23 Apr 06 Meeting Notes

Meeting with Karl in Cambridge, UK

General discussion

• Robust performance section: focus on disturbances, noise rejection
• New section on noise (3-5 pages)
  • Karl to take first cut (done)
  • Distribute time white noise, spectral density
• Move implementation chapter to wiki (done)
  • Action (RMM): Re-insert bio stuff into wiki version of implementation chapter

Chapter 1 discussion

• Thoughts on controls tools (chapter 1)
  • What we consider a solution changes with modern computation
  • Theme throughout: standard problems/models → computational solutions
  • Examples of standard problems: ABCD, block diagrams, transfer functions, LQG, Hinfty, MPC/RHC
  • Need an "architecture for solving problems"
  • NCS drawing (from CDS 110b)

• Action (KJA): Make sure to mention modes and Heaviside

Diagram Figures

• Circuit: PID or automatic gain control
• Gas turnbin OK
• Bio from mCSHL
• Chemical process example
• Petri net

References

• Advice for where to learn more
• Specialized books
• Historical perspective

Reachable canonical form

• Action (RMM): check sources for canonical forms: Kalman, Ho Narenda; Elmer Gilbert; Kalmbin, Arbib, Falb
• Decision: use the form with the coefficients in order (w/ a negative sign) in the top row
  • Closed loop polynomial should be

LQR/LQG

• 's for controller cost
• 's for noise covariances
• Action (RMM): Update LQR section to reflect this notation

  Completed on 18 May in text and summary

State feedback notation

• Final results should be A - BK - LC
• This gives
• Action (RMM): Need to make sure this is consistent throughout the book