CDS 110b, Winter 2010 - Course Schedule

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|-
 
|-
 
| 4 Jan (M)
 
| 4 Jan (M)
|  Course overview, review of optimization
+
|  Course overview, review of optimization ({{cds110 lectures|L1-1_introduction.pdf|L1-1}})
|  
+
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.1]
| rowspan=2 align=center | {{cds101 homework|1}}
+
| rowspan=2 align=center | {{cds110 homework|1}}
 
|-
 
|-
 
| 6 Jan (W)
 
| 6 Jan (W)
Introduction to Feedback and Control ([http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/pdf/L1-1_introduction.pdf L1-1]) <!-- ({{cds101 lectures|L1-1_introduction.pdf|L1-1}}) !-->
+
Optimal Control ({{cds110 lectures|L1-2_optimal.pdf|L1-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 1.1-1.2, 1.4-1.5]
+
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.2, 2.3]
 
|-
 
|-
| align=center rowspan=4 | 2
+
| align=center rowspan=3 | 2
 
| colspan=4 |
 
| colspan=4 |
 
+
===== {{cds110 topic|2|Linear Quadratic Regulators}} =====
===== {{cds110 topic|2|Dynamic Behavior}} =====
+
 
|-
 
|-
| 5 Oct (M)
+
| 11 Jan (M)
| Qualitative Analysis and Stability ({{cds101 lectures|L2-1_stability.pdf|L2-1}}; [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/predprey.m predprey.m])
+
| topic ({{cds110 lectures|L2-1_stability.pdf|L2-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 4.1-4.2]
+
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.4]
| rowspan=3 align=center | {{cds101 homework|2}}
+
| rowspan=2 align=center | {{cds110 homework|2}}
 
|-
 
|-
| 7 Oct (W)
+
| 13 Jan (W)
| Stability Analysis ({{cds101 lectures|L2-2_lyapunov.pdf|L2-2}})
+
| Stability Analysis ({{cds110 lectures|L2-2_lyapunov.pdf|L2-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 4.3]
+
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.5]
 
|-
 
|-
| 9 Oct (F)*
+
| align=center rowspan=3 | 3
| Recitation sections
+
|
+
|-
+
| align=center rowspan=4 | 3
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|3|Linear Systems}} =====
+
===== {{cds110 topic|3|Receding Horizon Control}} =====
 
|-
 
|-
| 12 Oct (M)
+
| 18 Jan (M)
| Linear Time-Invariant Systems ({{cds101 lectures|L3-1_linsys.pdf|L3-1}})
+
| Institute Holiday (MLK)
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 5.1-5.2]
+
|  
| rowspan=3 align=center | {{cds101 homework|3}}
+
| rowspan=2 align=center | {{cds110 homework|3}}
 
|-
 
|-
| 14 Oct (W)
+
| 20 Jan (W)
| Linear Systems Analysis ({{cds101 lectures|L3-2_linsys.pdf|L3-2}})
+
| Receding Horizon Control ({{cds110 lectures|L3-2_linsys.pdf|L3-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 5.4]
+
| TBD
|-
+
| 16 Oct (F)
+
| Recitation sections
+
|
+
 
|-
 
|-
| align=center rowspan=4 | 4
+
| align=center rowspan=3 | 4
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|4|State Feedback}} =====
+
===== {{cds110 topic|4|Stochastic Systems}} =====
 
|-
 
|-
| 19 Oct (M)
+
| 25 Jan (M)
| Reachability and State Feedback ({{cds101 lectures|L4-1_statefbk.pdf|L4-1}})
+
| topic ({{cds101 lectures|L4-1_statefbk.pdf|L4-1}})
 
| [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 homework|4}}
+
| rowspan=2 align=center | {{cds110 homework|4}}
 
|-
 
|-
| 21 Oct (W)*
+
| 27 Jan (W)*
| Eigenvalue Placement ({{cds101 lectures|L4-2_statefbk.pdf|L4-2}})
+
| topic ({{cds101 lectures|L4-2_statefbk.pdf|L4-2}})
 
| [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]
 
|-
 
|-
| 23 Oct (F)*
+
| align=center rowspan=3 | 5
| Recitation sections
+
|
+
|-
+
| align=center rowspan=4 | 5
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|5|Output Feedback}} =====
+
===== {{cds110 topic|5|Discrete-time Kalman Filter}} =====
 
|-
 
|-
| 26 Oct (M)
+
| 1 Feb (M)
| Observability and State Estimation ({{cds101 lectures|5-1_estimators.pdf|L5-1}})
+
| Covariance propagation ({{cds101 lectures|5-1_estimators.pdf|L5-1}})
 
| [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|MT}}
+
| rowspan=2 align=center | {{cds110 exam|Midterm|MT}}
 
|-
 
|-
| 28 Oct (W)
+
| 3 Feb (W)
| Example ({{cds101 lectures|L5-2_demo.pdf|L5-2}})
+
| Kalman filter ({{cds101 lectures|L5-2_demo.pdf|L5-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.3]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 7.3]
 
|-
 
|-
| 30 Oct (F)
+
| align=center rowspan=3 | 6
| Midterm review ({{cds101 lectures|cds110_midterm_review.pdf|L5-3}})
+
|
+
|-
+
| align=center rowspan=4 | 6
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|6|Transfer Functions}} =====
+
===== {{cds110 topic|6|Kalman filtering}} =====
 
|-
 
|-
| 2 Nov (M)
+
| 8 Feb (M)
| Transfer Functions ({{cds101 lectures|L6-1_xferfcns.pdf|L6-1}})
+
| Topic ({{cds101 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 8.1-8.3]
| rowspan=3 align=center | {{cds101 homework|5}}
+
| rowspan=2 align=center | {{cds110 homework|5}}
 
|-
 
|-
| 4 Nov (W)
+
| 10 Feb (W)
| Frequency Response and Bode Plots ({{cds101 lectures|L6-2_bode.pdf|L6-2}})
+
| topic ({{cds101 lectures|L6-2_bode.pdf|L6-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.6]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.6]
 
|-
 
|-
| 6 Nov (F)*
+
| align=center rowspan=3 | 7
| Recitation sections
+
|
+
|-
+
| align=center rowspan=4 | 7
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|7|Loop Analysis}} =====
+
===== {{cds110 topic|7|Uncertainty}} =====
 
|-
 
|-
| 9 Nov Nov (M)
+
| 15 Feb (M)
| Stability of Feedback Systems ({{cds101 lectures|L7-1_loopanal.pdf|L7-1}})
+
| Institute Holiday ?
 
| [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 homework|6}}
+
| rowspan=2 align=center | {{cds110 homework|6}}
 
|-
 
|-
| 11 Nov (W)
+
| 17 Feb (W)
| Nyquist Criterion ({{cds101 lectures|L7-2_example.pdf|L7-2}})
+
| topic ({{cds101 lectures|L7-2_example.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]
 
|-
 
|-
| 13 Nov (F)
+
| align=center rowspan=3 | 8
| Recitation sections
+
|
+
|-
+
| align=center rowspan=4 | 8
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|8|Loop Shaping}} =====
+
===== {{cds110 topic|8|Loop Shaping Revisited}} =====
 
|-
 
|-
| 16 Nov (M)
+
| 22 Feb (M)
| Control Design using Loop Shaping ({{cds101 lectures|L8-1_loopsyn.pdf|L8-1}})
+
| topic ({{cds101 lectures|L8-1_loopsyn.pdf|L8-1}})
 
| [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 homework|7}}
+
| rowspan=2 align=center | {{cds110 homework|7}}
 
|-
 
|-
| 18 Nov (W)
+
| 24 Feb (W)
 
| Limits of Performance ({{cds101 lectures|L8-2_limits.pdf|L8-2}})
 
| Limits of Performance ({{cds101 lectures|L8-2_limits.pdf|L8-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
 
|-
 
|-
| 20 Nov (F)
+
| align=center rowspan=3 | 9
| Recitation sections
+
|
+
|-
+
| align=center rowspan=4 | 9
+
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|9|PID Control}} =====
+
===== {{cds110 topic|9|TBD}} =====
 
|-
 
|-
| 23 Nov (M)
+
| 1 Mar (M)
| The PID Controller ({{cds101 lectures|L9-1_pid.pdf|L9-1}})
+
| topic ({{cds101 lectures|L9-1_pid.pdf|L9-1}})
 
| [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 homework|8}}
+
| rowspan=2 align=center | {{cds110 homework|8}}
 
|-
 
|-
| 25 Nov (W)
+
| 3 Mar (W)
| PID Analysis and Implementation ({{cds101 lectures|L9-2_pid.pdf|L9-2}})
+
| topic ({{cds101 lectures|L9-2_pid.pdf|L9-2}})
 
| [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]
|-
 
| 27 Nov (F)
 
| No class (Thanksgiving)
 
|
 
 
|-
 
|-
 
| align=center rowspan=4 | 10
 
| align=center rowspan=4 | 10
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|10|Control Design}} =====
+
===== {{cds110 topic|10|Implementation}} =====
 
|-
 
|-
| 30 Nov (M)
+
| 8 Mar (M)
| Design guidelines ({{cds101 lectures|L10-1.pdf|L10-1}})
+
| Discrete-time ({{cds101 lectures|L10-1.pdf|L10-1}})
 
|  
 
|  
 
| rowspan=3 align=center | {{cds101 exam|Final|final-rules}}
 
| rowspan=3 align=center | {{cds101 exam|Final|final-rules}}
 
|-
 
|-
| 2 Dec (W)
+
| 10 Mar (W)
| Design Example ({{cds101 lectures|L10-2.pdf|L10-2}})
+
| implementation ({{cds101 lectures|L10-2.pdf|L10-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.6] (Examples 2.9, 11.6, 11.12)
 
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.6] (Examples 2.9, 11.6, 11.12)
 
|-  
 
|-  
| 4 Dec (F)*
+
| 12 Mar (F)*
 
| Final review ({{cds101 lectures|L10-3_review.pdf|L10-3}})
 
| Final review ({{cds101 lectures|L10-3_review.pdf|L10-3}})
 
|
 
|
 
|}
 
|}

Revision as of 19:39, 22 December 2009

CDS 110b Schedule text

This page contains the course schedule for CDS 110b. Lecture notes will be posted some time before class (usually on the same day).

Week Date Topic Reading Homework
1
Introduction and Optimal Control
4 Jan (M) Course overview, review of optimization (L1-1, MP3) OBC Ch 2.1 HW #1

solns

6 Jan (W) Optimal Control (L1-2, MP3) OBC Ch 2.2, 2.3
2
Linear Quadratic Regulators
11 Jan (M) topic (L2-1, MP3) OBC Ch 2.4 HW #2

solns

13 Jan (W) Stability Analysis (L2-2, MP3) OBC Ch 2.5
3
Receding Horizon Control
18 Jan (M) Institute Holiday (MLK) HW #3

solns

20 Jan (W) Receding Horizon Control (L3-2, MP3) TBD
4
Stochastic Systems
25 Jan (M) topic (L4-1, MP3) AM 6.1-6.3 HW #4

solns

27 Jan (W)* topic (L4-2, MP3) AM 6.4-6.5
5
Discrete-time Kalman Filter
1 Feb (M) Covariance propagation (L5-1, MP3) AM 7.1--7.3 Midterm

solns

3 Feb (W) Kalman filter (L5-2, MP3) AM 7.3
6
Kalman filtering
8 Feb (M) Topic (L6-1, MP3) AM 8.1-8.3 HW #5

solns

10 Feb (W) topic (L6-2, MP3) AM 8.6
7
Uncertainty
15 Feb (M) Institute Holiday ? AM 9.1-9.2 HW #6

solns

17 Feb (W) topic (L7-2, MP3) AM 9.3-9.4
8
Loop Shaping Revisited
22 Feb (M) topic (L8-1, MP3) AM 11.1-11.3 HW #7

solns

24 Feb (W) Limits of Performance (L8-2, MP3) AM 11.4
9
TBD
1 Mar (M) topic (L9-1, MP3) AM 10.1-10.2 HW #8

solns

3 Mar (W) topic (L9-2, MP3) AM 10.3, 10.5
10
Implementation
8 Mar (M) Discrete-time (L10-1, MP3) Final
10 Mar (W) implementation (L10-2, MP3) AM 11.6 (Examples 2.9, 11.6, 11.12)
12 Mar (F)* Final review (L10-3, MP3)
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