CDS 101/110a, Fall 2013 - Course Schedule

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|-
 
|-
 
| 2 Oct (W)
 
| 2 Oct (W)
| System Modeling. ({{cds101-fa13 lectures|L1-3_modeling.pdf|L1-3}})
+
| System Modeling. ({{cds101-fa13 lectures|L1-2.pdf|L1-2}})
 
* Video: [[Media:Demo_springmass.mp4| coupled mass demo]]
 
* 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]
 
* 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]
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|-
 
|-
 
| 4 Oct (F)
 
| 4 Oct (F)
| Introduction to Feedback ({{cds101-fa13 lectures|L1-2.pdf|L1-2}});   
+
| Introduction to Feedback [[http://www.cds.caltech.edu/~ipapusha/teaching/cds110a/section1.pdf L3-3]];   
 
|  
 
|  
 
|-
 
|-
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|-
 
|-
 
| 11 Oct (F)
 
| 11 Oct (F)
| TBD ({{cds101-fa13 lectures|L2-3.pdf|L2-3}})
+
| Recitation on stability and Lyapunov ({{cds101-fa13 lectures|L2-3.pdf|L2-3}})
 
|  
 
|  
 
|-
 
|-
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|-
 
|-
 
| 18 Oct+ (F)
 
| 18 Oct+ (F)
| Recitation sections
+
| Recitation  
 
|  
 
|  
 
|-
 
|-
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| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|4|State Feedback}}  =====
+
===== {{cds110 topic|4|State and Output Feedback}}  =====
 
|-
 
|-
 
| 21 Oct (M)
 
| 21 Oct (M)
| State Feedback ({{cds101-fa13 lectures|L4-1_statefbk.pdf|L4-1}})
+
| State Feedback ({{cds101-fa13 lectures|L4-1.pdf|L4-1}}; [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa13/mp3/L4-1b.mp3 Recording, last 15 min])
 
* 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]
 
* 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]
 
* 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 | [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/>
+
| rowspan=3 align=center | {{cds101-fa13 homework|4}}
[http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/pdf/solns/ps4p5.py Python code for problem 5]
+
 
|-
 
|-
 
| 23 Oct (W)
 
| 23 Oct (W)
| Reachability and Reference Tracking ({{cds101-fa13 lectures|L4-2_statefbk.pdf|L4-2}})
+
| Observability and State Estimation ({{cds101-fa13 lectures|L4-2.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]
 
* 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]
 
* 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 7.1--7.3]
 
|-
 
|-
 
| 25 Oct (F)
 
| 25 Oct (F)
| Recitation sections
+
| Recitation [[http://www.cds.caltech.edu/~ipapusha/teaching/cds110a/section4.pdf L4-3]]
 
|  
 
|  
 
|-
 
|-
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| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|5|Output Feedback}}  =====
+
===== {{cds110 topic|5|Reference Tracking and intro to Frequency Domain}}  =====
 
|-
 
|-
 
| 28 Oct (M)
 
| 28 Oct (M)
| Observability and State Estimation ({{cds101-fa13 lectures|L5-1_outputfbk.pdf|L5-1}})
+
| Reference Tracking ({{cds101-fa13 lectures|L5-1.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],  
 
* 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] -->
 
<!-- * 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 6.4-6.5]
 
| rowspan=3 align=center | {{cds101 exam|Midterm|midterm-guideline}}
 
| rowspan=3 align=center | {{cds101 exam|Midterm|midterm-guideline}}
 
|-
 
|-
 
| 30 Oct (W)
 
| 30 Oct (W)
| State Space Design and Laplace Transforms ({{cds101-fa13 lectures|L5-2_statesp-analysis.pdf|L5-2}})
+
| State Space Design and Laplace Transforms ({{cds101-fa13 lectures|L5-2.pdf|L5-2}})
 
* [http://lpsa.swarthmore.edu/LaplaceZTable/Common%20Laplace%20Transform%20Pairs.pdf Laplace transform table]
 
* [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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.5, 8.5]
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|-
 
|-
 
| 4 Nov (M)
 
| 4 Nov (M)
| Transfer Functions ({{cds101-fa13 lectures|L6-1_xferfcns.pdf|L6-1}})
+
| Transfer Functions ({{cds101-fa13 lectures|L6-1.pdf|L6-1}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.2, 8.4]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.2, 8.4]
 
| rowspan=3 align=center | {{cds101-fa13 homework|5}}
 
| rowspan=3 align=center | {{cds101-fa13 homework|5}}
 
|-
 
|-
 
| 6 Nov (W)
 
| 6 Nov (W)
| Frequency Response and Bode Plots ({{cds101-fa13 lectures|L6-2_xferfcns.pdf|L6-2}})
+
| Frequency Response and Bode Plots ({{cds101-fa13 lectures|L6-2.pdf|L6-2}})
 
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L6-2_cruise.py L6-2_cruise.py]
 
* Python code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/L6-2_cruise.py L6-2_cruise.py]
  
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|-
 
|-
 
| 8 Nov (F)
 
| 8 Nov (F)
| Recitation sections
+
| Recitation [[http://www.cds.caltech.edu/~ipapusha/teaching/cds110a/section6.pdf L6-3]]
 
|  
 
|  
 
|-
 
|-
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|-
 
|-
 
| 11 Nov (M)
 
| 11 Nov (M)
| Stability of Feedback Systems ({{cds101-fa13 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],
+
| Stability of Feedback Systems ({{cds101-fa13 lectures|L7-1.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]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.1-9.2]
 
| rowspan=3 align=center | {{cds101-fa13 homework|6}}
 
| rowspan=3 align=center | {{cds101-fa13 homework|6}}
 
|-
 
|-
 
| 13 Nov (W)+
 
| 13 Nov (W)+
| Nyquist Criterion ({{cds101-fa13 lectures|L7-2_nyquist.pdf|L7-2}})
+
| Nyquist Criterion ({{cds101-fa13 lectures|L7-2.pdf|L7-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.3-9.4]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.3-9.4]
 
|-
 
|-
 
| 15 Nov (F)
 
| 15 Nov (F)
| Recitation sections
+
| Recitation
 
|  
 
|  
 
|-
 
|-
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| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|9|Loop Shaping}}  =====
+
===== {{cds110 topic|8|Loop Shaping and PID}}  =====
 
|-
 
|-
 
| 18 Nov (M)
 
| 18 Nov (M)
| Control Design using Loop Shaping ({{cds101-fa13 lectures|L9-1_loopsyn.pdf|L9-1}})
+
| Loop shaping and the PID Controller ({{cds101-fa13 lectures|L8-1.pdf|L8-1}})
* 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 10.1-10.2]
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
+
 
| rowspan=3 align=center | {{cds101-fa13 homework|7}}
 
| rowspan=3 align=center | {{cds101-fa13 homework|7}}
 
|-
 
|-
 
| 20 Nov (W)
 
| 20 Nov (W)
| Design Example ({{cds101-fa13 lectures|L9-2_pvtol.pdf|L9-2}})
+
| PID Analysis and Implementation ({{cds101-fa13 lectures|L8-2.pdf|L8-2}})
* MATLAB code: [http://www.cds.caltech.edu/~murray/courses/cds101/fa12/matlab/pvtol_nested.m pvtol_nested.m]
+
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.3, 10.5]
* 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)
+
  
 
|-
 
|-
 
| 22  Nov (F)
 
| 22  Nov (F)
| Recitation sections
+
| Recitation
 
|  
 
|  
 
|-
 
|-
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| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|8|PID Control}}  =====
+
===== {{cds110 topic|9|Loop Shaping and Control Design, cont'd}}  =====
 
|-
 
|-
 
| 25 Nov (M)
 
| 25 Nov (M)
| The PID Controller ({{cds101-fa13 lectures|L8-1_pid.pdf|L8-1}})
+
| Control Design using Loop Shaping ({{cds101-fa13 lectures|L9-1.pdf|L9-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.1-10.2]
+
* [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/L8_1_dfan.m L8_1_dfan.m]
 +
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
 
| rowspan=3 align=center | {{cds101-fa13 homework|8}}
 
| rowspan=3 align=center | {{cds101-fa13 homework|8}}
 
|-
 
|-
 
| 27 Nov (W)+
 
| 27 Nov (W)+
| PID Analysis and Implementation ({{cds101-fa13 lectures|L8-2_pid.pdf|L8-2}})
+
| Design Example ({{cds101-fa13 lectures|L9-2.pdf|L9-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.3, 10.5]
+
* 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)
 
|-
 
|-
 
| 29 Nov (F)
 
| 29 Nov (F)
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|-
 
|-
 
| 2 Dec* (M)
 
| 2 Dec* (M)
| Limits of Performance ({{cds101-fa13 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]
+
| Limits of Performance ({{cds101-fa13 lectures|L10-1.pdf|L10-1}}); [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/L8_2_maglev.m L8_2_maglev.m]
 
|  
 
|  
 
| rowspan=3 align=center | Please pick up hardcopy of final outside 102 Steele
 
| rowspan=3 align=center | Please pick up hardcopy of final outside 102 Steele
 
|-
 
|-
 
| 4 Dec* (W)
 
| 4 Dec* (W)
| Control system implementation ({{cds101-fa13 lectures|L10-2_implement.pdf|L10-2}});
+
| Control system implementation ({{cds101-fa13 lectures|L10-2.pdf|L10-2}});
 
|
 
|
 
|-  
 
|-  
 
| 6 Dec* (F)
 
| 6 Dec* (F)
| [[CDS_101/110a,_Fall_2012_-_Recitation_Schedule#7_Dec|Final review]]
+
| Recitation [[http://www.cds.caltech.edu/~ipapusha/teaching/cds110a/section10.pdf L10-3]], [[CDS_101/110a,_Fall_2012_-_Recitation_Schedule#7_Dec|Final review (previous years)]]
 
|
 
|
 
|}
 
|}

Latest revision as of 19:39, 13 December 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.

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

soln #1

2 Oct (W) System Modeling. (L1-2, MP3) AM 2.1-2.4 (review)
4 Oct (F) Introduction to Feedback [L3-3];
6, Oct MATLAB tutorial (optional)
2
[edit] Dynamic Behavior
7 Oct (M) Qualitative Analysis and Stability L2-1, MP3; AM 4.1-4.3 HW #2

soln #2

9 Oct (W) Stability Analysis (L2-2, MP3) AM 4.4
11 Oct (F) Recitation on stability and Lyapunov (L2-3, MP3)
3
[edit] Linear Systems
14 Oct+ (M) Linear Time-Invariant Systems (L3-1, MP3) AM 5.1-5.2 HW #3

soln #3

16 Oct+ (W) Linear Systems Analysis (L3-2, MP3) AM 5.4
18 Oct+ (F) Recitation
4
[edit] State and Output Feedback
21 Oct (M) State Feedback (L4-1, MP3; Recording, last 15 min) AM 6.1-6.3 HW #4

soln #4

23 Oct (W) Observability and State Estimation (L4-2, MP3) AM 7.1--7.3
25 Oct (F) Recitation [L4-3]
5
[edit] Reference Tracking and intro to Frequency Domain
28 Oct (M) Reference Tracking (L5-1, MP3) AM 6.4-6.5 Midterm
30 Oct (W) State Space Design and Laplace Transforms (L5-2, MP3) AM 7.5, 8.5
1 Nov (F) Midterm review In Annenberg(L5-3, MP3), cds101_review
6
[edit] Transfer Functions
4 Nov (M) Transfer Functions (L6-1, MP3) AM 8.1-8.2, 8.4 HW #5

soln #5

6 Nov (W) Frequency Response and Bode Plots (L6-2, MP3) AM 8.3-8.4
8 Nov (F) Recitation [L6-3]
7
[edit] Loop Analysis
11 Nov (M) Stability of Feedback Systems (L7-1, MP3)L7_1_loopanal.m, AM 9.1-9.2 HW #6

soln #6

13 Nov (W)+ Nyquist Criterion (L7-2, MP3) AM 9.3-9.4
15 Nov (F) Recitation
8
[edit] Loop Shaping and PID
18 Nov (M) Loop shaping and the PID Controller (L8-1, MP3) AM 10.1-10.2 HW #7

soln #7

20 Nov (W) PID Analysis and Implementation (L8-2, MP3) AM 10.3, 10.5
22 Nov (F) Recitation
10
[edit] Loop Shaping and Control Design, cont'd
25 Nov (M) Control Design using Loop Shaping (L9-1, MP3) AM 11.1-11.3 HW #8

soln #8

27 Nov (W)+ Design Example (L9-2, MP3) AM 11.6 (Examples 2.9, 11.6, 11.12)
29 Nov (F) No class (Thanksgiving)
9
[edit] Control Design
2 Dec* (M) Limits of Performance (L10-1, MP3); L8_2_maglev.m Please pick up hardcopy of final outside 102 Steele
4 Dec* (W) Control system implementation (L10-2, MP3);
6 Dec* (F) Recitation [L10-3], Final review (previous years)
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