CDS 101/110a, Fall 2012 - Course Schedule

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{{cds101-fa12}} __NOTOC__
 
{{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.  
 
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.  
 +
 +
==<span style="background:#FF0000"> THIS IS THE WEB PAGE FOR A PREVIOUS YEAR </span>==
  
 
{| border=1 width=100%
 
{| border=1 width=100%
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| MATLAB and Python tutorials (optional)
 
| 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_-_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]] (cds110-tutorial.py)
+
* [[CDS 101/110 - Python Tutorial|Monday Python Tutorial]] ([http://www.cds.caltech.edu/~slivings/TA/CDS110ab/cds110-tutorial.py cds110-tutorial.py])
 
|  
 
|  
 
|-
 
|-
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|-
 
|-
 
| 8 Oct (M)+
 
| 8 Oct (M)+
| Qualitative Analysis and Stability ({{cds101-fa12 lectures|L2-1.pdf|L2-1}}; [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/predprey.m predprey.m])
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| 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 4.1-4.3]
 
| rowspan=3 align=center | {{cds101-fa12 homework|2}}
 
| rowspan=3 align=center | {{cds101-fa12 homework|2}}
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|-
 
|-
 
| 22 Oct (M)
 
| 22 Oct (M)
| Reachability and State Feedback ({{cds101-fa12 lectures|L4-1_statefbk.pdf|L4-1}})
+
| 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.1-6.3]
| rowspan=3 align=center | {{cds101-fa12 homework|4}}
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| 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)
 
| 24 Oct (W)
| Eigenvalue Placement ({{cds101-fa12 lectures|L4-2_statefbk.pdf|L4-2}})
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| 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.4-6.5]
 
|-
 
|-
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|-
 
|-
 
| 29 Oct (M)
 
| 29 Oct (M)
| Observability and State Estimation ({{cds101-fa12 lectures|L5-1_estimators.pdf|L5-1}})
+
| Observability and State Estimation ({{cds101-fa12 lectures|L5-1_outputfbk.pdf|L5-1}})
* Shift observability to week 4; cover Ch 3 here
+
* 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.1--7.3]
 
| rowspan=3 align=center | {{cds101 exam|Midterm|midterm-guideline}}
 
| rowspan=3 align=center | {{cds101 exam|Midterm|midterm-guideline}}
 
|-
 
|-
 
| 31 Oct (W)
 
| 31 Oct (W)
| Transfer Functions #1 ({{cds101-fa12 lectures|L5-2_TransferFunctions.pdf|L5-2}}, [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/pdf/L5-2_Laplace.pdf Laplace notes], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/pdf/LaplaceTransformNotes.pdf Laplace notes #2])
+
| State Space Design and Laplace Transforms ({{cds101-fa12 lectures|L5-2_statesp-analysis.pdf|L5-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1, 8.2, 8.5]
+
* [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)
 
| 2 Nov (F)
| Midterm review ''In Annenberg''({{cds101-fa12 lectures|cds110_midterm_review.pdf|L5-3}})
+
| 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]
 
|  
 
|  
 
|-
 
|-
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| 5 Nov (M)
 
| 5 Nov (M)
 
| Transfer Functions ({{cds101-fa12 lectures|L6-1_xferfcns.pdf|L6-1}})
 
| Transfer Functions ({{cds101-fa12 lectures|L6-1_xferfcns.pdf|L6-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.3]
+
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.2, 8.4]
 
| rowspan=3 align=center | {{cds101-fa12 homework|5}}
 
| rowspan=3 align=center | {{cds101-fa12 homework|5}}
 
|-
 
|-
 
| 7 Nov (W)
 
| 7 Nov (W)
| Frequency Response and Bode Plots ({{cds101-fa12 lectures|L6-2_bode.pdf|L6-2}})
+
| Frequency Response and Bode Plots ({{cds101-fa12 lectures|L6-2_xferfcns.pdf|L6-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.6]
+
* 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)
 
| 9 Nov (F)
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|-
 
|-
 
| 19 Nov (M)
 
| 19 Nov (M)
| The PID Controller ({{cds101-fa12 lectures|L9-1_pid.pdf|L9-1}})
+
| 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.1-10.2]
 
| rowspan=3 align=center | {{cds101-fa12 homework|7}}
 
| rowspan=3 align=center | {{cds101-fa12 homework|7}}
 
|-
 
|-
 
| 21 Nov (W)+
 
| 21 Nov (W)+
| PID Analysis and Implementation ({{cds101-fa12 lectures|L9-2_pid.pdf|L9-2}})
+
| 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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.3, 10.5]
 
|-
 
|-
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|-
 
|-
 
| 26 Nov (M)
 
| 26 Nov (M)
| Control Design using Loop Shaping ({{cds101-fa12 lectures|L8-1_loopsyn.pdf|L8-1}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_1_dfan.m L8_1_dfan.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa11/matlab/L8_1.m L8_1_misc.m]
+
| Control Design using Loop Shaping ({{cds101-fa12 lectures|L9-1_loopsyn.pdf|L9-1}})
 +
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/python/L9-1_loopsyn.py L9-1_loopsyn.py]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
 
| rowspan=3 align=center | {{cds101-fa12 homework|8}}
 
| rowspan=3 align=center | {{cds101-fa12 homework|8}}
 
|-
 
|-
 
| 28 Nov (W)
 
| 28 Nov (W)
| Limits of Performance ({{cds101-fa12 lectures|L8-2_limits.pdf|L8-2}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m L8_2_maglev.m]
+
| Design Example ({{cds101-fa12 lectures|L9-2_pvtol.pdf|L9-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
+
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/pvtol_nested.m pvtol_nested.m]
 +
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/pvtol-nested.py pvtol-nested.py]
 +
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.6] (Examples 2.9, 11.6, 11.12)
 +
 
 
|-
 
|-
 
| 30  Nov (F)
 
| 30  Nov (F)
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|-
 
|-
 
| 3 Dec* (M)
 
| 3 Dec* (M)
| Design guidelines ({{cds101-fa12 lectures|L10-1.pdf|L10-1}})
+
| Limits of Performance ({{cds101-fa12 lectures|L10-1_limits.pdf|L10-1}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m L8_2_maglev.m]
* Replace with intro to state space design pattern (CDS 110b)
+
 
|  
 
|  
| rowspan=3 align=center | {{cds101 exam|Final|final-rules}}
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| rowspan=3 align=center | Please pick up hardcopy of final outside 102 Steele
 
|-
 
|-
 
| 5 Dec* (W)
 
| 5 Dec* (W)
| Design Example ({{cds101-fa12 lectures|L10-2_demo.pdf|L10-2}})
+
| Control system implementation ({{cds101-fa12 lectures|L10-2_implement.pdf|L10-2}});
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.6] (Examples 2.9, 11.6, 11.12)
+
|
 
|-  
 
|-  
 
| 7 Dec* (F)
 
| 7 Dec* (F)
| Final review ({{cds101-fa12 lectures|L10-3_review.pdf|L10-3}})
+
| [[CDS_101/110a,_Fall_2012_-_Recitation_Schedule#7_Dec|Final review]]
 
|
 
|
 
|}
 
|}

Latest revision as of 03:36, 3 November 2013

CDS 101/110a Schedule Recitations Piazza AM08 (errata)

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.

[edit] THIS IS THE WEB PAGE FOR A PREVIOUS YEAR

Week Date Topic Reading Homework
1
[edit] Introduction and Review (DGM)
1 Oct (M) Introduction to Feedback and Control (L1-1, MP3) AM 1.1-1.2, 1.4-1.5 HW #1

soln #1

3 Oct (W)+ Introduction to Feedback (L1-2, MP3);
5 Oct (F) System Modeling. (L1-3, MP3) AM 2.1-2.4 (review)
7, 8 Oct MATLAB and Python tutorials (optional)
2
[edit] Dynamic Behavior (DGM)
8 Oct (M)+ Qualitative Analysis and Stability L2-1, MP3; AM 4.1-4.3 HW #2

soln #2

10 Oct (W) Stability Analysis (L2-2, MP3) AM 4.4
12 Oct (F)+ Recitation sections
3
[edit] Linear Systems (DGM)
15 Oct+ (M) Linear Time-Invariant Systems (L3-1, MP3) AM 5.1-5.2 HW #3

soln #3

17 Oct+ (W) Linear Systems Analysis (L3-2, MP3) AM 5.4
19 Oct+ (F) Recitation sections
4
[edit] State Feedback (RMM)
22 Oct (M) State Feedback (L4-1, MP3) AM 6.1-6.3 HW #4
soln #4

Python code for problem 5

24 Oct (W) Reachability and Reference Tracking (L4-2, MP3) AM 6.4-6.5
26 Oct (F) Recitation sections
5
[edit] Output Feedback (RMM)
29 Oct (M) Observability and State Estimation (L5-1, MP3) AM 7.1--7.3 Midterm
31 Oct (W) State Space Design and Laplace Transforms (L5-2, MP3) AM 7.5, 8.5
2 Nov (F) Midterm review In Annenberg(L5-3, MP3), cds101_review
6
[edit] Transfer Functions (RMM)
5 Nov (M) Transfer Functions (L6-1, MP3) AM 8.1-8.2, 8.4 HW #5

soln #5

7 Nov (W) Frequency Response and Bode Plots (L6-2, MP3) AM 8.3-8.4
9 Nov (F) Recitation sections
7
[edit] Loop Analysis (DGM)
12 Nov (M) Stability of Feedback Systems (L7-1, MP3)L7_1_loopanal.m, AM 9.1-9.2 HW #6

soln #6

14 Nov (W)+ Nyquist Criterion (L7-2, MP3) AM 9.3-9.4
16 Nov (F) Recitation sections
8
[edit] PID Control (DGM)
19 Nov (M) The PID Controller (L8-1, MP3) AM 10.1-10.2 HW #7

soln #7

21 Nov (W)+ PID Analysis and Implementation (L8-2, MP3) AM 10.3, 10.5
23 Nov (F) No class (Thanksgiving)
9
[edit] Loop Shaping (RMM)
26 Nov (M) Control Design using Loop Shaping (L9-1, MP3) AM 11.1-11.3 HW #8

soln #8

28 Nov (W) Design Example (L9-2, MP3) AM 11.6 (Examples 2.9, 11.6, 11.12)
30 Nov (F) Recitation sections
10
[edit] Control Design (RMM)
3 Dec* (M) Limits of Performance (L10-1, MP3); L8_2_maglev.m Please pick up hardcopy of final outside 102 Steele
5 Dec* (W) Control system implementation (L10-2, MP3);
7 Dec* (F) Final review
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