View source for CDS 101/110a, Fall 2012 - Course Schedule

{{cds101-fa12}} __NOTOC__
This page contains the course schedule for CDS 101/110a.  Lecture notes, slides, and audio recordings will be posted usually on the same day as class. 

{| border=1 width=100%
|-
| Week || Date || Topic || Reading || Homework
|-
| align=center rowspan=5 | 1 
| colspan=4 |
====={{cds110 topic|1|Introduction and Review}} (DGM) =====
|-
| 1 Oct (M)
|  Introduction to Feedback and Control ({{cds101-fa12 lectures|L1-1.pdf|L1-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 1.1-1.2, 1.4-1.5]
| rowspan=4 align=center | {{cds101-fa12 homework|1}}
|-
| 3 Oct (W)+
| Introduction to Feedback ({{cds101-fa12 lectures|L1-2.pdf|L1-2}});  
| 
|-
| 5 Oct (F)
| System Modeling. ({{cds101-fa12 lectures|L1-3_modeling.pdf|L1-3}})
* Video: [[Media:Demo_springmass.mp4| coupled mass demo]]
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L1_3_modeling.m L1_3_modeling.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/springmass.m springmass.m]
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/python/L1-3_modeling.py L1-3_modeling.py]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 2.1-2.4 (review)]
|-
| 7, 8 Oct
| MATLAB and Python tutorials (optional)
* [[CDS_101/110_-_MATLAB/SIMULINK_Tutorial |Sunday MATLAB Tutorial]] ([http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/MATLAB_Review.m MATLAB_Review.m])
* [[CDS 101/110 - Python Tutorial|Monday Python Tutorial]] ([http://www.cds.caltech.edu/~slivings/TA/CDS110ab/cds110-tutorial.py cds110-tutorial.py])
| 
|-
| align=center rowspan=4 | 2
| colspan=4 |

===== {{cds110 topic|2|Dynamic Behavior}} (DGM) =====
|-
| 8 Oct (M)+
| Qualitative Analysis and Stability {{cds101-fa12 lectures|L2-1.pdf|L2-1}}; 
* Python code for phase portrait: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/L2-1.py L2-1.py]
* Predator-prey matlab code: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/predprey.m predprey.m]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 4.1-4.3]
| rowspan=3 align=center | {{cds101-fa12 homework|2}}
|-
| 10 Oct (W)
| Stability Analysis ({{cds101-fa12 lectures|L2-2.pdf|L2-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 4.4]
|-
| 12&nbsp;Oct&nbsp;(F)+
| Recitation sections
| 
|-
| align=center rowspan=4 | 3
| colspan=4 |

===== {{cds110 topic|3|Linear Systems}} (DGM) =====
|-
| 15&nbsp;Oct+&nbsp;(M)
| Linear Time-Invariant Systems ({{cds101-fa12 lectures|L3-1.pdf|L3-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 5.1-5.2]
| rowspan=3 align=center | {{cds101-fa12 homework|3}}
|-
| 17&nbsp;Oct+&nbsp;(W)
| Linear Systems Analysis ({{cds101-fa12 lectures|L3-2.pdf|L3-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 5.4]
|-
| 19 Oct+ (F)
| Recitation sections
| 
|-
| align=center rowspan=4 | 4
| colspan=4 |

===== {{cds110 topic|4|State Feedback}} (RMM) =====
|-
| 22 Oct (M)
| State Feedback ({{cds101-fa12 lectures|L4-1_statefbk.pdf|L4-1}})
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L4_1_statefbk.m L4_1_statefbk.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/predprey.m predprey.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/predprey_rh.m predprey_rh.m]
* Python code: [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/L4_1_statefbk.py L4_1_statefbk.py], [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/predprey.py predprey.py]

| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.1-6.3]
| rowspan=3 align=center | [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/pdf/hw4-fa12.pdf HW #4]<br/> [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/pdf/solns/soln4-fa12.pdf soln #4]<br/>
[http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/pdf/solns/ps4p5.py Python code for problem 5]
|-
| 24 Oct (W)
| Reachability and Reference Tracking ({{cds101-fa12 lectures|L4-2_statefbk.pdf|L4-2}})
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L4_2_predprey.m L4_2_predprey.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/predprey.m predprey.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/predprey_rh.m predprey_rh.m]
* Python code: [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/L4_2_predprey.py L4_2_predprey.py], [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/predprey.py predprey.py]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.4-6.5]
|-
| 26 Oct (F)
| Recitation sections
| 
|-
| align=center rowspan=4 | 5
| colspan=4 |

===== {{cds110 topic|5|Output Feedback}} (RMM) =====
|-
| 29 Oct (M)
| Observability and State Estimation ({{cds101-fa12 lectures|L5-1_outputfbk.pdf|L5-1}})
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/dfan_est.m dfan_est.m], [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/dfan_lqr.m dfan_lqr.m], 
<!-- * Python code: [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/L4_1_statefbk.py L4_1_statefbk.py], [http://www.cds.caltech.edu/~slivings/TA/CDS110ab/predprey.py predprey.py] -->
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.1--7.3]
| rowspan=3 align=center | {{cds101 exam|Midterm|midterm-guideline}}
|-
| 31 Oct (W)
| State Space Design and Laplace Transforms ({{cds101-fa12 lectures|L5-2_statesp-analysis.pdf|L5-2}})
* [http://lpsa.swarthmore.edu/LaplaceZTable/Common%20Laplace%20Transform%20Pairs.pdf Laplace transform table]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.5, 8.5]
|-
| 2 Nov (F)
| Midterm review ''In Annenberg''({{cds101-fa12 lectures|cds110_midterm_review.pdf|L5-3}}), [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/pdf/MidtermReviewCDS101.pdf cds101_review]
| 
|-
| align=center rowspan=4 | 6
| colspan=4 |

===== {{cds110 topic|6|Transfer Functions}} (RMM) =====
|-
| 5 Nov (M)
| Transfer Functions ({{cds101-fa12 lectures|L6-1_xferfcns.pdf|L6-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.2, 8.4]
| rowspan=3 align=center | {{cds101-fa12 homework|5}}
|-
| 7 Nov (W)
| Frequency Response and Bode Plots ({{cds101-fa12 lectures|L6-2_xferfcns.pdf|L6-2}})
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L6-2_cruise.py L6-2_cruise.py]

| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.3-8.4]
|-
| 9 Nov (F)
| Recitation sections
| 
|-
| align=center rowspan=4 | 7
| colspan=4 |

===== {{cds110 topic|7|Loop Analysis}} (DGM) =====
|-
| 12 Nov (M)
| Stability of Feedback Systems ({{cds101-fa12 lectures|L7-1_loopanal.pdf|L7-1}})[http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/L7_1_loopanal.m L7_1_loopanal.m],
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.1-9.2]
| rowspan=3 align=center | {{cds101-fa12 homework|6}}
|-
| 14 Nov (W)+
| Nyquist Criterion ({{cds101-fa12 lectures|L7-2_nyquist.pdf|L7-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.3-9.4]
|-
| 16 Nov (F)
| Recitation sections
| 
|-
| align=center rowspan=4 | 8
| colspan=4 |

===== {{cds110 topic|8|PID Control}} (DGM) =====
|-
| 19 Nov (M)
| The PID Controller ({{cds101-fa12 lectures|L8-1_pid.pdf|L8-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.1-10.2]
| rowspan=3 align=center | {{cds101-fa12 homework|7}}
|-
| 21 Nov (W)+
| PID Analysis and Implementation ({{cds101-fa12 lectures|L8-2_pid.pdf|L8-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.3, 10.5]
|-
| 23 Nov (F)
| No class (Thanksgiving)
| 
|-
| align=center rowspan=4 | 9
| colspan=4 |

===== {{cds110 topic|9|Loop Shaping}} (RMM) =====
|-
| 26 Nov (M)
| Control Design using Loop Shaping ({{cds101-fa12 lectures|L9-1_loopsyn.pdf|L9-1}})
* Python code: TBD
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
| rowspan=3 align=center | {{cds101-fa12 homework|8}}
|-
| 28 Nov (W)
| Limits of Performance ({{cds101-fa12 lectures|L9-2_limits.pdf|L9-2}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m L8_2_maglev.m]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
|-
| 30  Nov (F)
| Recitation sections
| 
|-
| align=center rowspan=4 | 10
| colspan=4 |

===== {{cds110 topic|10|Control Design}} (RMM) =====
|-
| 3 Dec* (M)
| Limits of Performance ({{cds101-fa12 lectures|L9-2_limits.pdf|L9-2}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m L8_2_maglev.m]
| 
| rowspan=3 align=center | {{cds101 exam|Final|final-rules}}
|-
| 5 Dec* (W)
| Control system implementation
|- 
| 7 Dec* (F)
| Final review ({{cds101-fa12 lectures|L10-3_review.pdf|L10-3}})
|
|}