CDS 110b, Winter 2010 - Course Schedule
From MacMynowski
(Difference between revisions)
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| 11 Jan (M) | | 11 Jan (M) | ||
− | | LQR Derivation ({{cds110 lectures|L2- | + | | LQR Derivation ({{cds110 lectures|L2-1_LQR.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) | ||
− | | Choosing LQR weights ({{cds110 lectures|L2- | + | | Choosing LQR weights ({{cds110 lectures|L2-2.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] | ||
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| 20 Jan (W) | | 20 Jan (W) | ||
− | | Receding Horizon Control ({{cds110 lectures|L3- | + | | Receding Horizon Control ({{cds110 lectures|L3-2.pdf|L3-2}}) |
| [http://www.cds.caltech.edu/~macmardg/courses/cds110b/Carson_thesis_MPC.pdf Carson Ch 2] | | [http://www.cds.caltech.edu/~macmardg/courses/cds110b/Carson_thesis_MPC.pdf Carson Ch 2] | ||
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| 25 Jan (M) | | 25 Jan (M) | ||
− | | Trajectory generation ({{cds101 lectures|L4- | + | | Trajectory generation ({{cds101 lectures|L4-1.pdf|L4-1}}) |
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 1.3] | | [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)* | ||
− | | Dynamic Programming ({{cds101 lectures|L4- | + | | Dynamic Programming ({{cds101 lectures|L4-2.pdf|L4-2}}) |
| TBD | | TBD | ||
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| 1 Feb (M) | | 1 Feb (M) | ||
− | | Random processes ({{cds101 lectures|5- | + | | Random processes ({{cds101 lectures|5-1.pdf|L5-1}}) |
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 4.1-4.3] | | [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) | ||
− | | Frequency-domain interpretation ({{cds101 lectures|L5- | + | | Frequency-domain interpretation ({{cds101 lectures|L5-2.pdf|L5-2}}) |
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 4.4-4.5] | | [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 4.4-4.5] | ||
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| 8 Feb (M) | | 8 Feb (M) | ||
− | | Covariance propagation ({{cds101 lectures|L6- | + | | Covariance propagation ({{cds101 lectures|L6-1.pdf|L6-1}}) |
| | | | ||
| rowspan=2 align=center | {{cds110 homework|5}} | | rowspan=2 align=center | {{cds110 homework|5}} | ||
|- | |- | ||
| 10 Feb (W) | | 10 Feb (W) | ||
− | | Kalman filter ({{cds101 lectures|L6- | + | | Kalman filter ({{cds101 lectures|L6-2.pdf|L6-2}}) |
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 6.1] | | [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 6.1] | ||
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| 17 Feb (W) | | 17 Feb (W) | ||
− | | Kalman filtering and LQG ({{cds101 lectures|L7- | + | | Kalman filtering and LQG ({{cds101 lectures|L7-2.pdf|L7-2}}) |
| [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 5.1-5.x] | | [http://www.cds.caltech.edu/~murray/amwiki/Supplement:_Optimization-Based_Control OBC Ch 5.1-5.x] | ||
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| 22 Feb (M) | | 22 Feb (M) | ||
− | | Norms ({{cds101 lectures|L8- | + | | Norms ({{cds101 lectures|L8-1.pdf|L8-1}}) |
| TBD (DFT) | | TBD (DFT) | ||
| rowspan=2 align=center | {{cds110 homework|7}} | | rowspan=2 align=center | {{cds110 homework|7}} | ||
|- | |- | ||
| 24 Feb (W) | | 24 Feb (W) | ||
− | | Robustness ({{cds101 lectures|L8- | + | | Robustness ({{cds101 lectures|L8-2.pdf|L8-2}}) |
| TBD (DFT) | | TBD (DFT) | ||
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| 1 Mar (M) | | 1 Mar (M) | ||
− | | topic ({{cds101 lectures|L9- | + | | topic ({{cds101 lectures|L9-1.pdf|L9-1}}) |
| TBD (DFT) | | 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- | + | | topic ({{cds101 lectures|L9-2.pdf|L9-2}}) |
| TBD (DFT) | | TBD (DFT) | ||
|- | |- |
Revision as of 04:39, 11 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 | |
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 | |
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 | ||
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 | |
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 | |
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 | ||
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 | ||
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 | |
24 Feb (W) | Robustness (L8-2, MP3) | TBD (DFT) | ||
9 |
Loop Shaping Revisited | |||
1 Mar (M) | topic (L9-1, MP3) | TBD (DFT) | HW #8 | |
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) |