CDS 101/110
  Overview
  Lectures
  Recitations
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Course text

The primary course text is by Åström and Murray and will be made available online. Generally, draft versions of the chapter will be posted a week ahead of time and updated by the Monday lecture in which that chapter is assigned as reading. This book is for the use of students enrolled in CDS 101/110 and should not be distributed without permission from the authors. All chapters are in PDF format.

• K. J. Åström and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2004.

  This version of Astrom and Murray is obsolete

  Use AM05 instead

  • Chapter 1, Introduction (26 Sep 04)
  • Chapter 2, Systems Modeling (3 Oct 04)
  • Chapter 3, Dynamic Behavior (10 Oct 04)
  • Chapter 4, Linear Input/Output Systems (17 Oct 04)
  • Chapter 5, State Feedback (24 Oct 04)
  • Chapter 6, Transfer Functions (3 Nov 04)
  • Chapter 7, Loop Analysis of Feedback Systems (DRAFT)
  • Chapter 8, PID Control (DRAFT)
  • Chapter 9, Tradeoffs and Limitations of Performance (DRAFT)
  • Chapter 10, Implementation (DRAFT)
  • Appendix A, Linear Algebra
  • Appendix B, Linear Differential Equations
  • Appendix C, Laplace Transforms

Recommended supplementary texts

• K. J. Åström, Control System Design, Preprint, 2002. Online access (Caltech students only).

• A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.

Additional textbooks (available in Sherman Fairchild Library)

In addition to the books above, the textbooks below may also be useful. Most of these books have been reserved for the course in the Sherman Fairchild Library. They can also be ordered from online booksellers.

• B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, 1986.

• G. F. Franklin, J. D. Powell, and A. Emami-Naeni, Feedback Control of Dynamic Systems, Addison-Wesley, 2002.

• N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control Systems, Benjamin/Cummings, 1992.

• B. C. Kuo, Automatic Control Systems, Prentice-Hall, 1995.

Popular Articles

Here are some recent articles from the popular press on control theory. These are locally cached copies, available only for use by Caltech students.

• Computers Chase the Checkered Flag, New York Times, June 2004.
• Steady, Ready, Shoot: Making a Camera Hold Still, New York Times, June 2004.
• The Bionic Running Shoe, New York Times, May 2004.
• Shifting Gears, With the Help of Software, New York Times, December 2002.
• For Spy in the Sky, New Eyes, New York Times, June 2001.

Historical Articles

These articles give particularly readable and important results from leaders in the field.

• Black, feedback amplifiers
• Bellman, dynamic programming

Web sites

More information on control theory and its applications can be found on the following web sites:

• Control tutorials for MATLAB (U. Michigan)
• Control Theory: The Band
• Control Theory and Engineering Links from Theorem.Net