CDS 110b, Winter 2010 - Course Schedule

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| 20 Jan (W)
 
| 20 Jan (W)
 
| Receding Horizon Control ({{cds110 lectures|L3_RHC.pdf|L3-2}})
 
| Receding Horizon Control ({{cds110 lectures|L3_RHC.pdf|L3-2}})
| [http://www.cds.caltech.edu/~macmardg/courses/cds110b/Carson_thesis_MPC.pdf Carson Ch 2]
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| [http://www.cds.caltech.edu/~macmardg/courses/cds110b/Carson_thesis_MPC.pdf Carson Ch 2], [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 3.1-3.2]
 
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| align=center rowspan=3 | 4
 
| align=center rowspan=3 | 4

Revision as of 23:20, 19 January 2010

CDS 110b Schedule Course 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, OBC Ch 3.1-3.2
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)
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