CDS 110: Introduction to Control TheoryWinter 2003 |
Instructor
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Teaching Assistants
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CDS 110 home | Lectures | Reading | Software | CDS Home |
This is the homepage for CDS 110b, Introduction to Control Theory. This web
page is managed by Richard Murray. Last modified:
17-Mar-2003
.
Week | Date | Lec | Topic (click for details) | FAQ | Reading | Homework |
1
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6 Jan | L11.1 | Course introduction; observability | FAQ | Friedland, Ch 7, 8; L11_2dfan.m | HW #9 [FAQ, solns] |
8 Jan | L11.2 | Observers; separation principle | FAQ | |||
2
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13 Jan | L12.1 | Linear quadratic regulators (LQR) | FAQ | Friedland, Ch 9; feed foward notes; L12_2dfan.m | HW #10 [FAQ, solns] |
15 Jan | L12.2 | Tracking and regulation using LQR | FAQ | |||
3
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20 Jan | L13.1 | No class: Martin Luther King Day | Notes | HW #11 [FAQ, solns] | |
22 Jan* | L13.2 | Receding horizon control | FAQ | |||
4
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27 Jan | L14.1 | Introduction to random processes | FAQ | Friedland, Ch 10 | HW #12 [FAQ, solns] |
29 Jan | L14.2 | Stochastic control systems | FAQ | |||
5
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3 Feb | L15.1 | Kalman filters | FAQ | Friedland, Ch 11 | Midterm [solns] |
5 Feb* | L15.2 | Midterm review | FAQ | |||
6
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10 Feb | L16.1 | Norms of signals and systems | FAQ | DFT, Ch 1,2,3 | HW #13 [FAQ, solns] |
12 Feb | L16.2 | H_infty control design | FAQ | |||
7
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17 Feb | L17.1 | No class: Presidents Day | DFT Ch 4 | HW #14 [FAQ, solns] | |
19 Feb | L17.2 | Robust stability and performance | FAQ | |||
8
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24 Feb | L18.1 | Robust analysis | FAQ | DFT Ch 6, L18_1dfan.m, L18_2dfan.m | HW #15 [FAQ, solns] |
26 Feb | L18.2 | Design constraints | FAQ | |||
9
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3 Mar | L19.1 | Loopshaping | FAQ | DFT Ch 7; FPE 8.1-8.3 (handed out in class) | HW #16 [FAQ, solns] |
5 Mar | L19.2 | Discrete time systems | FAQ | |||
10
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10 Mar* | L20.1 | Describing functions | FAQ | Review notes [w/ figures] | Final [due 3/19] |
12 Mar* | L20.2 | Feedback linearization | FAQ |
There is no required text for the course. Reading material for the class will be posted here, along with links to supplemental information.
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.
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.