CDS 101: Principles of
Feedback and Control

Fall 2002

About CDS 101


Richard M. Murray


Hideo Mabuchi (Ph/CDS)
Michael Dickinson (BE)
Eric Klavins (CS)
Doug MacMartin (CDS)

Teaching Assistants

  • Sean Humbert (Head TA) - jshumber@cds
  • Tim Chung - timothyc@its
  • Lars Cremean - lars@cds
  • Zhipu Jin - jzp@cds
  • Shreesh Mysore - shreesh@cds

Office Hours

Fri 3-4 pm and Sun 5-7 pm, 110 Steele

Description Lectures Reading FAQ CDS Home

This is the homepage for CDS 101, "Principles of Feedback and Control". This web page is managed by Richard Murray and Sean Humbert. Last modified: 14-Oct-2003

Course Description

An introduction to feedback and control in physical, biological, engineering, and information sciences. Basic principles of feedback and its use as a tool for altering the dynamics of systems and managing uncertainty. Key themes throughout the course will include input/output response, modeling and model reduction, linear versus nonlinear models, and local versus global behavior. This course is taught concurrently with CDS 110a, but is intended for students who are interested primarily in the concepts and tools of control theory and not the analytical
techniques for design and synthesis of control systems.

Suggested pre-requisites: Basic course on ordinary differential equations and linear algebra (equivalent to Ma 1/2).

More about CDS 101

Lectures: Monday, 2 pm, 102 Steele

Week Date Topic (click for details) Reading Homework
30 Sep Introduction to feedback and control CDS Panel Report, Ch 1-2 [more] HW #1 [soln]
7 Oct System modeling Astrom, Sec 3.1-3.2, 3.6 [more] HW #2 [soln]
14 Oct Stability and performance No required reading [more] HW #3 [soln]
21 Oct Linear systems PPH, Ch 19, 20, 22 [more] HW #4 [soln]
28 Oct Controllability and state space feedback PPH, Ch 25 [more] Midterm [soln]
4 Nov Transfer functions PPH, Ch 5-6 [more] HW #5 [soln]
11 Nov Loop analysis of feedback systems Astrom, Sec 3.5 [more] HW #6 [soln]
18 Nov Frequency domain control design No required reading [more] HW #7 [soln]
25 Nov PID and root locus Astrom, Sec 6.1-6.4, 6.6 [more] HW #8 [soln]
2 Dec Uncertainty analysis No required reading Final [soln]

Optional lectures and reviews: Friday, 2 pm PDT, 102 Steele

In addition to the main lecture, supplemental lectures and review sessions will be offered to provide additional material for the class.

Course Notes and Links

There is no required text for the course. Reading material for the class will be posted here, along with links to supplemental information.

Required reading sources

Supplemental reading sources

Additional handouts


Software and Demos

Frequently Asked Questions

A frequently asked questions (FAQ) database is maintained to answer questions from lectures and on the homeworks.
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