CDS 110: Introduction to Control Theory

Winter 2003


Richard M. Murray

Office hours by appointment

Teaching Assistants

  • Lars Cremean (
  • Zhipu Jin (

Office hours: Fri, 4pm and Sun, 5 pm in 110 Steele

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 .

Lectures: Monday, 2-3 pm and Wed 1-3 pm, 206 Thomas

Week Date Lec Topic (click for details) FAQ Reading Homework
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
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
20 Jan L13.1 No class: Martin Luther King Day   Notes HW #11 [FAQ, solns]
22 Jan* L13.2 Receding horizon control FAQ
27 Jan L14.1 Introduction to random processes FAQ Friedland, Ch 10 HW #12 [FAQ, solns]
29 Jan L14.2 Stochastic control systems FAQ
3 Feb L15.1 Kalman filters FAQ Friedland, Ch 11 Midterm [solns]
5 Feb* L15.2 Midterm review FAQ
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
17 Feb L17.1 No class: Presidents Day   DFT Ch 4 HW #14 [FAQ, solns]
19 Feb L17.2 Robust stability and performance FAQ
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
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 Mar* L20.1 Describing functions FAQ Review notes [w/ figures] Final [due 3/19]
12 Mar* L20.2 Feedback linearization FAQ

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