CDS 110: Introduction to Control Theory
This is the homepage for CDS 110, "Introduction to Control Theory". This web page is managed by Richard Murray and Sean Humbert. Last 1odified: 25-Mar-2003
This course is an introduction to analysis and design of feedback control systems,
including classical control theory in the time and frequency domain. Modeling
of physical, biological and information systems using linear and nonlinear differential
equations. Stability and performance of interconnected systems, including use
of block diagrams, Bode plots, Nyquist criterion, and Lyapunov functions. Robustness
and uncertainty management in feedback systems through stochastic and deterministic
methods. Introductory random processes, Kalman filtering, and norms of signals
and systems. The first term of this course is taught concurrently with CDS 101,
but includes additional lectures, reading, and homework that is focused on 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).
|Week||Date||Lec||Topic (click for details)||FAQ||Reading||Homework|
|30 Sep||L1.1||Introduction to feedback and control||FAQ||HW #1 [soln]|
|2 Oct||L1.2||Introduction to control technology (pdf)||FAQ|
|7 Oct||L2.1||System modeling||FAQ||Astrom, Sec 3.1-3.3, 3.6||HW #2 [soln]|
|9 Oct||L2.2||ODE modeling for control (MacMartin)||FAQ|
|14 Oct||L3.1||Stability and performance||FAQ||Astrom, Sec 3.5,
MLS, Sec 4.4
|HW #3 [soln]|
|16 Oct||L3.2||Lyapunov stability and second order systems||FAQ|
|21 Oct||L4.1||Linear systems||FAQ||PPH, Ch 19-23
Astrom, Sec 3.6, 3.7 (pp 125-134)
|HW #4 [soln]|
|23 Oct||L4.2||Analysis of linear systems; discrete time systems||FAQ|
|28 Oct||L5.1||Controllability and state space feedbaack||FAQ||PPH, Ch 25
Lewis, Ch 2
|30 Oct||L5.2||Linear systems analysis||FAQ|
|4 Nov||L6.1||Transfer functions||FAQ||PPH, Ch 5-6
Lewis, Ch 3-4
|HW #5 [soln]|
|6 Nov||L6.2||Bode plots and performance specification||FAQ|
|11 Nov||L7.1||Loop analysis of feedback systems||FAQ||Astrom, Sec 3.5,
PPH, Ch 30-31
|HW #6 [soln]|
|13 Nov||L7.2||Nyquist analysis, second order systems, time delay||FAQ|
|18 Nov||L8.1||Frequency domain control design||FAQ||L82_dfan.m||HW #7 [soln]|
|20 Nov||L8.2||Ducted fan design example||FAQ|
|25 Nov||L9.1||PID control and root locus||FAQ||HW #8 [soln]|
|27 Nov||L9.2||Root locus analysis, performance limits||FAQ|
|2 Dec||L10.1||Uncertainty analysis||FAQ||None||Final [soln]|
|4 Dec||L10.2||Motion control systems||FAQ|
In addition to the main lecture, supplemental lectures and review sessions will be offered to provide additional material for the class.
There is no required text for the course. Reading material for the class will be posted here, along with links to supplemental information.
R. M. Murray (ed), Control in an Information Rich World: Report of the Panel on Future Directions in Control, Dynamics, and Systems, SIAM, 2002 (to appear). Available online at http://www.cds.caltech.edu/~murray/cdspanel/
K. J. Åström, Control System Design, Preprint, 2002. Online access (Caltech students only).
A. Packard, K. Poola and R. Horowitz, Dynamic Systems and Feedback, Preprint, 2002. Online access (Caltech students only).
A. D. Lewis, A Mathematical Introduction to Feedback Control, 2002.
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-
N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control
B. C. Kuo, Automatic Control Systems, Prentice-Hall, 1995.
Matlab. A general purpose engineering analysis package that is widely used in industry. Caltech has a site license to Matlab and it should be available on most campus computing systems.