08 (errata) 
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2010.
This page is for a course taught in a previous year! If you are looking for this year's website, please follow the menu bar at left
Instructor 
Teaching Assistants (cds110tas@cds.caltech.edu)
Course Ombuds

[edit] Announcements
 20 Dec 10: Final course grade histogram final_hist.pdf. (The odd choice of boundaries between grades is chosen to ensure that students who have almost identical numerical grades receive identical letter grades.)
 3 Dec 10: Extra copies of the final are located next to the HW boxes in Steele. Stability and controller design portion of the final review can be found here .
 27 Nov 10: NO OH THIS WEEKEND  new times are 46 PM on Monday and 810 PM on Tuesday in STL 214. Also, the Wednesday deadline for the HW is final. No additional extensions unless you have a note from the dean or the health center.
 24 Nov 10: Due to a technical error, today's lecture wasn't recorded, so you missed my description of how to choose P or PI or PID and gains...
 24 Nov 10: Office hours for next week will be Monday 46pm and Tuesday 810pm (no office hours this weekend).
 20 Nov 10: Note errata in text re eq 6.24; [1]
 17 Nov 10: HW #7 is available. You may find the following useful for the final problem: maglev.m.
 17 Nov 10: there will be no recitation on Friday Nov 26th.
 15 Nov 10: FYI, HW #8 will be due on *Wednesday* Dec 1 rather than Monday Nov 29, however, to allow time for grading, we can't extend this with grace periods (i.e. consider this a free grace period for everyone.)
[edit] Homework/Exam Statistics
 Dec 17: Final  CDS101 [ Avg. Grade = 25.7/40  Course Average = 80% ], CDS110a [ Avg. Grade = 37.5/60  Course Average = 82% ]
 Dec. 9: HW8  CDS101 [ Avg. Grade = 18.75/20  Avg. Time Spent = 6 hrs. ], CDS110a [ Avg. Grade = 37.8/40  Avg. Time Spent = 7.7 hrs. ]
 Dec. 9: HW7  CDS101 [ Avg. Grade = 18.25/20  Avg. Time Spent = 6.7 hrs. ], CDS110a [ Avg. Grade = 55/60  Avg. Time Spent = 12.5 hrs. ]
 Nov. 27: HW6  CDS101 [ Avg. Grade = 19.6/20  Avg. Time Spent = 4.3 hrs. ], CDS110a [ Avg. Grade = 61.9/60  Avg. Time Spent = 9.5 hrs. ]
 Nov. 16: HW5  CDS101 [ Avg. Grade = 29.6/35  Avg. Time Spent = 9.5 hrs. ], CDS110a [ Avg. Grade = 55.2/60  Avg. Time Spent = 12.3 hrs. ]
 Nov. 3: Midterm  CDS101 [ Avg. Grade = 32/40 ], CDS110a [ Avg. Grade = 40.5/50 ]
 Nov. 3: HW4  CDS101 [ Avg. Grade = 12.6/15  Avg. Time Spent = 3 hrs. ], CDS110a [ Avg. Grade = 51.4/60  Avg. Time Spent = 9.6 hrs. ]
 Oct. 27: HW3  CDS101 [ Avg. Grade = 19.4/20  Avg. Time Spent = 6 hrs. ], CDS110a [ Avg. Grade = 58.7/60  Avg. Time Spent = 10 hrs. ]
 Oct. 18: HW2  CDS101 [ Avg. Grade = 23.2/25  Avg. Time Spent = 3.8 hrs. ], CDS110a [ Avg. Grade = 53.8/60  Avg. Time Spent = 10.6 hrs. ]
 Oct. 11: HW1  CDS101 [ Avg. Grade = 18.4/20  Avg. Time Spent = 5.1 hrs. ], CDS110a [ Avg. Grade = 55.2/60  Avg. Time Spent = 11.6 hrs. ]
[edit] Course Syllabus

CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. Basic principles of feedback and its use as a tool for altering the dynamics of systems and managing uncertainty. Key themes throughout the course will include input/output response, modeling and model reduction, linear versus nonlinear models, and local versus global behavior. The course has several variants:
 CDS 101 is a 6 unit (204) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems.
 CDS 110 is a 12 unit class (309) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required.
[edit] Lectures and Recitations
The main course lectures are on MW from 23 pm in 070 Moore. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 23 pm, starting in the second week of class. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.
The TAs will hold office hours on Fridays from 45 pm and Sundays from 46 pm in 114 Steele (CDS library).
[edit] Grading
The final grade will be based on homework sets, a midterm exam, and a final exam:
 Homework (50%): Homework sets will be handed out weekly and due on Mondays by 5 pm to box F outside of 102 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).
 Midterm exam (20%): A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).
 Final exam (30%): The final exam will be handed out on the last day of class (4 Dec) and due on Thursday of finals week. It will be an open book exam and computers will be allowed (though not required).
[edit] Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually (you can share ideas, but not code).
No collaboration is allowed on the midterm or final exams.
[edit] Software
Computer exercises will be assigned as part of the regular homeworks. The exercises are designed to be done in MATLAB, using the Control Toolbox. SIMULINK may be useful but is not required. Caltech has a site license for this software and it may be obtained from IMSS (Caltech students only). An online tutorial is available at
[edit] Course Text and References
The primary course text is Feedback Systems: An Introduction for Scientists and Engineers by Åström and Murray (2008). This book is available in the Caltech bookstore and via download from the companion web site. The following additional references may also be useful:
 A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.
In addition to the books above, the textbooks below may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.
 B. Friedland, Control System Design: An Introduction to StateSpace Methods, McGrawHill, 1986.
 G. F. Franklin, J. D. Powell, and A. EmamiNaeni, Feedback Control of Dynamic Systems, AddisonWesley, 2002.
[edit] Course Schedule
A detailed course schedule is available on the course schedule page (also shown on the "menu bar" at the top of each course page).
[edit] Old Announcements
 12 Nov 10: For HW #6: I defined gain and phase margin, but not the "stability margin" asked for in problem 1; you can ignore that and just compute gain and phase margins. (The stability margin is the closest point to 1, that is, the minimum value of 1+L(iw)
 9 Nov 10: Michelle's modification of amnyquist to plot the unit circle: mjnyquist.m
 9 Nov 09: HW #6 is available. Some useful files: ambode.m, amnyquist.m, arrow.m
 Nov 8: Midterm histogram: Midterm hist.pdf
 Oct 29: If you did not pick up a midterm in class on Wednesday, copies are in Steele next to where you hand homework in.
 Oct 27: THIS WEEK ONLY: Friday recitation will be in 070 Moore (midterm review).
 Oct 27: Note change in office hours and location.
 Oct 20: NOTE: if you have trouble accessing solutions, they are only accessible from a .caltech.edu domain
 Oct 20: For HW #4, problem 6.10 (proof of CayleyHamilton), you can assume that A is diagonalizable (the proof is highly nontrivial if you want to consider the general case of nontrivial Jordan form).
 Oct 18: Matlab file for HW #4: bike_linmod.m
 Oct 17: Problem 2b is officially declared as an extra credit problem. You will get 5 pts. extra credit if you use the SIMULINK tutorial (click here for the SIMULINK tutorial) or if you can fix the Mfiles to generate the proper graphs.
 Oct 11: Simulation files for HW #3: cartpend.m, cartpend_model.m, balance_simple.mdl
 Oct 7: Due to technical difficulties, yesterday's lecture wasn't recorded... there seems to be a curse on that lecture; the most recent one I could find was from 2007, so you get to hear Prof. Murray's version.
 Oct 05: HW #2 files: Any required files will typically be posted here, under announcements; for this week you need phaseplot.m, try it with boxgrid.m for neater looking plots.
 Sep 29: Recitations in 110 Steele (for CDS101), 206 Thomas (110a, "MechE" focus) or 214 Steele (110a, "EE/info/bio/..." focus)
 Sep 29: We will conduct regular recitation sections this week on Friday, and an optional Matlab tutorial on Sunday 24, SFL 328.
 Sep 29: Next Monday/Wednesday class in 070 Moore
 Sep 26: CDS 101 students may find this week's Wednesday lecture on modeling useful
 Sep 26: Website should be current, let me know if any links are broken!
 Aug 20, website created, currently under construction