CDS 101/110a, Fall 2012
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−  * Oct 22: Matlab and Python files for HW #4: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/bike_linmod.m bike_linmod.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/python/bike_linmod.py bike_linmod.py]  +  * Oct 22: Matlab and Python files for HW #4: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/bike_linmod.m bike_linmod.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/python/bike_linmod.py bike_linmod.py]. For further details on bicycle dynamics, see [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics], and the IEEE article [http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?tp=&arnumber=1499389&isnumber=32202 K. J. Astrom, R. E. Klein and A. Lennartsson, Bicycle dynamics and control: adapted bicycles for education and research, IEEE Control Systems Magazine, 25(4):2647, August 2005]. 
* Oct 15: Simulation files for HW #3: In python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py], and in Matlab: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]  * Oct 15: Simulation files for HW #3: In python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py], and in Matlab: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]  
* Oct 14: HW #2 files: For this week's homework, you can also use [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/phaseplot.m phaseplot.m], try it with [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/boxgrid.m boxgrid.m] for neater looking plots.  * Oct 14: HW #2 files: For this week's homework, you can also use [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/phaseplot.m phaseplot.m], try it with [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/boxgrid.m boxgrid.m] for neater looking plots. 
Revision as of 22:06, 22 October 2012
CDS 101/110a  Schedule  Recitations  Piazza  AM08 (errata) 
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2012.
Instructor 
Teaching Assistants (cds110tas@cds.caltech.edu)
Course Ombuds: Jay Qi, Yifei Huang, 
Announcements
 Oct 22: Matlab and Python files for HW #4: bike_linmod.m, bike_linmod.py. For further details on bicycle dynamics, see Bicycle dynamics, and the IEEE article K. J. Astrom, R. E. Klein and A. Lennartsson, Bicycle dynamics and control: adapted bicycles for education and research, IEEE Control Systems Magazine, 25(4):2647, August 2005.
 Oct 15: Simulation files for HW #3: In python: cartpend.py, and in Matlab: cartpend.m, cartpend_model.m, balance_simple.mdl
 Oct 14: HW #2 files: For this week's homework, you can also use phaseplot.m, try it with boxgrid.m for neater looking plots.
 Oct 14: Note *this week only*, the new Monday office hour will be in SFL 231, group study room 24. Stay tuned for next week location.
 Oct 10: Note recitation rooms: 110 Steele for more conceptual focus (including CDS 101), 206 Thomas for Matlabfocused, and 213 Annenberg for Pythonfocused.
 Oct 1: For anyone who didn't get handouts in class today, please fill out the background survey available here: bgsurvey.pdf; lecture notes and recording for today are available by following the link to the course schedule page and looking for L11. If you were not in class, please email the TAs at cds110tas@cds.caltech.edu to ensure you are put on the mailing list!
 Sept 17: Schedule for first week: regular lectures MWF in 105 Annenberg (MF for CDS101). Matlab tutorial, Sunday Oct 7, 35pm, SFL 328. Python tutorial, Monday Oct 8, 79pm, SFL 328.
Homework/Exam Statistics
Note that the solutions can also be obtained from the course schedule page after the homework for that week has been handed in. Solutions are only available from within the caltech.edu domain.
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.
Lectures and Recitations
The main course lectures are on MW from 23 pm in 105 Annenberg. 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. (There will be a lecture in ANB 105 the first Friday.) 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 Tuesdays 68 pm, SFL 328, or by appointment earlier.
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 Wednesdays by 5 pm to box F outside of 102 Steele. Late homework will not be accepted without a note from the health center or the Dean; please plan your time accordingly. MATLAB or Python code 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 (31 Oct) and due at the end of the midterm examination period (6 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 (7 Dec) and due on Thursday of finals week (Dec 13). It will be an open book exam and computers will be allowed (though not required).
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. Python or 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.
Software
Computer exercises will be assigned as part of the regular homeworks. The exercises are designed to be done either in MATLAB, using the Control Toolbox, or in Python. SIMULINK may be useful but is not required. Caltech has a site license for Matlab and it may be obtained from IMSS (Caltech students only). An online tutorial is available at
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.
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).
Old Announcements
 Aug 9, website created, currently under construction