http://www.cds.caltech.edu/~murray/wiki/api.php?action=feedcontributions&user=Braman&feedformat=atomMurrayWiki - User contributions [en]2020-08-04T00:56:59ZUser contributionsMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=Spring_2009_Meeting_ScheduleSpring 2009 Meeting Schedule2009-03-19T14:18:24Z<p>Braman: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Julia}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Yizhar}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Mar_2009_meetingsMar 2009 meetings2009-02-25T16:25:00Z<p>Braman: /* Mon, 9 Mar */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Mar and 13 Mar. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Tue, 3 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (45 min)}}<br />
{{agenda item|2:15p|Open (45 min)}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Francisco (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Dom}}<br />
{{agenda item|5:00p|Aldo}}<br />
{{agenda item|6:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
<br />
==== Mon, 9 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Ufuk}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Tue, 10 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 11 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Julia}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Mar_2009_meetingsMar 2009 meetings2009-02-25T16:24:49Z<p>Braman: /* Wed, 11 Mar */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Mar and 13 Mar. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Tue, 3 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (45 min)}}<br />
{{agenda item|2:15p|Open (45 min)}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Francisco (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Dom}}<br />
{{agenda item|5:00p|Aldo}}<br />
{{agenda item|6:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
<br />
==== Mon, 9 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Julia}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Ufuk}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Tue, 10 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 11 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Julia}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Mar_2009_meetingsMar 2009 meetings2009-02-25T16:23:53Z<p>Braman: /* Mon, 9 Mar */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Mar and 13 Mar. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Tue, 3 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (45 min)}}<br />
{{agenda item|2:15p|Open (45 min)}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Francisco (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Dom}}<br />
{{agenda item|5:00p|Aldo}}<br />
{{agenda item|6:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
<br />
==== Mon, 9 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Julia}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Ufuk}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Tue, 10 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|7:00p|Open (45 min)}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 11 Mar ====<br />
{{agenda begin}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Paul_Houpt,_Feb_2009Paul Houpt, Feb 20092009-02-03T05:09:29Z<p>Braman: /* 4 Feb (Wed) */</p>
<hr />
<div>This page contains a schedule for Paul Houpt, who will be visiting Caltech on 4-5 Feb<br />
<br />
=== 4 Feb (Wed) ===<br />
<br />
{{agenda begin}}<br />
{{agenda item|10:00a|Ufuk Topcu, 114 Steele (CDS library)}}<br />
{{agenda item|10:45a|Seminar prep}}<br />
{{agenda item|11:00a|Seminar (TBD)}}<br />
{{agenda item|12:00p|Lunch: Ufuk, ...}}<br />
{{agenda item|1:30p|Andreas Krause}}<br />
{{agenda item|2:15p|Mani Chandy}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|3:45p|Julia Braman}}<br />
{{agenda item|4:30p|John Doyle}}<br />
{{agenda end}}<br />
<br />
=== 5 Feb (Thu) ===<br />
{{agenda begin}}<br />
{{agenda item|9:00a|Open}}<br />
{{agenda item|9:45a|Open}}<br />
{{agenda item|10:30a|Open}}<br />
{{agenda item|11:15a|Open}}<br />
{{agenda item|12:00p|Depart}}<br />
{{agenda end}}</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Feb_2009_meetingsFeb 2009 meetings2009-01-26T15:33:00Z<p>Braman: /* Mon, 9 Feb */</p>
<hr />
<div>The list below has times that I am available to meet between 2 Feb and 13 Feb. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__<br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=20%><br />
==== Mon, 2 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Ufuk}}<br />
{{agenda item|6:00p|Ben}}<br />
{{agenda item|6:30p|Nok}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Fri, 6 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|9:00a|Sawyer}}<br />
{{agenda item|12:00p|Group meeting}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Mon, 9 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|8:30a|Open}}<br />
{{agenda item|11:30a|Open}}<br />
{{agenda item|1:00p|Open}}<br />
{{agenda item|2:00p|Julia}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Fri, 13 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Francisco}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table></div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Winter_2009Group Schedule, Winter 20092008-12-22T18:30:29Z<p>Braman: /* Group Meetings */</p>
<hr />
<div>This page contains information about various upcoming events that are of interest to the group. __NOTOC__<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
* [[Winter 2009 Meeting Schedule]]<br />
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar]<br />
| width=50% |<br />
* [[Group Schedule, Fall 2008]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are at noon in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|7 Jan (Wed)|Lars Blackmore}}<br />
{{agenda item|12 Jan (Mon)|Open}}<br />
{{agenda item|21 Jan (Wed)|Hold: Walid}}<br />
{{agenda item|28 Jan (Wed)|Open}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|6 Feb (Fri)|Open}}<br />
{{agenda item|12 Feb (Thu)|Open}}<br />
{{agenda item|18 Feb (Wed)|Open}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|25 Feb (Wed)|Open}}<br />
{{agenda item|6 Mar (Fri)|Andrea}}<br />
{{agenda item|13 Mar (Fri)|Julia}}<br />
{{agenda end}}<br />
|}</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Winter_2009_Meeting_ScheduleWinter 2009 Meeting Schedule2008-12-21T19:21:50Z<p>Braman: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Julia}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Odd: Francisco}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Andrea}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-12-10T19:50:34Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructors'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 10 Dec 08: HW 8 has been graded; averages are for 101: 17/20, 5 hours; for 110: 34/40, 9.5 hours.<br />
* 1 Dec 08: [[CDS 101/110 - Robust Performance|Week 10 - Robust Performance]]<br />
** The CDS 101/110/210 final will be handed out on Friday at 3 pm (after the review)<br />
* 1 Dec 08: HW 7 has been graded; averages are for 101: 18/20; for 110: 25.5/30, 10 hours.<br />
* 26 Nov 08: HW 6 has been graded; averages are for 101: 17/20, 4.5 hours; for 110: 26/30, 9 hours.<br />
* 24 Nov 08: [[CDS 101/110 - PID Control|Week 9 - PID control]]<br />
** {{cds101 handouts|hw8-fa08.pdf|HW #8}} is posted; due 3 Nov (Wed)<br />
* 22 Nov 08: {{cds101 local|soln6-fa08.pdf|Solutions}} for HW #6 are posted; graded sets will be available on Tue (25 Nov)<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
* 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.<br />
* 3 Nov 08: [[CDS 101/110 - Transfer Functions|Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5-fa08.pdf|HW #5}} is posted; due 10 Nov<br />
* 10 Nov 08: Midterm is graded and {{cds101 local|solnMT-fa08.pdf|solutions}} are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.<br />
* 10 Nov 08: [[CDS 101/110 - Loop Analysis|Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6-fa08.pdf|HW #6}} is posted; due 17 Nov<br />
* 15 Nov 08: HW 5 has been graded and {{cds101 local|soln5-fa08.pdf|solutions}} are posted; averages are for 101: 16/20, 4 hours; for 110: 34/40, 11 hours.<br />
* 17 Nov 08: [[CDS 101/110 - Loop Shaping|Week 8 - Loop Shaping]]<br />
** {{cds101 handouts|hw7-fa08.pdf|HW #7}} is posted; due 24 Nov<br />
* 21 Nov 08: A revised version of {{cds101 handouts|hw7-fa08.pdf|HW #7}} has been posted that corrects some errors in problem 1 of the CDS 110 problems<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-12-08T17:39:03Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - Shuo; Tuesday - Luis & Max (3-4pm)<br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: Grade by Wed 12/3 at noon<br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
* HW 8: Grade by Wed 12/10 (or asap)<br />
** Problem 1 (101) & Problem 2 (110): Julia<br />
** Problem 2 (101) & Problem 1 (110): Luis<br />
** Problem 3: Max<br />
** Problem 4: Shuo<br />
* Final: Julia, Max & Genti on Sat. Dec. 13 from 2:30-4:30pm in 110 STL<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL. '''No meeting Wed 12/3.'''<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Problem_2_(CDS101)_Problem_1_(CDS110)Problem 2 (CDS101) Problem 1 (CDS110)2008-12-03T15:44:48Z<p>Braman: </p>
<hr />
<div>The plant in Problem 2b (CDS101) Problem 1b (CDS110) actually meets most (if not all) the specifications. This was unintentional. You need to reduce the steady state and tracking error even more (while making sure all other specifications are also met), and include all relevant plots and code to get full credit.<br />
--[[User:Soto|Luis Soto]] 23:03, 2 December 2008 (PST)<br />
[[Category: CDS 101/110 FAQ - Homework 8]]<br />
[[Category: CDS 101/110 FAQ - Homework 8, Fall 2008]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-12-02T00:45:14Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructors'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 1 Dec 08: HW 7 has been graded; averages are for 101: 18/20; for 110: 25.5/30, 10 hours.<br />
* 26 Nov 08: HW 6 has been graded; averages are for 101: 17/20, 4.5 hours; for 110: 26/30, 9 hours.<br />
* 24 Nov 08: [[CDS 101/110 - PID Control|Week 9 - PID control]]<br />
** {{cds101 handouts|hw8-fa08.pdf|HW #8}} is posted; due 3 Nov (Wed)<br />
* 22 Nov 08: {{cds101 local|soln6-fa08.pdf|Solutions}} for HW #6 are posted; graded sets will be available on Tue (25 Nov)<br />
* 21 Nov 08: A revised version of {{cds101 handouts|hw7-fa08.pdf|HW #7}} has been posted that corrects some errors in problem 1 of the CDS 110 problems<br />
* 17 Nov 08: [[CDS 101/110 - Loop Shaping|Week 8 - Loop Shaping]]<br />
** {{cds101 handouts|hw7-fa08.pdf|HW #7}} is posted; due 24 Nov<br />
* 15 Nov 08: HW 5 has been graded and {{cds101 local|soln5-fa08.pdf|solutions}} are posted; averages are for 101: 16/20, 4 hours; for 110: 34/40, 11 hours.<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
* 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.<br />
* 3 Nov 08: [[CDS 101/110 - Transfer Functions|Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5-fa08.pdf|HW #5}} is posted; due 10 Nov<br />
* 10 Nov 08: Midterm is graded and {{cds101 local|solnMT-fa08.pdf|solutions}} are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.<br />
* 10 Nov 08: [[CDS 101/110 - Loop Analysis|Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6-fa08.pdf|HW #6}} is posted; due 17 Nov<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-12-01T18:03:49Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - Shuo; Tuesday - Luis & Max (3-4pm)<br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: Grade by Wed 12/3 at noon<br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
* HW 8: Grade by Wed 12/10 (or asap)<br />
** Problem 1 (101) & Problem 2 (110): Julia<br />
** Problem 2 (101) & Problem 1 (110): Luis<br />
** Problem 3: Max<br />
** Problem 4: Shuo<br />
* Final: Julia, Max & Genti on Sat. Dec. 13 at TBD (sometime between 2-5pm) in 110 STL<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL. '''No meeting Wed 12/3.'''<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-27T00:33:53Z<p>Braman: /* Weekly meetings */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - ; Tuesday - <br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: Grade by Wed 12/3 at noon<br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
* HW 8: Grade by Wed 12/10 (or asap)<br />
** Problem 1 (101) & Problem 2 (110): Julia<br />
** Problem 2 (101) & Problem 1 (110): Luis<br />
** Problem 3: Max<br />
** Problem 4: Shuo<br />
* Final: Julia, Max & Genti on Sat. Dec. 13 at TBD (sometime between 2-5pm) in 110 STL<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL. '''No meeting Wed 12/3.'''<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-27T00:33:13Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - ; Tuesday - <br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: Grade by Wed 12/3 at noon<br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
* HW 8: Grade by Wed 12/10 (or asap)<br />
** Problem 1 (101) & Problem 2 (110): Julia<br />
** Problem 2 (101) & Problem 1 (110): Luis<br />
** Problem 3: Max<br />
** Problem 4: Shuo<br />
* Final: Julia, Max & Genti on Sat. Dec. 13 at TBD (sometime between 2-5pm) in 110 STL<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-27T00:31:25Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - ; Tuesday - <br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: <br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
* HW 8:<br />
** Problem 1 (101) & Problem 2 (110): Julia<br />
** Problem 2 (101) & Problem 1 (110): Luis<br />
** Problem 3: Max<br />
** Problem 4: Shuo<br />
* Final: Julia, Max & Genti on Sat. Dec. 13 at TBD (sometime between 2-5pm) in 110 STL<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-26T23:58:27Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 9 (Nov 24 - Dec 2): Sunday - ; Tuesday - <br />
* Week 10 (Dec 1 - Dec 7): No office hours<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: <br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-11-26T20:58:59Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructors'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 26 Nov 08: HW 6 has been graded; averages are for 101: 17/20, 4.5 hours; for 110: 26/30, 9 hours.<br />
* 24 Nov 08: [[CDS 101/110 - PID Control|Week 9 - PID control]]<br />
** {{cds101 handouts|hw8-fa08.pdf|HW #8}} is posted; due 3 Nov (Wed)<br />
* 22 Nov 08: {{cds101 local|soln6-fa08.pdf|Solutions}} for HW #6 are posted; graded sets will be available on Tue (25 Nov)<br />
* 21 Nov 08: A revised version of {{cds101 handouts|hw7-fa08.pdf|HW #7}} has been posted that corrects some errors in problem 1 of the CDS 110 problems<br />
* 17 Nov 08: [[CDS 101/110 - Loop Shaping|Week 8 - Loop Shaping]]<br />
** {{cds101 handouts|hw7-fa08.pdf|HW #7}} is posted; due 24 Nov<br />
* 15 Nov 08: HW 5 has been graded and {{cds101 local|soln5-fa08.pdf|solutions}} are posted; averages are for 101: 16/20, 4 hours; for 110: 34/40, 11 hours.<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
* 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.<br />
* 3 Nov 08: [[CDS 101/110 - Transfer Functions|Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5-fa08.pdf|HW #5}} is posted; due 10 Nov<br />
* 10 Nov 08: Midterm is graded and {{cds101 local|solnMT-fa08.pdf|solutions}} are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.<br />
* 10 Nov 08: [[CDS 101/110 - Loop Analysis|Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6-fa08.pdf|HW #6}} is posted; due 17 Nov<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-24T16:26:04Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
* HW 7: <br />
** Problem 1,2 (101): Luis<br />
** Problem 1: Julia<br />
** Problem 2: Max<br />
** Problem 3: Shuo<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-11-15T22:43:37Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructors'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 17 Nov 08: HW 5 has been graded; averages are for 101: 16/20, 4 hours; for 110: 34/20, 11 hours.<br />
* 10 Nov 08: [[CDS 101/110 - Loop Analysis|Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6-fa08.pdf|HW #6}} is posted; due 17 Nov<br />
* 10 Nov 08: Midterm is graded and {{cds101 local|solnMT-fa08.pdf|solutions}} are posted. CDS 101 average = 36/40, CDS 110 average = 41/50.<br />
* 3 Nov 08: [[CDS 101/110 - Transfer Functions|Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5-fa08.pdf|HW #5}} is posted; due 10 Nov<br />
* 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-13T00:50:23Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 6: Grade by Tues 11/25 at 8am<br />
** Problems 1 (101 & 110): Shuo<br />
** Problem 2: Luis<br />
** Problem 3: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-13T00:49:02Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively. Thursday office hours will be from 3-4pm in 110 STL.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-13T00:48:19Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
* Week 7 (Nov 10 - Nov 16): Thursday - Max; Sunday - Luis & Shuo<br />
* Week 8 (Nov 17 - Nov 23): Thursday - Max; Sunday - Luis & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-13T00:46:19Z<p>Braman: /* Recitations */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
* Week 7 (11/14): Everyone uses the transfer function from CDS 110's Problem 1, part b, part c to complete the necessary calculations for Problem 2, part b. Use Matlab to show step response and pole-zero map. Draw the Bode and Nyquist diagrams by hand. Mention the relationship between phase margin and overshoot.<br />
* Week 8 (11/21): Everyone goes over the fly controller problem; incorporate the necessary relations from problem 1 (phase margin vs overshoot). Expect more students than usual! This will be the last recitation.<br />
* Week 9 (11/28): Thanksgiving Break, no recitation.<br />
* Week 10 (12/5): No recitation, instead there will be a final review (Shuo).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-12T18:53:01Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday at noon'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-06T00:20:20Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 5: '''Grade by Saturday night'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-06T00:19:52Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
* HW 6: '''Grade by Saturday night'''<br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-06T00:18:10Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
* Week 6 (Nov 3 - Nov 9): Friday - Luis; Sunday - Max & Julia<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-06T00:16:21Z<p>Braman: /* Recitations */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
* Week 6 (11/7): Everyone goes over problem 2, the cruise control problem. Go over Bode plots needed by doing them by hand on the board.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-11-04T03:05:32Z<p>Braman: /* Creating FAQ pages */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
* The word "AND" gives this creation procedure problems- try to avoid it.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Does_pole_zero_cancellation_happen_and_is_it_useful%3FDoes pole zero cancellation happen and is it useful?2008-11-04T03:03:50Z<p>Braman: </p>
<hr />
<div>It is generally a bad idea to cancel unstable poles or zeros because for this to work it would need to be exact; for real systems, we almost never know exactly where a pole or zero is because our model can never be good enough. However, for robust performance considerations, it is sometimes useful to cancel a stable pole or zero. Chapter 12 of Astrom and Murray talks more about this.<br />
<br />
--[[User:Braman|Julia Braman]] 19:03, 3 November 2008 (PST)<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1, Fall 2008]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Does_pole_zero_cancellation_happen_and_is_it_useful%3FDoes pole zero cancellation happen and is it useful?2008-11-04T03:03:24Z<p>Braman: </p>
<hr />
<div>It is generally a bad idea to cancel unstable poles or zeros because for this to work it would need to be exact; for real systems, we almost never know exactly where a pole or zero is because our model can never be good enough. However, for robust performance considerations, it is sometimes useful to cancel a stable pole or zero. Chapter 12 of Astrom and Murray talks more about this.<br />
<br />
--[[User:Braman|Braman]] 19:03, 3 November 2008 (PST)<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1, Fall 2008]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-11-03T22:24:17Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructors'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 3 Nov 08: HW 4 has been graded; averages are for 101: 15/20, 6 hrs; for 110: 35.5/40, 7 hrs.<br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-29T23:43:34Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 27 Oct 08: [[CDS 101/110 - Output Feedback|Week 5 - Output Feedback]]<br />
** CDS 101/110: the [[CDS 101/110 Midterm, Fall 2008|midterm]] will be handed out after class on 29 Oct (Wed); after that, it will be available outside 102 STL.<br />
** CDS 210: {{cds101 handouts|hwM-fa08.pdf|HW #M}} is posted; due 3 Nov<br />
** CDS 210 students- note the additional recitation section scheduled on Mondays from 1-2. More info on the recitation page.<br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** '''This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm.'''<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008_-_Recitation_ScheduleCDS 101/110a, Fall 2008 - Recitation Schedule2008-10-29T23:41:45Z<p>Braman: /* Section 5: CDS 210 */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: CDS 101 ===<br />
<br />
This section is designed for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Eric Chin<br />
* Joe Fang<br />
* Michelle Jiang<br />
* Simon Kornblith<br />
| <br />
* Wei Li<br />
* Mike Liu<br />
* Hetal Patel<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Mechanical Systems ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM <br />
|- valign=top<br />
| <br />
* Juan Benitez<br />
* Jason Cerundolo<br />
* Lauren Chu<br />
* Thomas Desautels<br />
* Mary Dorman<br />
* Evan Gaulik<br />
* Zack Higbee<br />
* Joshua Hutchins<br />
* Henry Jacobs<br />
* Joey Koehler<br />
* Lea Kunesh<br />
* Ruslan Kurdyumov<br />
* Kevin Noertker<br />
|<br />
* Thomas Oliver<br />
* Robbie Paolini<br />
* Chun-Che Peng<br />
* Stanislava Petkova<br />
* Benjamin Reinhardt<br />
* Mallika Saran<br />
* Marc Sells<br />
* Shen Shen<br />
* Ted Singer<br />
* Calvin Ting<br />
* Kevin Tjho<br />
* Jackson Wang<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Information Systems ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to information systems such as communications systems, networks and financial markets.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Shuo Han<br />
| <br />
* '''Location:''' 306 TOM<br />
|- valign=top<br />
| <br />
* Atsushi Baba<br />
* David Brown<br />
* Daniel Beylkin<br />
* Bettina Chen<br />
* Stephen Chou<br />
* Abhi Gulati<br />
* Fan Huang<br />
|<br />
* Jeremy Leibowitz<br />
* Gemma Mason<br />
* Noele Norris<br />
* Siripat Sumanaphan<br />
* Albert Wu<br />
* Hongchao Zhou<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Off-Hours Recitation ===<br />
<br />
This section is held on Fridays at 1-2pm. No one will be initially assigned to this section, but everyone is welcome to attend this (and all) recitations.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Max Merfeld<br />
| <br />
* '''Location:''' 142 Keck<br />
|- valign=top<br />
| <br />
* <br />
|<br />
* <br />
|}<br />
</blockquote><br />
<br />
=== Section 5: CDS 210 ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
Recitations will be held every Friday from 2-3 and Monday from 1-2 in 110 STL. (Note: On Monday 11/3 only, recitation will be held in 214 STL.)<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Genti Buzi<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Angie Cho<br />
* Kaushik das Gupta<br />
* Matthew Inkman<br />
* Clara O'Farrell<br />
| <br />
* Mayank Raj<br />
* Ophelia Venturelli<br />
* Floris von Breugel<br />
|}<br />
</blockquote><br />
Links to recitation pages:<br />
* [[CDS 210 - Stability Analysis]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-29T23:35:16Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
* Midterm - Luis, Shuo, Julia, and Richard from 5-7pm on Friday, Nov 7 (110 STL)<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-29T23:34:21Z<p>Braman: /* Recitations */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
* Week 5 (10/31): No recitation, instead there will be a midterm review (Julia).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-29T22:56:41Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
* Week 5 (Oct 27 - Nov 2): Sunday - Luis<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-27T19:54:59Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 27 Oct 08: HW 3 has been graded; averages are for 101: 17.6/20, 6 hrs; for 110: 36/40, 9 hrs; for 210: 37/40, 9 hrs.<br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** '''This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm.'''<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110_Midterm,_Fall_2008CDS 101/110 Midterm, Fall 20082008-10-27T03:53:53Z<p>Braman: </p>
<hr />
<div>The midterm will be handed out on 29 Oct (Wed) at the end of class. It will only be available in hardcopy. After Wed, the exam can be picked up outside 102 Steele.<br />
<br />
The exam will consist of 3-5 problems, covering the material in the first four weeks of the coures. The exam will be open book. You may use the course text, any of the optional texts (Friedland, Franklin-Powell and Emami-Naeni, Lewis), course handouts, lecture notes, course problem sets and solutions, and your own handwritten notes. ''No other books are allowed.'' <br />
<br />
You may use a computer or calculator for carrying out ''numerical''<br />
computations. MATLAB may be used but is not required. Symbolic<br />
computations using Mathematica or MATLAB/Maple are not allowed (and<br />
shouldn't be needed). All of your answers must be hand written or<br />
hand drawn (do not turn in code or computer plots).<br />
<br />
You are not allowed to use the Internet during the exam, except for<br />
accessing local computing resources, such as MATLAB/SIMULINK, or<br />
material posted on the course web site (within the caltech.edu<br />
domain). <br />
<br />
The exam will be due by '''5 p.m. Tuesday, 4 November''', in the box outside 102 Steele. Please write your solutions in a fresh exam book (blue book). We have to grade a large collections of exams in a short time and it makes things much simpler to manage if everyone uses a bluebook.</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-22T23:33:16Z<p>Braman: /* Recitations */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
* Week 4 (10/24): Max, Shuo, and Julia will go through problem 4 (inverted pendulum state fdbk) and walk through the Whipple bicycle problem (3). Luis will go through problem 1 (double integrator) and walk through the Whipple bicycle problem (2).<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-22T23:30:01Z<p>Braman: /* Grading */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
* HW 4:<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Luis<br />
* Problem 2: Max<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis<br />
* Problem 2: Shuo<br />
* Problem 3: Max (same as prob 2, 101)<br />
* Problem 4: Julia<br />
</td></tr><br />
</table><br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-22T23:28:26Z<p>Braman: /* Office hours */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
* Week 4 (Oct 20 - 26): Friday - Luis; Sunday - Max & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-22T21:33:23Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 20 Oct 08: [[CDS 101/110 - State Feedback|Week 4 - State Feedback]]<br />
** {{cds101 handouts|hw4-fa08.pdf|HW #4}} is posted; due 27 Oct<br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** '''This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm.'''<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Model-Based_Design_and_Qualification_of_Complex_SystemsModel-Based Design and Qualification of Complex Systems2008-10-22T17:54:22Z<p>Braman: /* Publications */</p>
<hr />
<div>This is a joint project with [http://crossgroup.caltech.edu/index.html Michael Cross], [http://www.cds.caltech.edu/~doyle John Doyle] and [http://www.cmp.caltech.edu/refael/ Gil Refael], funded by Boeing.<br />
<br />
{| width=100%<br />
|- valign=top<br />
| Current participants:<br />
* {{Julia Braman}}<br />
* Dennice Gayme (PhD student, CDS)<br />
* {{Shou Han}}<br />
* Oleg Kogan (PhD student, Physics)<br />
* Tony Lee (PhD student, Physics)<br />
* {{Dominic Rizzo}}<br />
* Heywood Tam (PhD student, Physics)<br />
* {{Pete Trautman}}<br />
* {{Nok Wongpiromsarn}}<br />
| Past participants:<br />
* David Alderson (CDS postdoc, NPS)<br />
* Lijun Chen (CDS PhD, postdoc)<br />
* Lars Cremean (ME PhD, Aerovironment)<br />
* Stefano di Cairano (Visiting student, U. Sienna)<br />
* Michael Epstein (PhD student, ME)<br />
* Tamas Keviczky (postdoc, CDS)<br />
* Dimitry Kogan (CDS MS)<br />
* Lun Li (PhD student, EE)<br />
* Alfred Martinez (PhD student, CDS)<br />
* Stephen Prajna (CDS PhD)<br />
* Demetri Spanos (PhD student, CDS)<br />
* {{Johan Ugander}}<br />
* Fei Wang (EE PhD; on leave)<br />
| <br />
__TOC__<br />
|}<br />
<br />
== Objectives ==<br />
<br />
The broad goal of this project is to develop new theory, algorithms<br />
and demonstrations of model-based design strategies for complex<br />
systems. This activity is broken up into three broad themes:<br />
* <p>''Systems Modeling Theory and Practice:'' Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space). </p><br />
<br />
* <p> ''Engineering Implementation:'' Apply analysis and methods in robust-yet-fragile behavior and multi-scale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multi-vehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").</p><br />
<br />
* <p> ''Multiscale Analysis of Complex Systems:'' Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency. </p><br />
<br />
== Publications ==<br />
'''2008-09'''<br />
* Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs." International Conference on Software Engineering, 2009 (submitted). <br />
<br />
* Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted). <br />
<br />
* Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted). <br />
<br />
<br />
'''2007-08'''<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008f_bm08-cdc.html Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty]. Conference on Decision and Control, 2008 (submitted).<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007u_bm07-cds.html Conversion and Verification Procedure for Goal-Based Control Programs]. CDS Technical Report, California Institute of Technology, 2007.<br />
<br />
* Julia M B Braman, Richard M Murray, David A Wagner, [http://www.cds.caltech.edu/~murray/papers/2007t_bmw07-iros.html Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007<br />
<br />
* Julia M B Braman, Richard M Murray, Michel D Ingham, [http://www.cds.caltech.edu/~murray/papers/2007s_bmi07-infotech.html Verification Procedure for Generalized Goal-based Control Programs]. AIAA Infotech@Aerospace Conference and Exhibit, 2007.<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007n_bm08-acc.html Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty]. American Control Conference, 2008 (to appear).<br />
<br />
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007i_bm08-iros.html Automatic Conversion Software for the Safety Verification of Goal-based Control Programs]. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).<br />
<br />
* Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, [http://gc.caltech.edu/media/papers/dgc07-final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA Urban Challenge Final Report, 2007.<br />
<br />
* L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Game-theoretic Approach". Proceedings of IEEE CDC, December 2007.<br />
<br />
* L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A Game-Theoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.<br />
<br />
* T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Ad-hoc and Sensor Systems, October 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.<br />
<br />
* Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008c_dwbm08-ivcs.html Situational Reasoning for Road Driving in an Urban Environment]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).<br />
<br />
* Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008i_estm08-automatica.html Probabilistic Performance of State Estimation Across a Lossy Network]. Automatica, 2008 (to appear).<br />
<br />
* Michael Epstein, Ling Shi, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007w_esm07-cdc.html Estimation schemes for networked control systems using UDP-like communication]. Conference on Decision and Control (CDC), 3945 - 3951, 2007.<br />
<br />
* Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007p_eljm08-ifac.html Using Hierarchical Decomposition to Speed Up Average Consensus]. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).<br />
<br />
* Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearest-neighbor Kuramoto oscillators", 2008 (in preparation).<br />
<br />
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008h_wm08-cdc.html Formal Verification of an Autonomous Vehicle System]. Conference on Decision and Control, 2008 (submitted).<br />
<br />
* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008d_wm08-ivcs.html Distributed Mission and Contingency Management for the DARPA Urban Challenge]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).<br />
<br />
'''2006-07'''<br />
* D. Alderson and L. Li. [http://www.cds.caltech.edu/~lun/publications/PRE06.pdf On the Diversity of Graph with Highly Variable Connectivity]. ''Physical Review E'', 2007.<br />
<br />
* F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. ''IEEE Trans. Automatic Control'', 2007, submitted.<br />
<!--<br />
* J. M. B. Braman, D. A. Wagner and R. M. Murray. [http://www.cds.caltech.edu/~murray/papers/2006m_bwm07-icra.html Fault Tolerance of a Reconfigurable Autonomous Goal-Based Robotic Control System]. 2007 International Confeerence on Robotics and Automation (ICRA), 2007. <br />
--><br />
<br />
* L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.<br />
<br />
* L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. {{htdb|2005t_cre+06-jfr|Alice: An information-rich autonomous vehicle for high-speed desert navigation}}. ''Journal of Field Robotics'', 2007. <br />
<br />
* T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.<br />
<br />
* T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.<br />
<br />
* J.-C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In ''Proceedings of the European Control Conference'', 2007. <br />
<br />
* D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.<br />
<br />
* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.<br />
<br />
* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. The Statistical Mechanics of Fluctuation-Dissipation and Measurement Back Action. In ''Proceedings of the American Control Conference'', 2007.<br />
<br />
* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. Linear-Quadratic-Gaussian Heat Engines. Submitted, 2007.<br />
<br />
* H. Sandberg and R. M. Murray. Frequency-Weighted Model Reduction with Applications to Structured Models. In ''Proceedings of the American Control Conference'', 2007.<br />
<br />
* J. Wang, L. Li, S. H. Low, and J. C. Doyle. Cross-layer optimization in tcp/ip networks. ''IEEE/ACM Transactions on Networking'', 13(3), 2006.<br />
<br />
'''2005-06'''<br />
* D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. ''IEEE/ACM Transactions on Networking'', 13(6), 2005. <br />
<br />
* D. Alderson and W. Willinger. A contrasting look at self-organization in the Internet and next-generation communication networks. ''IEEE Communications Magazine'', July 2005. <br />
<br />
* L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Cross-layer congestion control, routing and scheduling design in ad hoc wireless networks. In ''Proceedings of IEEE Infocom'', 2006. <br />
<br />
* L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In ''Proceedings of IEEE Infocom'', 2005. <br />
<br />
* L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.<br />
<br />
* J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile'' nature of the Internet. ''Proceedings of the National Academy of Sciences'', 102(41):14497--14502, 2005. <br />
<br />
* D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006. <br />
<br />
* D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In ''Proc. IEEE Control and Decision Conference'', 2006. Submitted. <br />
<br />
* S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2005. <br />
<br />
* D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005. <br />
<br />
* L. Li, D. Alderson, J. C. Doyle and W. Willinger. [http://www.cds.caltech.edu/~lun/publications/IM06.pdf Towards a Theory of Scale-Free Graphs: Definition, Properties, and Implications]. ''Internet Mathematics'' 2(4), p 431-523, Mar. 2006.<br />
<br />
* L. Li, D. Alderson, W. Willinger and J. C. Doyle. [http://www.cds.caltech.edu/~lun/publications/sigcomm04.pdf A First-Principles Approach to Understanding the Internet's Router-level Topology]. Proceedings of ACM Sigcomm, 2004,<br />
<br />
* S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.<br />
<br />
* S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2004. <br />
<br />
* S. Prajna and A. Jadbabaie. Methods for safety verification of time-delay systems. In ''Proceedings of the IEEE Conference on Decision and Control'', 2005. <br />
<br />
* S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In ''Proceedings of the IEEE Conference on Decision and Control'', 2004. <br />
<br />
* S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS -- Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004. <br />
<br />
* S. Prajna and A. Rantzer. On the necessity of barrier certificates. In ''Proceedings of the IFAC World Congress'', 2005. <br />
<br />
* S. Prajna and A. Rantzer. Primal-dual tests for safety and reachability. In ''Hybrid Systems: Computation and Control''. Springer-Verlag, 2005.<br />
<br />
== Reports ==<br />
* [[Media:boeing_report-may08.pdf|Annual report, May 2007 to April 2008]]<br />
* [[Media:boeing_report-mar06.pdf|Annual report, January 2005 to March 2006]]<br />
* [[Media:boeing_report-apr06.pdf|Annual report, March 2006 to April 2007]]<br />
<br />
== Software ==<br />
* SOSTOOLS<br />
<br />
== Related Activities ==<br />
* [[Connections II]] - Workshop on Foundations of Network Science (Caltech, August 2006)<br />
* [http://www.cds.caltech.edu/~murray/VaVmuri V&V MURI] - Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-20T21:04:56Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs; for 210: 34/40.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm.<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-20T21:04:25Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs.<br />
** This week only, the CDS 210 section will be on Thursday (10/23) from 2-3pm.<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008CDS 101/110a, Fall 20082008-10-20T20:28:04Z<p>Braman: /* Announcements */</p>
<hr />
<div>{{cds101-fa08}}<br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2008. __NOTOC__<br />
<br />
<table width=100%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Doug MacMynowski, macmardg@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours (RMM): Fridays, 3-4 pm (by appt)<br />
* Prior years: [[CDS 101/110a, Fall 2006|FA06]], [[CDS 101/110a, Fall 2007|FA07]]<br />
</td><td><br />
'''Teaching Assistants''' (cds110-tas@cds)<br />
* Julia Braman, head TA<br />
* Gentian Buzi, Shuo Han, Max Merfeld, Luis Soto<br />
* Office hours: Fri 4-5, Sun 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Clara O'Farrell and Albert Wu<br />
</td></tr><br />
</table><br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 20 Oct 08: HW 2 has been graded; averages are for 101: 19/20, 5.5 hrs; for 110: 36.5/40, 10 hrs.<br />
* 13 Oct 08: [[CDS 101/110 - Linear Systems|Week 3 - Linear Systems]]<br />
** {{cds101 handouts|hw3-fa08.pdf|HW #3}} is posted; due 20 Oct<br />
* 10 Oct 08: HW 1 has been graded; averages are for 101: 26.5/30, 3.2 hrs; for 110: 37/40, 7.6 hrs; for 210: 44/50, 7.3 hrs. {{cds101 local|soln1-fa08.pdf|Solutions for HW #1}} have been posted (only available from Caltech network).<br />
* 6 Oct 08: [[CDS 101/110 - Dynamic Behavior|Week 2 - Dynamic Behavior]]<br />
** [[CDS 101/110a, Fall 2008 - Recitation Schedule|Recitations]] begin this week: Fridays, 2-3 pm (see schedule for locations)<br />
** {{cds101 handouts|hw2-fa08.pdf|HW #2}} is posted (updated 8 Oct); due 13 Oct<br />
<br />
= Course Syllabus =<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] </li><br />
<li> [[#Lectures and Recitations|Lectures/Recitations]] </li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] </li><br />
<li> [[#Software|Software]] </li><br />
<li> [[#Course Text and References|Course Text]] </li><br />
<li> [[#Course_Schedule|Course Schedule]]</li><br />
</ul><br />
</table><br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. The course has several variants:<br />
<br />
* CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. <br />
<br />
* CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. <br />
<br />
* CDS 210 is a special section of CDS 110, that will be an advanced version of the course for CDS graduate students and others interested in a more theoretical approach to the material. CDS 210 will have an additional Friday lecture and a separate set of homework sets.<br />
<br />
=== Lectures and Recitations ===<br />
The main course lectures are on MW from 2--3 pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although they are welcome to do so. In addition to the main lectures, a series of problem solving (recitation) sessions are run by the course teaching assistants and given on Fridays from 2--3 p m. The recitation session locations will be determined in the first week of classes and will be posted on the course web page.<br />
<br />
The TAs will hold office hours on Fridays from 4-5 pm and Sundays from 4-6 pm in 114 Steele<br />
(CDS library). <br />
<!-- {\em All students must show up for office hours or<br />
recitation at least once in the first three weeks of the course (even<br />
if you just stop in and introduce yourself to the TAs at office<br />
hours).}<br />
--><br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. Students are allowed three grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (29 Oct) and due at the end of the midterm examination period (4 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (5 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Software ===<br />
Computer exercises will be assigned as part of the regular homeworks. The<br />
exercises are designed to be done in MATLAB, using the Control Toolbox and<br />
SIMULINK. Caltech has a site license for this software and it may be obtained<br />
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at<br />
<center><br />
http://www.engin.umich.edu/group/ctm/basic/basic.html<br />
</center><br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
A detailed course schedule is available on the [[CDS 101/110a, Fall 2008 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page).<br />
<br />
== Old Announcements ==<br />
* 21 Aug 08: created course homepage<br />
* 28 Sep 08: [[CDS 101/110 - Introduction and Review|Week 1 - Introduction and Review]]<br />
** Please take the {{cds101 handouts|bgsurvey.pdf|background survey}} and turn in at class on Wed<br />
** Wed lecture is for ''all'' students (including CDS 101 - this week only)<br />
** Fri: MATLAB/SIMULINK sessions from 2-4p and 4-6 pm in 328 SFL; bring a laptop with MATLAB installed if you have one<br />
** {{cds101 handouts|hw1-fa08.pdf|HW #1}} is posted; due 6 Oct<br />
<br />
<br />
[[Category: Courses]] [[Category: 2008-09 Courses]]</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2008_-_Course_ScheduleCDS 101/110a, Fall 2008 - Course Schedule2008-10-20T16:39:07Z<p>Braman: </p>
<hr />
<div>{{cds101-fa08}} __NOTOC__<br />
This page contains the course schedule for CDS 101/110a. The bold links for each week take you to a page that contains the a summary of the lectures for that week plus links to all course handouts.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| Week || Date || Topic || Reading || Homework<br />
|-<br />
| align=center rowspan=4 | 1 <br />
| colspan=4 |<br />
====={{cds110 topic|1|Introduction and Review}} =====<br />
|-<br />
| 29 Sep (M)<br />
| Introduction to Feedback and Control<br />
| [[AM:Introduction|AM 1.1-1.2, 1.4-1.5]]<br />
| rowspan=3 align=center | {{cds101 homework|1}}<br />
|-<br />
| 1 Oct (W)<br />
| System Modeling<br />
| [[AM:Modeling|AM 2.1-2.4 (review)]]<br />
|-<br />
| 3 Oct (F)<br />
| {{cds101/110 lecture|MATLAB/SIMULINK Tutorial}} (2 hours)<br />
| <br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|2|Dynamic Behavior}} =====<br />
|-<br />
| 6 Oct (M)<br />
| Qualitative Analysis and Stability<br />
| [[AM:Dynamic Behavior|AM 4.1-4.2]]<br />
| rowspan=3 align=center | {{cds101 homework|2}}<br />
|-<br />
| 8 Oct (W)<br />
| Stability Analysis<br />
| [[AM:Dynamic Behavior|AM 4.3]]<br />
|-<br />
| 10 Oct (F)*<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|3|Linear Systems}} =====<br />
|-<br />
| 13 Oct (M)<br />
| Linear Time-Invariant Systems<br />
| [[AM:Linear Systems|AM 5.1-5.2]]<br />
| rowspan=3 align=center | {{cds101 homework|3}}<br />
|-<br />
| 15 Oct (W)<br />
| Linear Systems Analysis<br />
| [[AM:Linear Systems|AM 5.4]]<br />
|-<br />
| 17 Oct (F)<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|4|State Feedback}} =====<br />
|-<br />
| 20 Oct (M)<br />
| Reachability and State Feedback<br />
| [[AM:State Feedback|AM 6.1-6.3]]<br />
| rowspan=3 align=center | {{cds101 homework|4}}<br />
|-<br />
| 22 Oct (W)*<br />
| Eigenvalue Placement<br />
| [[AM:State Feedback|AM 6.4-6.5]]<br />
|-<br />
| 24 Oct (F)*<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|5|Output Feedback}} =====<br />
|-<br />
| 27 Oct (M)<br />
| Observability and State Estimation<br />
| [[AM:System Modeling|AM 2.1--2.3]]<br />
| rowspan=3 align=center | {{cds101 exam|Midterm}}<br />
|-<br />
| 29 Oct (W)<br />
| Observer-Based Controllers<br />
| [[AM:System Modeling|AM 2.4]], [[AM:Examples|AM 3.1]]<br />
|-<br />
| 31 Oct (F)<br />
| Midterm review (Julia Braman)<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|6|Transfer Functions}} =====<br />
|-<br />
| 3 Nov (M)<br />
| Transfer Functions<br />
| [[AM:Transfer Funtions|AM 8.1-8.3]]<br />
| rowspan=3 align=center | {{cds101 homework|5}}<br />
|-<br />
| 5 Nov (W)<br />
| Frequency Response and Bode Plots<br />
| [[AM:Transfer Functions|AM 8.6]]<br />
|-<br />
| 7 Nov (F)*<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|7|Loop Analysis}} =====<br />
|-<br />
| 10 Nov Nov (M)<br />
| Stability of Feedback Systems<br />
| [[AM:Loop Analysis|AM 9.1-9.2]]<br />
| rowspan=3 align=center | {{cds101 homework|6}}<br />
|-<br />
| 12 Nov (W)<br />
| Nyquist Criterion<br />
| [[AM:Loop Analysis|AM 9.3-9.4]]<br />
|-<br />
| 14 Nov (F)<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|8|PID Control}} =====<br />
|-<br />
| 17 Nov (M)<br />
| The PID Controller<br />
| [[AM:PID Control|AM 10.1-10.2]]<br />
| rowspan=3 align=center | {{cds101 homework|7}}<br />
|-<br />
| 19 Nov (W)<br />
| PID Analysis and Implementation<br />
| [[AM:PID Control|AM 10.3, 10.5]]<br />
|-<br />
| 21 Nov (F)<br />
| Recitation sections<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|9|Loop Shaping}} =====<br />
|-<br />
| 24 Nov (M)<br />
| Control Design using Loop Shaping<br />
| [[AM:Loop Shaping|AM 11.1-11.3]]<br />
| rowspan=3 align=center | {{cds101 homework|8}}<br />
|-<br />
| 26 Nov (W)<br />
| Limits of Performance<br />
| [[AM:Loop Shaping|AM 11.4]]<br />
|-<br />
| 28 Nov (F)<br />
| No class (Thanksgiving)<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== {{cds110 topic|10|Robust Performance}} =====<br />
|-<br />
| 1 Dec (M)<br />
| Design Example<br />
| [[AM:Loop Shaping|AM 11.5]]<br />
| rowspan=3 align=center | {{cds101 exam|Final}}<br />
|-<br />
| 3 Dec (W)<br />
| Robust Performance<br />
| [[AM:Robust Performance|AM 12.1-12.4]]<br />
|- <br />
| 5 Dec (F)*<br />
| Final review (Julia Braman)<br />
|</div>Bramanhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a/210,_Fall_2008_-_TA_InformationCDS 101/110a/210, Fall 2008 - TA Information2008-10-16T00:06:47Z<p>Braman: /* Recitations */</p>
<hr />
<div>{{cds101-fa08}}{{righttoc}}<br />
This page contains information about TA activities for CDS 101/110a, Fall 2008.<br />
<br />
== TA Duties ==<br />
<br />
=== Mud Cards (FAQ) ===<br />
<br />
Mud cards are collected at the end of every lecture and are distributed among the TAs to be answered. The wiki says that the answers will be up by 8pm, so please plan to post the answers by 7pm so we can fix any problems that you may encounter. How to post: [http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a/210%2C_Fall_2008_-_TA_Information#Creating_FAQ_pages FAQ How-To].<br />
<br />
=== Recitations ===<br />
<br />
Starting in the second week of the class, we'll have recitations on Fridays from 2-3 pm. Each TA will lead a recitation section (see the [[CDS 101/110a, Fall 2008 - Recitation Schedule|recitation schedule]] for information and assignments). Each recitation section should cover roughly the following things (not necessarily in this order):<br />
* Answer any questions the students have about the lecture or the homework<br />
* Discuss topics that you thought were not well covered in lecture or the text book, or that are special to your section (eg, the information systems session might get some information about discrete time systems, etc)<br />
* Go through one of the problems on the homework for the week. This should be done on the board and/or computer (depending on the type of problem). It doesn't need to be in full detail and it can go a bit fast, but provide enough information that the students see how the problem is worked from start to finish, and what is expected in their answers on the homework. We'll decide on the problem to cover in the TA meeting prior to the recitation.<br />
<br />
''' Weekly Recitation Notes '''<br />
* Week 1 (10/3): Matlab/Simulink tutorial in 328 SFL. Julia and Max will lead the 2-4pm section, Luis and Shuo will lead the 4-6pm section. Julia and Luis will come up with the tutorial and handout. Use Prob 1.6 from homework as an example (do it yourself?) in the tutorial.<br />
* Week 2 (10/10): Go through Prob 2 in homework- show code and phase plot. Next, linearize system used in problem 2 around an equilibrium point. Then, go through problem 4.27 from solution manual (Max, Shuo, and Julia). Finally, if there's time, go through another example of your choosing (Lyapunov, linearization, etc.).<br />
* Week 3 (10/17): Max, Shuo, Julia will go through problem 4 (the discrete convolution eqn) and walk briefly through the Simulink portion of problem 2c. Luis will go through prob 1a and problem 2c.<br />
<br />
=== Office hours ===<br />
Office hours will be Fridays and Sundays from 4-5pm in 110 and 114 STL, respectively.<br />
* Week 1: Friday- Genti; Sunday- Max and Luis<br />
* Week 2 (Oct 6 - 12): Friday - Genti; Sunday - Luis & Shuo<br />
* Week 3 (Oct 13 - 19): Friday - Genti; Sunday - Max & Shuo<br />
<br />
=== Grading ===<br />
Grading must be completed by noon on Monday of every week (except for HW 1- grade by Fri 10/10). A TA will move the homework in box F to box E on Monday 5pm-ish; the same will happen on Wednesday, though those homeworks will need to be marked as using a grace period ("GP" at top of homework). The CDS 101/110 homeworks will be split into approximately equal stacks and kept in Box E. Please take one stack to grade at a time and do not take stacks of homework home to grade unless you are the last one to grade it. Problems are usually graded out of 10 points. Julia will compile homework scores and enter the grades at noon on Monday so that we can return the homeworks in class that day.<br />
<br />
''' Grading Assignments'''<br />
* HW 1: <table width=100%><br />
<tr valign=top><br />
<td><br />
'''CDS 101'''<br />
* Problem 1: Max<br />
* Problem 2: Luis<br />
* Problem 3: Shuo<br />
</td><td><br />
'''CDS 110a'''<br />
* Problem 1: Luis (same as Problem 2, 101)<br />
* Problem 2: Max<br />
* Problem 3: Shuo<br />
* Problem 4: Luis<br />
</td></tr><br />
</table><br />
* HW 2: <br />
** Problem 1: Luis<br />
** Problem 2: Julia<br />
** Problem 3: Shuo<br />
** Problem 4: Max<br />
* HW 3:<br />
** Problem 1: Max<br />
** Problem 2: Luis<br />
** Problem 3: Shuo<br />
** Problem 4: Julia<br />
<br />
=== Misc ===<br />
* Recording lectures (Max) - record each lecture that Richard gives and place it online after the lecture. TA responsible for this doesn't have to answer mud cards.<br />
<br />
* Mailing list administration (Julia) - approve valid postings to the TA and class mailing lists. Manage subscriptions to the list and fix any problems. Admin pages for the lists: [http://listserv.cds.caltech.edu/mailman/admin/cds101-students cds101-students], [http://listserv.cds.caltech.edu/mailman/admin/cds101-tas cds101-tas]<br />
<br />
== Weekly meetings ==<br />
The weekly meetings will be at 3:45pm on Wednesdays in 110 STL.<br />
<br />
<br />
=== Standing Agenda ===<br />
'''Last week'''<br />
<br />
'''This week'''<br />
* Recitation <br />
* Homework grading assigments <br />
* MUD card/frequently questions <br />
* Office hours <br />
<br />
'''Next week'''<br />
* Plan for the week<br />
<br />
== HOWTOs ==<br />
<br />
This section contains information for the TAs on how to perform various tasks in the class.<br />
<br />
=== Creating FAQ pages ===<br />
To create a FAQ page, you need to do the following steps:<br />
<ol><br />
<li>Search the previous FAQ pages to see if this question has already been asked. If so, update the answer and skip to step 5</li><br />
<li>Type in the question to be answered in the search box on the left side of the wiki.</li><br />
<li>Click on the phrase "this exact title" when the search page comes up. This will create the FAQ page.</li><br />
<li>Enter the answer to the question. You don't need to repeat the question (it is already included in the title for the page).</li><br />
<li>At the end of the answer, use the text '<nowiki>--~~~~</nowiki>' to add your signature to the page. If you are modifying the answer on an existing page, add your signature below the existing signature. When you save the page, this information will get converted into your username and date (you can edit it again if you don't like the format).</li><br />
<li>At the bottom of the page, add the category information (used to list the FAQs in the right places):<br />
<pre><br />
[[Category: CDS 101/110 FAQ - Lecture w-m]]<br />
[[Category: CDS 101/110 FAQ - Lecture w-m, Fall 2008]]<br />
</pre><br />
where 'w' is the current week and 'm' is the lecture number (1 = Monday, 2 = Wednesday, 3 = Friday). For homework sets, replace 'Lecture w-m' with 'Homework n'.</li><br />
<li>Save the page</li><br />
<li> Go back to the FAQ page and append the following text to the URL link in your browser window:<br />
?action=purge<br />
(i.e. http://www.cds.caltech.edu/~murray/wiki/CDS_101/110a%2C_Fall_2008_-_FAQ?action=purge)<br />
and press enter. This will purge the cached pages and you should see your mud card response appear on the FAQ page. If you don't do this, you won't be able to see your modification. </li><br />
<br />
</ol><br />
<br />
Notes on creating FAQ pages<br />
* The title doesn't have to be exactly what was written in the MUD card, but should be close enough that the student will recognize their question. You should reword the question to be simply stated and descriptive of the contents of the FAQ.<br />
* When you are writing up the answer for a FAQ, remember that this is the first course the students are taking in feedback and control. Avoid the use of advanced concepts that the students haven't seen yet and try to explain things in a way that gives insight to someone who may be struggling to understand the concept.<br />
* Including pictures to illustrate your answers is a great approach if appropriate. OK to grab pictures off of the web, but make sure to list where they came from (and include a link if you can).<br />
* You should also look in the course text to see if there is information there that might be relevant (students are asking questions in class, so may not have read the book yet). Include the relevant section number where more information can be found, but go ahead and provide additional explanation as well.<br />
<br />
=== Using Subversion ===<br />
To checkout the subversion directories:<br />
* Check that your computer has subversion by typing 'svn help' at the command prompt. If not, get it at its [http://subversion.tigris.org/ website]. <br />
* Type 'svn checkout http://svn.cds.caltech.edu/subversion/murray/courses/cds110a' to checkout the necessary makefiles<br />
* Type 'cd cds110a'<br />
* Type 'make setup' to retrieve other necessary files<br />
<br />
To update the subversion directories and make homework and solution files:<br />
* In the same cds110a directory checked out above, type 'make update' to update any changes that may have been submitted.<br />
* Finally, type 'make filename' where ''filename'' is a placeholder for hw# or soln# for the appropriate week. A pdf of the appropriate file should be created in your directory.<br />
<br />
To update files in the repository or submit files to the repository:<br />
* svn commit -m 'comment' - updates any changes made to files that were downloaded from the subversion directories. The 'comment' should describe the changes that are being uploaded.<br />
* svn add filename - adds the file 'filename' to the repository.<br />
Note: Use these commands only after updating your local copy of the directories!</div>Braman