CDS 110b, Winter 2010 - Course Schedule

From MacMynowski
(Difference between revisions)
Jump to: navigation, search
Line 30: Line 30:
 
|-
 
|-
 
| 11 Jan (M)
 
| 11 Jan (M)
| topic ({{cds110 lectures|L2-1_stability.pdf|L2-1}})
+
| LQR Derivation ({{cds110 lectures|L2-1_stability.pdf|L2-1}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.4]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.4]
 
| rowspan=2 align=center | {{cds110 homework|2}}
 
| rowspan=2 align=center | {{cds110 homework|2}}
 
|-
 
|-
 
| 13 Jan (W)
 
| 13 Jan (W)
| Stability Analysis ({{cds110 lectures|L2-2_lyapunov.pdf|L2-2}})
+
| Choosing LQR weights ({{cds110 lectures|L2-2_lyapunov.pdf|L2-2}})
 
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.5]
 
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 2.5]
 
|-
 
|-
Line 50: Line 50:
 
| 20 Jan (W)
 
| 20 Jan (W)
 
| Receding Horizon Control ({{cds110 lectures|L3-2_linsys.pdf|L3-2}})
 
| Receding Horizon Control ({{cds110 lectures|L3-2_linsys.pdf|L3-2}})
| TBD
+
| [http://www.cds.caltech.edu/~macmardg/cds110b/Carson_thesis_MPC.pdf Carson Ch 2]
 
|-
 
|-
 
| align=center rowspan=3 | 4
 
| align=center rowspan=3 | 4
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|4|Stochastic Systems}} =====
+
===== {{cds110 topic|4|Other methods}} =====
 
|-
 
|-
 
| 25 Jan (M)
 
| 25 Jan (M)
| topic ({{cds101 lectures|L4-1_statefbk.pdf|L4-1}})
+
| Trajectory generation ({{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/Supplement:_Optimization-Based_Control OBC Ch 1.3]
 
| rowspan=2 align=center | {{cds110 homework|4}}
 
| rowspan=2 align=center | {{cds110 homework|4}}
 
|-
 
|-
 
| 27 Jan (W)*
 
| 27 Jan (W)*
| topic ({{cds101 lectures|L4-2_statefbk.pdf|L4-2}})
+
| Dynamic Programming ({{cds101 lectures|L4-2_statefbk.pdf|L4-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.4-6.5]
+
| TBD
 
|-
 
|-
 
| align=center rowspan=3 | 5
 
| align=center rowspan=3 | 5
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|5|Discrete-time Kalman Filter}} =====
+
===== {{cds110 topic|5|Stochastic Systems}} =====
 
|-
 
|-
 
| 1 Feb (M)
 
| 1 Feb (M)
| Covariance propagation ({{cds101 lectures|5-1_estimators.pdf|L5-1}})
+
| Random processes ({{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/Supplement:_Optimization-Based_Control OBC Ch 4.1-4.3]
 
| rowspan=2 align=center | {{cds110 exam|Midterm|MT}}
 
| rowspan=2 align=center | {{cds110 exam|Midterm|MT}}
 
|-
 
|-
 
| 3 Feb (W)
 
| 3 Feb (W)
| Kalman filter ({{cds101 lectures|L5-2_demo.pdf|L5-2}})
+
| Frequency-domain interpretation ({{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/Supplement:_Optimization-Based_Control OBC Ch 4.4-4.5]
 
|-
 
|-
 
| align=center rowspan=3 | 6
 
| align=center rowspan=3 | 6
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|6|Kalman filtering}} =====
+
===== {{cds110 topic|6|Discrete-time Kalman Filter}} =====
 
|-
 
|-
 
| 8 Feb (M)
 
| 8 Feb (M)
| Topic ({{cds101 lectures|L6-1_xferfcns.pdf|L6-1}})
+
| Covariance propagation ({{cds101 lectures|L6-1_xferfcns.pdf|L6-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 8.1-8.3]
+
|  
 
| rowspan=2 align=center | {{cds110 homework|5}}
 
| rowspan=2 align=center | {{cds110 homework|5}}
 
|-
 
|-
 
| 10 Feb (W)
 
| 10 Feb (W)
| topic ({{cds101 lectures|L6-2_bode.pdf|L6-2}})
+
| Kalman filter ({{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/Supplement:_Optimization-Based_Control OBC Ch 6.1]
 
|-
 
|-
 
| align=center rowspan=3 | 7
 
| align=center rowspan=3 | 7
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|7|Uncertainty}} =====
+
===== {{cds110 topic|7|Kalman filtering}} =====
 
|-
 
|-
 
| 15 Feb (M)
 
| 15 Feb (M)
| Institute Holiday ?
+
| Institute Holiday (President's day)
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 9.1-9.2]
+
|  
 
| rowspan=2 align=center | {{cds110 homework|6}}
 
| rowspan=2 align=center | {{cds110 homework|6}}
 
|-
 
|-
 
| 17 Feb (W)
 
| 17 Feb (W)
| topic ({{cds101 lectures|L7-2_example.pdf|L7-2}})
+
| Kalman filtering and LQG ({{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/Supplement:_Optimization-Based_Control OBC Ch 5.1-5.x]
 
|-
 
|-
 
| align=center rowspan=3 | 8
 
| align=center rowspan=3 | 8
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|8|Loop Shaping Revisited}} =====
+
===== {{cds110 topic|8|Uncertainty}} =====
 
|-
 
|-
 
| 22 Feb (M)
 
| 22 Feb (M)
| topic ({{cds101 lectures|L8-1_loopsyn.pdf|L8-1}})
+
| Norms ({{cds101 lectures|L8-1_loopsyn.pdf|L8-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
+
| TBD (DFT)
 
| rowspan=2 align=center | {{cds110 homework|7}}
 
| rowspan=2 align=center | {{cds110 homework|7}}
 
|-
 
|-
 
| 24 Feb (W)
 
| 24 Feb (W)
| Limits of Performance ({{cds101 lectures|L8-2_limits.pdf|L8-2}})
+
| Robustness ({{cds101 lectures|L8-2_limits.pdf|L8-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
+
| TBD (DFT)
 
|-
 
|-
 
| align=center rowspan=3 | 9
 
| align=center rowspan=3 | 9
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|9|TBD}} =====
+
===== {{cds110 topic|9|Loop Shaping Revisited}} =====
 
|-
 
|-
 
| 1 Mar (M)
 
| 1 Mar (M)
 
| topic ({{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]
+
| TBD (DFT)
 
| rowspan=2 align=center | {{cds110 homework|8}}
 
| rowspan=2 align=center | {{cds110 homework|8}}
 
|-
 
|-
 
| 3 Mar (W)
 
| 3 Mar (W)
 
| topic ({{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]
+
| TBD (DFT)
 
|-
 
|-
 
| align=center rowspan=4 | 10
 
| align=center rowspan=4 | 10
Line 148: Line 148:
 
| 10 Mar (W)
 
| 10 Mar (W)
 
| implementation ({{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)
+
|  
 
|-  
 
|-  
 
| 12 Mar (F)*
 
| 12 Mar (F)*

Revision as of 22:08, 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) LQR Derivation (L2-1, MP3) OBC Ch 2.4 HW #2

solns

13 Jan (W) Choosing LQR weights (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) Carson Ch 2
4
Other methods
25 Jan (M) Trajectory generation (L4-1, MP3) OBC Ch 1.3 HW #4

solns

27 Jan (W)* Dynamic Programming (L4-2, MP3) TBD
5
Stochastic Systems
1 Feb (M) Random processes (L5-1, MP3) OBC Ch 4.1-4.3 Midterm

solns

3 Feb (W) Frequency-domain interpretation (L5-2, MP3) OBC Ch 4.4-4.5
6
Discrete-time Kalman Filter
8 Feb (M) Covariance propagation (L6-1, MP3) HW #5

solns

10 Feb (W) Kalman filter (L6-2, MP3) OBC Ch 6.1
7
Kalman filtering
15 Feb (M) Institute Holiday (President's day) HW #6

solns

17 Feb (W) Kalman filtering and LQG (L7-2, MP3) OBC Ch 5.1-5.x
8
Uncertainty
22 Feb (M) Norms (L8-1, MP3) TBD (DFT) HW #7

solns

24 Feb (W) Robustness (L8-2, MP3) TBD (DFT)
9
Loop Shaping Revisited
1 Mar (M) topic (L9-1, MP3) TBD (DFT) HW #8

solns

3 Mar (W) topic (L9-2, MP3) TBD (DFT)
10
Implementation
8 Mar (M) Discrete-time (L10-1, MP3) Final
10 Mar (W) implementation (L10-2, MP3)
12 Mar (F)* Final review (L10-3, MP3)
Personal tools
External