CDS 110b, Winter 2010 - Course Schedule

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| align=center width=25% | [[CDS 110b, Winter 2010|CDS 110b]]
 
| align=center width=25% | [[CDS 110b, Winter 2010|CDS 110b]]
 
| align=center width=25% | [[CDS 110b, Winter 2010 - Course Schedule|Schedule]]
 
| align=center width=25% | [[CDS 110b, Winter 2010 - Course Schedule|Schedule]]
| align=center width=25% | [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control|Course text]
+
| align=center width=25% | [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control Course text]
 
|}
 
|}
 
  __NOTOC__
 
  __NOTOC__
Line 12: Line 12:
 
| Week || Date || Topic || Reading || Homework
 
| Week || Date || Topic || Reading || Homework
 
|-
 
|-
| align=center rowspan=4 | 1  
+
| align=center rowspan=3 | 1  
 
| colspan=4 |
 
| colspan=4 |
====={{cds110 topic|1|Introduction and Review}} =====
+
====={{cds110 topic|1|Introduction and Optimal Control}} =====
 
|-
 
|-
 
| 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=3 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])
+
| LQR Derivation ({{cds110 lectures|L2-1_LQR.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}})
+
| Choosing LQR weights ({{cds110 lectures|L2-2.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_RHC.pdf|L3-2}}, [http://www.cds.caltech.edu/~macmardg/courses/cds110b/wi10/mp3/L3-2a.m4a L3-2a])
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 5.4]
+
| [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]
|-
+
| 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|Dynamic Programming}} =====
 
|-
 
|-
| 19 Oct (M)
+
| 25 Jan (M)
| Reachability and State Feedback ({{cds101 lectures|L4-1_statefbk.pdf|L4-1}})
+
| Trajectory generation, intro to D.P. ({{cds110 lectures|L4-1_DiffFlat.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=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}})
+
| Dynamic Programming and LQR ({{cds110 lectures|L4-2_DynProg.pdf|L4-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 6.4-6.5]
+
| TBD
 
|-
 
|-
| 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|Stochastic Systems}} =====
 
|-
 
|-
| 26 Oct (M)
+
| 1 Feb (M)
| Observability and State Estimation ({{cds101 lectures|5-1_estimators.pdf|L5-1}})
+
| Random processes ({{cds110 lectures|L5_stochastic.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=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}})
+
| Frequency-domain interpretation ({{cds110 lectures|L5-2.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]
 
|-
 
|-
| 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|Continuous-time Kalman Filter}} =====
 
|-
 
|-
| 2 Nov (M)
+
| 8 Feb (M)
| Transfer Functions ({{cds101 lectures|L6-1_xferfcns.pdf|L6-1}})
+
| Covariance propagation ({{cds110 lectures|L6-1.pdf|L6-1}})
| [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}})
+
| Kalman filter ({{cds110 lectures|L6-2.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 5.1-5.x]
 
|-
 
|-
| 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|Discrete-time Kalman filtering}} =====
 
|-
 
|-
| 9 Nov Nov (M)
+
| 15 Feb (M)
| Stability of Feedback Systems ({{cds101 lectures|L7-1_loopanal.pdf|L7-1}})
+
| Institute Holiday (President's day)
| [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}})
+
| Kalman filter & sensor fusion ({{cds110 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/Supplement:_Optimization-Based_Control OBC Ch 6.1]
 
|-
 
|-
| 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|LQG}} =====
|-
+
| 16 Nov (M)
+
| Control Design using Loop Shaping ({{cds101 lectures|L8-1_loopsyn.pdf|L8-1}})
+
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.1-11.3]
+
| rowspan=3 align=center | {{cds101 homework|7}}
+
 
|-
 
|-
| 18 Nov (W)
+
| 22 Feb (M)
| Limits of Performance ({{cds101 lectures|L8-2_limits.pdf|L8-2}})
+
| Linear Quadratic Gaussian control ({{cds110 lectures|L8-1.pdf|L8-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 11.4]
+
| TBD
 +
| rowspan=2 align=center | {{cds110 homework|7}}
 
|-
 
|-
| 20 Nov (F)
+
| 24 Feb (W)
| Recitation sections
+
| Optimization (guest lecture) ({{cds110 lectures|L8-2.pdf|L8-2}})
 
|  
 
|  
 
|-
 
|-
| align=center rowspan=4 | 9
+
| align=center rowspan=3 | 9
 
| colspan=4 |
 
| colspan=4 |
  
===== {{cds110 topic|9|PID Control}} =====
+
===== {{cds110 topic|9|Robust Control}} =====
 
|-
 
|-
| 23 Nov (M)
+
| 1 Mar (M)
| The PID Controller ({{cds101 lectures|L9-1_pid.pdf|L9-1}})
+
| Uncertainty & small gain theorem ({{cds110 lectures|L9-1.pdf|L9-1}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.1-10.2]
+
| AM 9.5, [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft92-ch4.pdf DFT Ch 4]
| 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}})
+
| Robust Stability ({{cds110 lectures|L9-2.pdf|L9-2}})
| [http://www.cds.caltech.edu/~murray/amwiki/Main_Page AM 10.3, 10.5]
+
| DFT Ch 4
|-
+
| 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|Uncertainty}} =====
 
|-
 
|-
| 30 Nov (M)
+
| 8 Mar (M)
| Design guidelines ({{cds101 lectures|L10-1.pdf|L10-1}})
+
| Robust Performance ({{cds110 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}})
+
| Example and H-infinity optimization ({{cds110 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)
+
|  
|-
+
| 4 Dec (F)*
+
| Final review ({{cds101 lectures|L10-3_review.pdf|L10-3}})
+
 
|
 
|
 
|}
 
|}

Latest revision as of 01:06, 11 March 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
[edit] 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
[edit] 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
[edit] Receding Horizon Control
18 Jan (M) Institute Holiday (MLK) HW #3

solns

20 Jan (W) Receding Horizon Control (L3-2, MP3, L3-2a) Carson Ch 2, OBC Ch 3.1-3.2
4
[edit] Dynamic Programming
25 Jan (M) Trajectory generation, intro to D.P. (L4-1, MP3) OBC Ch 1.3 HW #4

solns

27 Jan (W)* Dynamic Programming and LQR (L4-2, MP3) TBD
5
[edit] 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
[edit] Continuous-time Kalman Filter
8 Feb (M) Covariance propagation (L6-1, MP3) HW #5

solns

10 Feb (W) Kalman filter (L6-2, MP3) OBC Ch 5.1-5.x
7
[edit] Discrete-time Kalman filtering
15 Feb (M) Institute Holiday (President's day) HW #6

solns

17 Feb (W) Kalman filter & sensor fusion (L7-2, MP3) OBC Ch 6.1
8
[edit] LQG
22 Feb (M) Linear Quadratic Gaussian control (L8-1, MP3) TBD HW #7

solns

24 Feb (W) Optimization (guest lecture) (L8-2, MP3)
9
[edit] Robust Control
1 Mar (M) Uncertainty & small gain theorem (L9-1, MP3) AM 9.5, DFT Ch 4 HW #8

solns

3 Mar (W) Robust Stability (L9-2, MP3) DFT Ch 4
10
[edit] Uncertainty
8 Mar (M) Robust Performance (L10-1, MP3) Final
10 Mar (W) Example and H-infinity optimization (L10-2, MP3)
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