CDS 101/110a, Fall 2013
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 2013.
Instructor 
Teaching Assistants cds110tas@cds.caltech.edu
Course Ombuds: David Flicker 
Announcements
 Oct 28: Midterm will be handed out on Wednesday Oct 30. The midterm will not be available online; if you are not in lecture please pick up a midterm from Anissa Scott in 107 Steele during normal work hours. The midterm will be due the following Tuesday Nov 5 at 5pm. We will permit you to use one of your homework grace periods and hand it in no later than 8am Nov 6. If you choose to do so, (a) please send us an email to confirm and (b) hand it in in the usual homework inbox in Steele.
 Oct 27: 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 22: HW #4 posted. Note that if you downloaded this last night, then the link pointed to the HW assignment from 2012.
 Oct 18: Simulation files for HW #3: In python: cartpend.py, and in Matlab: cartpend.m, cartpend_model.m, balance_simple.mdl
 Oct 6: 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.
 Oct 2: Friday's recitation will contain a brief Matlab tutorial. There will be an hour long Matlab tutorial on Sunday at 1pm in 328 SFL for those who want more.
 Oct 2: Note, some information for those who are interested in using Python for homework assignments can be found here: Python info
 Sep 30:
 Please fill out background survey here: Survey
 Lecture notes and recording for today are available by following the link to the course schedule page and looking for L11.
 Everyone should by now have received an invite from Piazza. If you are taking the class and have not received an invite, please email the TAs at cds110tas@cds.caltech.edu.
 No TA office hours first week
 Sept 11: Schedule for first week: regular lectures MW in 105 Annenberg. First recitation (F 23pm in ANB 105) will be a Matlab tutorial.
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. 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. CDS 101 students are not required to attend the recitation sections, although they are welcome to do so (CDS 101 homework will typically require much less use of Matlab or Python). The first Friday of the quarter there will be an optional matlab tutorial rather than a recitation section.) 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 Mondays 35 pm in ANB 121 and Tuesdays 68 pm, SFL 328.
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 the locked box 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; please plan 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 (30 Oct) and due at the end of the midterm examination period (5 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 (6 Dec) and due on Friday of finals week (Dec 13, TBC). 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