http://www.cds.caltech.edu/~murray/wiki/api.php?action=feedcontributions&user=Carson&feedformat=atomMurrayWiki - User contributions [en]2020-02-29T01:13:16ZUser contributionsMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=Spring_2008_Meeting_ScheduleSpring 2008 Meeting Schedule2008-03-25T15:14:53Z<p>Carson: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Pick a time that works..<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a| Shuo}}<br />
{{agenda item|11:00a| Julia}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Yizhar/Sayan}}<br />
{{agenda item|6:00p| Dionysios}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p| Dom}}<br />
{{agenda item|5:00p| Mary}}<br />
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p| John}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Johan}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Elisa}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p|Sawyer}}<br />
{{agenda item|5:00p| Nok}}<br />
{{agenda item|6:00p| Pete}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Ling}}<br />
{{agenda end}}<br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Jan/Feb_2008_MeetingsJan/Feb 2008 Meetings2008-01-27T20:06:09Z<p>Carson: /* Wed, 30 Jan */</p>
<hr />
<div>The list below has times that I am available to meet between 28 Jan and 8 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, 28 Jan ====<br />
{{agenda begin}}<br />
{{agenda item|9:15a|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=20%><br />
<br />
==== Tue, 29 Jan ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Sayan}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 30 Jan ====<br />
{{agenda begin}}<br />
{{agenda item|9:15a|John}}<br />
{{agenda item|10:00a|Dionysios}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Tue, 5 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Johan}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Ling}}<br />
{{agenda end}}<br />
</td><td width=20%><br />
<br />
==== Wed, 6 Feb ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a|}}<br />
{{agenda item|4:00p|Pete}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td></tr><br />
</table></div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Winter_2008_Meeting_ScheduleWinter 2008 Meeting Schedule2008-01-02T23:06:14Z<p>Carson: /* Fri */</p>
<hr />
<div>__NOTOC__<br />
Meetings will start 7 January.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a| Shuo}}<br />
{{agenda item|11:00a| Julia}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Mary}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p| Dom}}<br />
{{agenda item||}}<br />
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Pete}}<br />
{{agenda item|6:00p| Sawyer}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:00p| Carson}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda end}}<br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Fall_2007_Meeting_ScheduleFall 2007 Meeting Schedule2007-09-23T23:16:23Z<p>Carson: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Meetings will start 1 October.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=25% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a| Open}}<br />
{{agenda item|11:00a| Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a| Open}}<br />
{{agenda item|11:00a| Open}}<br />
{{agenda item|2:00p| Open}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item|10:00a| John}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p| Open}}<br />
{{agenda end}}<br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=August_2007_MeetingsAugust 2007 Meetings2007-07-27T16:43:03Z<p>Carson: /* Tue, 21 Aug */</p>
<hr />
<div>The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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=25%><br />
==== Fri, 3 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Henrik}}<br />
{{agenda item|3:00p|Sawyer}}<br />
{{agenda item|4:00p|Ling}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Wed, 8 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|John}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Tue, 14 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Julia}}<br />
{{agenda item|7:00p|Open}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Wed, 15 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=25%><br />
<br />
==== Mon, 20 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Mary}}<br />
{{agenda item|4:00p|Ling}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Tue, 21 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Sawyer}}<br />
{{agenda item|4:00p|John}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Sun, 26 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Mon, 27 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Julia}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
<br />
</td></tr><br />
</table></div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=August_2007_MeetingsAugust 2007 Meetings2007-07-27T16:42:30Z<p>Carson: /* Wed, 8 Aug */</p>
<hr />
<div>The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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=25%><br />
==== Fri, 3 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Henrik}}<br />
{{agenda item|3:00p|Sawyer}}<br />
{{agenda item|4:00p|Ling}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Wed, 8 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|1:00p|John}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Tue, 14 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|5:00p|Julia}}<br />
{{agenda item|7:00p|Open}}<br />
{{agenda end}}<br />
</td><td width=25%><br />
<br />
==== Wed, 15 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
</td></tr><br />
</table><br />
<br />
<br><br />
<table width=100% border=1><br />
<tr valign=top><td width=25%><br />
<br />
==== Mon, 20 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Mary}}<br />
{{agenda item|4:00p|Ling}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Tue, 21 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Sawyer}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Sun, 26 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
</td><td width=25%><br />
<br />
==== Mon, 27 Aug ====<br />
{{agenda begin}}<br />
{{agenda item|3:00p|Julia}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda end}}<br />
<br />
<br />
</td></tr><br />
</table></div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Summer_2007_Murray_Group_TripSummer 2007 Murray Group Trip2007-07-06T22:58:36Z<p>Carson: /* Interested People (order of preference) */</p>
<hr />
<div>The proposed group trip this summer is camping on Catalina Island or some other more local beach. Below is a list of possible dates for the trip, followed by some camping options that are available for each set of dates. If you are interested in attending, please add your name to the list below, listing after your name at least one of the trip options, in order of preference. '''Please indicate your interest by Friday, July 6!'''<br />
<br />
<H3> Possible Trips </H3><br />
<ol><br />
<li> August 22-24 (Wednesday - Friday) - Camping on Catalina at the Little Harbor Campsite<br />
<ul> <br />
</ul><br />
<li> August 24-26 (Friday - Sunday) - Camping on a "local" beach<br />
<ul> </ul><br />
<li> August 25-27 (Saturday - Monday) - Camping on a "local" beach<br />
<ul> </ul><br />
</ol><br />
<br />
<H3> Camping Options </H3><br />
<P>The following activities are available at the Little Harbor and "local" beach campsites: snorkeling, hiking, kayaking, surfing (plus lessons), scuba diving, and swimming. </P?><br />
<H4> Little Harbor, Catalina Island </H4><br />
[[Image:littleharbor.jpg]]<br />
<BR> (some random picture I found when I searched for "Little Harbor Catalina")<br />
<P><br />
The following description has been copied from the [http://www.visitcatalinaisland.com Santa Catalina Island Company's website]:</P><br />
<P>Rated "One of the Best Campgrounds in the West" by Sunset Magazine, [http://www.visitcatalinaisland.com/avalon/camp_littleHarbor.php '''Little Harbor Campground'''] is perfect for campers who enjoy playing on the beach or in the water. Located about seven miles east of Two Harbors and 16 miles from Avalon, Little Harbor is a sandy, beachfront campground with lots of opportunities for recreation. Facilities and activities include BBQ and fire ring, showers, fresh water, chemical toilets, lockers, and kayak and snorkel gear rentals are available from Wet Spot Rentals daily.</P><br />
<P> The round-trip boat ride to Catalina is $50.50 and camping is $12/night/person. Gear rental and food is extra.</P><br />
<br />
<H4> Local Beach </H4><br />
<P> Some options for the "local" beach are the Morro Strand State Beach, Crystal Cove State Park, and possible Malibu Creek State Park.</P><br />
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=593 Morro Strand State Beach website]. </P><br />
<P>This beach is a coastal frontage park featuring outstanding picnic sites. A three-mile stretch of beach connects the southern and northern entrances to the beach. Fishing, windsurfing, jogging, and kite flying are popular.</P><br />
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=644 Crystal Cove State Park website]. </P><br />
<P>In addition to the Historic District, Crystal Cove State Park has 3.5 miles of beach and undeveloped woodland, which is popular for hiking and horseback riding. The offshore waters are designated as an underwater park. Crystal Cove is used by mountain bikers inland and scuba and skin divers underwater. The beach is popular with swimmers and surfers. Visitors can explore tidepools and sandy coves. Crystal Cove offers sand and surf, rocky reefs, ridges and canyons - plus recreational opportunities - that appeal to everybody. State Park Rangers conduct nature hikes in the winter. <br />
The park features three miles of Pacific coastline, plus wooded canyons, open bluffs, and offshore waters designated as an underwater park. Crystal Cove is not just used by people who enjoy water related activities, such as swimming, surfing, sunbathing, scuba and skin diving, but also people who like to fish, mountain bike and hike. </P><br />
<P>Info on the Malibu Creek State Park can be found [http://www.parks.ca.gov/default.asp?page_id=614 here].</P><br />
<br />
<br />
<br />
=== Interested People (order of preference) ===<br />
* Julia Braman (1, 2, 3)<br />
* Sawyer Fuller (1, 2, 3)<br />
* Richard Murray (1, 2, 3)<br />
* Mary Dunlop (1, 2, 3)<br />
* Elisa Franco (1, 2, 3)<br />
* Dom Rizzo (1, 2, 3)<br />
* Andreas Ulbig (1, 2, 3)<br />
* John Carson (2)</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Summer_2007_Murray_Group_TripSummer 2007 Murray Group Trip2007-07-06T22:55:39Z<p>Carson: /* Interested People (order of preference) */</p>
<hr />
<div>The proposed group trip this summer is camping on Catalina Island or some other more local beach. Below is a list of possible dates for the trip, followed by some camping options that are available for each set of dates. If you are interested in attending, please add your name to the list below, listing after your name at least one of the trip options, in order of preference. '''Please indicate your interest by Friday, July 6!'''<br />
<br />
<H3> Possible Trips </H3><br />
<ol><br />
<li> August 22-24 (Wednesday - Friday) - Camping on Catalina at the Little Harbor Campsite<br />
<ul> <br />
</ul><br />
<li> August 24-26 (Friday - Sunday) - Camping on a "local" beach<br />
<ul> </ul><br />
<li> August 25-27 (Saturday - Monday) - Camping on a "local" beach<br />
<ul> </ul><br />
</ol><br />
<br />
<H3> Camping Options </H3><br />
<P>The following activities are available at the Little Harbor and "local" beach campsites: snorkeling, hiking, kayaking, surfing (plus lessons), scuba diving, and swimming. </P?><br />
<H4> Little Harbor, Catalina Island </H4><br />
[[Image:littleharbor.jpg]]<br />
<BR> (some random picture I found when I searched for "Little Harbor Catalina")<br />
<P><br />
The following description has been copied from the [http://www.visitcatalinaisland.com Santa Catalina Island Company's website]:</P><br />
<P>Rated "One of the Best Campgrounds in the West" by Sunset Magazine, [http://www.visitcatalinaisland.com/avalon/camp_littleHarbor.php '''Little Harbor Campground'''] is perfect for campers who enjoy playing on the beach or in the water. Located about seven miles east of Two Harbors and 16 miles from Avalon, Little Harbor is a sandy, beachfront campground with lots of opportunities for recreation. Facilities and activities include BBQ and fire ring, showers, fresh water, chemical toilets, lockers, and kayak and snorkel gear rentals are available from Wet Spot Rentals daily.</P><br />
<P> The round-trip boat ride to Catalina is $50.50 and camping is $12/night/person. Gear rental and food is extra.</P><br />
<br />
<H4> Local Beach </H4><br />
<P> Some options for the "local" beach are the Morro Strand State Beach, Crystal Cove State Park, and possible Malibu Creek State Park.</P><br />
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=593 Morro Strand State Beach website]. </P><br />
<P>This beach is a coastal frontage park featuring outstanding picnic sites. A three-mile stretch of beach connects the southern and northern entrances to the beach. Fishing, windsurfing, jogging, and kite flying are popular.</P><br />
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=644 Crystal Cove State Park website]. </P><br />
<P>In addition to the Historic District, Crystal Cove State Park has 3.5 miles of beach and undeveloped woodland, which is popular for hiking and horseback riding. The offshore waters are designated as an underwater park. Crystal Cove is used by mountain bikers inland and scuba and skin divers underwater. The beach is popular with swimmers and surfers. Visitors can explore tidepools and sandy coves. Crystal Cove offers sand and surf, rocky reefs, ridges and canyons - plus recreational opportunities - that appeal to everybody. State Park Rangers conduct nature hikes in the winter. <br />
The park features three miles of Pacific coastline, plus wooded canyons, open bluffs, and offshore waters designated as an underwater park. Crystal Cove is not just used by people who enjoy water related activities, such as swimming, surfing, sunbathing, scuba and skin diving, but also people who like to fish, mountain bike and hike. </P><br />
<P>Info on the Malibu Creek State Park can be found [http://www.parks.ca.gov/default.asp?page_id=614 here].</P><br />
<br />
<br />
<br />
=== Interested People (order of preference) ===<br />
* Julia Braman (1, 2, 3)<br />
* Sawyer Fuller (1, 2, 3)<br />
* Richard Murray (1, 2, 3)<br />
* Mary Dunlop (1, 2, 3)<br />
* Elisa Franco (1, 2, 3)<br />
* Dom Rizzo (1, 2, 3)<br />
* Andreas Ulbig (1, 2, 3)<br />
* John Carson (2, 3)</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Summer_2007_Meeting_ScheduleSummer 2007 Meeting Schedule2007-06-14T20:15:36Z<p>Carson: /* Tue */</p>
<hr />
<div>__NOTOC__<br />
Meetings will start on '''18 June'''.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=25% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p| Dom}}<br />
{{agenda item|3:00p| Mary}}<br />
{{agenda item|4:00p| Open}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p| Michael}}<br />
{{agenda item|3:00p| Stefano}}<br />
{{agenda item|4:00p| John}}<br />
{{agenda item|5:00p| Open}}<br />
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}<br />
{{agenda item|7:00p| Zhipu/Ling <br>(alt weeks) }}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p| Open}}<br />
{{agenda item||}}<br />
{{agenda item|4:00p| Open}}<br />
{{agenda item|5:00p| Henrik}}<br />
{{agenda end}}<br />
| width=25% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|2:00p| Julia}}<br />
{{agenda item|3:00p| Elisa}}<br />
{{agenda item|4:00p| Waydo}}<br />
{{agenda item|5:00p| Nok}}<br />
{{agenda end}}<br />
|<br />
<br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Group_Schedule,_Summer_2007Group Schedule, Summer 20072007-06-03T18:45:17Z<p>Carson: /* 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 />
* [[June 2007 Meetings]]<br />
* [[Summer 2007 Meeting Schedule]]<br />
| width=50% |<br />
* [[Group Schedule, Spring 2007]]<br />
|}<br />
<br />
== Group Meetings ==<br />
Group meetings are on Tuesdays at 6 pm 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|12 Jun|No group meeting (DGC)}}<br />
{{agenda item|19 Jun|Open}}<br />
{{agenda item|26 June|John}}<br />
{{agenda item|3 Jul|Open}}<br />
{{agenda item|10 Jul|No group meeting (ACC)}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|17 Jul|Ling}}<br />
{{agenda item|24 Jul|Tim}}<br />
{{agenda item|31 Jul|Mary}}<br />
{{agenda item|7 Aug|No group meeting (AFOSR)}}<br />
{{agenda item|14 Aug|Waydo}}<br />
{{agenda end}}<br />
| width=30% |<br />
{{agenda begin}}<br />
{{agenda item|Date|Speaker}}<br />
{{agenda item|21 Aug|Nok}}<br />
{{agenda item|28 Aug|No group meeting (travel)}}<br />
{{agenda item|4 Sep|Julia}}<br />
{{agenda item|11 Sep|Dom}}<br />
{{agenda item|18 Sep|Michael}}<br />
{{agenda end}}<br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-03-10T03:30:14Z<p>Carson: /* Robust Stability */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw6.pdf|HW #6}} {{cds110b-wi07 pdfs|cds110b_hw6sol.pdf|solns}}<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw7.pdf|HW #7}}{{cds110b-wi07 pdfs|cds110b_hw7sol.pdf|solns}}<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Robust Stability|Robust Stability]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class (recitation)<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw8.pdf|HW #8}}{{cds110b-wi07 pdfs|cds110b_hw8sol.pdf|solns}}<br />
|-<br />
| 28 Feb (W)<br />
| Modeling Uncertainty<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| Robuts Stability<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Desgin Examples|Design Examples]] =====<br />
|-<br />
| 5 Mar (M)<br />
| No class (recitation)<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Networked control for autonomous systems<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Desgin_ExamplesCDS 110b: Desgin Examples2007-03-09T17:50:33Z<p>Carson: </p>
<hr />
<div>* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/7Mar07.mp3 MP3] of Wednesday lecture, 7 March 2007</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-03-06T17:46:07Z<p>Carson: </p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Tuesday 4-5 pm and Wednesday 12-1 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 5 March 07: the final will be handed out on Fri 9 and will be due on Fri 16 at 5PM; on Fri 9 there will be a review section. Regular class on Wed 7.<br />
* 1 March 07: Hw 6 is graded and will be handed out tomorrow in class; the average was 34.5, standard deviation 6.4.<br />
* 28 Feb 07: [[CDS 110b: Robust Stability|Week 9 - Robust Stability]] {{cds110b-wi07 pdfs|hw8.pdf|HW #8}} (due 9 Mar [Fri])<br />
* 23 Feb 07: [[CDS 110b: Receding Horizon Control|Week 8 - Receding Horizon Control]] {{cds110b-wi07 pdfs|hw7.pdf|HW #7}}<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 6 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 7 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 20 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in Powell-Booth, room 100.<br />
* 21 Feb 07: Next Monday, Feb 26, there will be a recitation section instead of a regular lecture. Office hours will be held on Tu 4-5, Steele 110, Wed 12-1, Steele 114 (CDS Library).<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-03-06T01:41:56Z<p>Carson: /* Receding Horizon Optimal Control */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw6.pdf|HW #6}} {{cds110b-wi07 pdfs|cds110b_hw6sol.pdf|solns}}<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw7.pdf|HW #7}}{{cds110b-wi07 pdfs|cds110b_hw7sol.pdf|solns}}<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Robust Stability|Robust Stability]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class (recitation)<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw8.pdf|HW #8}}<br />
|-<br />
| 28 Feb (W)<br />
| Modeling Uncertainty<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| Robuts Stability<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Desgin Examples|Design Examples]] =====<br />
|-<br />
| 5 Mar (M)<br />
| No class (recitation)<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Networked control for autonomous systems<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Robust_StabilityCDS 110b: Robust Stability2007-03-02T23:36:28Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
This set of lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L9-1_robstab.pdf|Lecture slides on robust stability}}<br />
* {{cds110b-wi07 pdfs|L9-2_robstab.pdf|Lecture notes on robust stability}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/2Mar07.mp3 MP3] of Friday lecture, 2 March 2007<br />
* {{cds110b-wi07 pdfs|hw8.pdf|HW #8}} (due 9 Mar 07 [Fri])<br />
<br />
== References and Further Reading ==<br />
* AM06, Sections 9.5, 12.1 and 12.2<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Robust_StabilityCDS 110b: Robust Stability2007-03-02T23:36:14Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
This set of lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L9-1_robstab.pdf|Lecture slides on robust stability}}<br />
* {{cds110b-wi07 pdfs|L9-2_robstab.pdf|Lecture notes on robust stability}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/3Mar07.mp3 MP3] of Friday lecture, 3 March 2007<br />
* {{cds110b-wi07 pdfs|hw8.pdf|HW #8}} (due 9 Mar 07 [Fri])<br />
<br />
== References and Further Reading ==<br />
* AM06, Sections 9.5, 12.1 and 12.2<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Robust_StabilityCDS 110b: Robust Stability2007-03-02T17:13:05Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
This set of lecture describes how to model uncertainty in <math>H_\infty</math> control and provides conditions for checking robust stability in this framework. __NOTOC__<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L9-1_robstab.pdf|Lecture slides on robust stability}}<br />
* {{cds110b-wi07 pdfs|L9-2_robstab.pdf|Lecture notes on robust stability}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/28Feb07.mp3 MP3] of Wednesday lecture, 28 Feb 2007<br />
* {{cds110b-wi07 pdfs|hw8.pdf|HW #8}} (due 9 Mar 07 [Fri])<br />
<br />
== References and Further Reading ==<br />
* AM06, Sections 9.5, 12.1 and 12.2<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-03-01T01:06:10Z<p>Carson: /* Two Degree of Freedom Control Design */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw6.pdf|HW #6}} {{cds110b-wi07 pdfs|cds110b_hw6sol.pdf|solns}}<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw7.pdf|HW #7}}<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=What_are_the_LQR_weights_for_problem_4a%3FWhat are the LQR weights for problem 4a?2007-02-27T15:01:34Z<p>Carson: </p>
<hr />
<div>Utilize Q = Identity and R = 1 as the LQR weights in homework 7, problem 4a.<br />
<br />
--[[User:Carson|John]]<br />
[[Category:CDS 110b FAQ - Homework 7]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_FAQCDS 110b, Winter 2007 - FAQ2007-02-27T05:05:58Z<p>Carson: </p>
<hr />
<div>== Week 1 ==<br />
<ncl> CDS 110b FAQ - Homework 1 </ncl><br />
== Week 2 ==<br />
<ncl> CDS 110b FAQ - Homework 2 </ncl><br />
== Week 3 ==<br />
<ncl> CDS 110b FAQ - Homework 3 </ncl><br />
== Week 4 ==<br />
<ncl> CDS 110b FAQ - Homework 4 </ncl><br />
<br />
== Week 6 ==<br />
<ncl>CDS 110b FAQ - Homework 5 </ncl><br />
<br />
== Week 7 ==<br />
<ncl>CDS 110b FAQ - Homework 6</ncl><br />
<br />
<ncl> CDS 110b FAQ - Lecture 7-1 </ncl><br />
<br />
== Week 8 ==<br />
<ncl>CDS 110b FAQ - Homework 7</ncl></div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=For_problem_1a,_is_u%3D-bPx_a_type-o%3FFor problem 1a, is u=-bPx a type-o?2007-02-27T05:03:36Z<p>Carson: </p>
<hr />
<div>Yes, you should be looking for u = -2bPx. There is a factor of 2 missing.<br />
<br />
--[[User:Carson|John]]<br />
[[Category:CDS 110b FAQ - Homework 7]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Receding_Horizon_Optimal_ControlCDS 110b: Receding Horizon Optimal Control2007-02-24T02:49:34Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L8-1_rhc.pdf|Lecture slides on RHC overview}} (Wed)<br />
* {{cds110b-wi07 pdfs|L8-2_rhc.pdf|Lecture notes on RHC analysis}} (Fri)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/23Feb07.mp3 MP3] of Friday lecture, 23 Feb 2007<br />
* {{cds110b-wi07 pdfs|hw7.pdf|HW #7}} (due 29 Feb 07)<br />
<br />
== References and Further Reading ==<br />
* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p><br />
* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No.Â 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p><br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-02-24T00:09:02Z<p>Carson: /* Receding Horizon Optimal Control */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw6.pdf|HW #6}}<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw7.pdf|HW #7}}<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-02-24T00:08:44Z<p>Carson: /* Two Degree of Freedom Control Design */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw6.pdf|HW #6}}<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | HW 7<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-02-24T00:06:21Z<p>Carson: /* Linear Quadratic Optimal Control */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm [[:Image:Cds110b_midterm07SOL.pdf|solns]]<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}} {{cds110b-wi07 pdfs|cds110b_hw5sol.pdf|solns}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Two Degree of Freedom Control Design| Two Degree of Freedom Control Design]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Trajectory Tracking and Gain Scheduling<br />
|<br />
| rowspan=3 align=center | HW 6<br />
|-<br />
| 14 Feb (W)<br />
| Differential Flatness<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Recitation<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | HW 7<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-22T21:24:18Z<p>Carson: </p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Tuesday 4-5 pm in 110 Steele, and Wednesday 12-1 pm in 114 Steele (CDS Library)<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 21 Feb 07: Next Monday, Feb 26, there will be a recitation section instead of a regular lecture. Office hours will be held on Tu 4-5, Steele 110, Wed 12-1, Steele 114 (CDS Library).<br />
* 20 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in Powell-Booth, room 100.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-22T21:23:42Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Monday 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 21 Feb 07: Next Monday, Feb 26, there will be a recitation section instead of a regular lecture. Office hours will be held on Tu 4-5, Steele 110, Wed 12-1, Steele 114 (CDS Library).<br />
* 20 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in Powell-Booth, room 100.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Receding_Horizon_Optimal_ControlCDS 110b: Receding Horizon Optimal Control2007-02-22T19:49:26Z<p>Carson: </p>
<hr />
<div>{{cds110b-wi07}}<br />
<br />
== Course Materials ==<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007<br />
<br />
== References and Further Reading ==<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Two_Degree_of_Freedom_Control_DesignCDS 110b: Two Degree of Freedom Control Design2007-02-21T19:53:56Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
In this set of lectures we describe the problem of trajectory generation and tracking. We use differential flatness to generate feasible trajectories for the system, which are then tracked by a local (gain-scheduled) controller.<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L6-1_tracking.pdf|Notes on trajectory tracking}}<br />
* {{cds110b-wi07 pdfs|L6-2_flatness.pdf|Notes on differential flatness}}<br />
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/14Feb07.mp3 MP3] of Wednesday lecture, 14 Feb 2007<br />
* {{cds110b-wi07 pdfs|hw6.pdf|Homework 6}} (due 22 Feb @ 5 pm)<br />
** {{cds110b-wi07 pdfs|normsteer.m|normsteer.m}} - Normalized model for steering control system<br />
<br />
== References and Further Reading ==<br />
* {{AM06|Chapter 7 - Output Feedback}} Section 7.5<br />
* [http://www.cds.caltech.edu/~murray/papers/1996l_nm96-ijrnc.html Real Time Trajectory Generation for Differentially Flat Systems], M. J. van Nieuwstadt and R. M. Murray, Int'l. J. Robust & Nonlinear Control 8:(11) 995-1020, 1998.<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-20T17:53:27Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Monday 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 20 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in Powell-Booth, room 100.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-20T17:52:25Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Monday 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 19 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in Powell-Booth, room 100.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-20T17:52:14Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Monday 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 19 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in the Powell-Booth, room 100.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-20T16:08:17Z<p>Carson: </p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Monday 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 19 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in the CDS Library.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-20T16:07:52Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Mondays, 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 19 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1 in the CDS Library.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007CDS 110b, Winter 20072007-02-19T15:24:49Z<p>Carson: /* Announcements */</p>
<hr />
<div>{{cds110b-wi07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr ><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br></li><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br></li><br />
<li> [[#Course Text and References|Course Text and References]] <br></li><br />
<!-- <li> [[#Course Project|Course Project]]</li> --><br />
</ul><br />
</td></tr></table><br />
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2007. __NOTOC__ [[Category:Courses]]<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td><br />
'''Instructor'''<br />
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 142 Keck<br />
* Office hours: Fridays, 3-4 pm, 109 Steele<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])<br />
* John Carson, [http://www.cds.caltech.edu/~elisa Elisa Franco]<br />
* Office hours: Mondays, 12-1 pm and Tuesday 4-5 pm in 110 Steele<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 19 Feb 07: due to the institute holiday, the Monday office hour this week will be held on Wednesday from 12-1.<br />
* 15 Feb 07: the midterm solutions are posted.<br />
* 14 Feb 07: [[CDS_110b:_Two_Degree_of_Freedom_Control_Design|Week 6 - Two Degree of Freedom Control Design]] ({{cds110b-wi07 pdfs|hw6.pdf|HW #6}})<br />
* 12 Feb 07: this week Prof. Murray will hold a recitation section on Friday 16, instead of a course project lecture. Topics will include examples from HW # 6.<br />
* 12 Feb 07: the graded midterm can be picked up in the Steele CDS 110b return bin. The average was 30.3 and the standard deviation was 7.84. To compute your rough grade for the course so far, use the following formula<br />
<center><amsmath><br />
\text{score} = \frac{\sum_{i=1}^4 \text{HW}_i}{130} \cdot 25 + \frac{\text{MT}}{50} \cdot 20<br />
</amsmath></center><br />
:If you divide this by 40 (to account for the curve), you will get your rough percentage score for the course (with A = 90-100%, B = 80-89%, etc).<br />
* 7 Feb 07: [[CDS 110b: Linear Quadratic Optimal Control|Week 5 - Linear Quadratic Optimal Control]] ({{cds110b-wi07 pdfs|hw5.pdf|HW #5}})<br />
* 7 Feb 07: HW # 4 was graded, mean 19.43, will be returned in class today.<br />
<br />
== Course Syllabus ==<br />
<br />
'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including state estimation using Kalman filters, optimal control methods and modern control design techniques. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity. Students may optionally participate in a course project in lieu of taking the midterm and final. Students participating in the course project will learn how to implement and test control systems on a modern experimental system.<br />
<br />
* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam and a final exam:<br />
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele. <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br><br />
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period. The midterm exam will be open book.<br><br />
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week. It will be an open book exam.<br><br />
<br />
<!--<br />
Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final. Instead, two project reports will be due documenting the experimental work performed as part of the class. In addition, for HW sets 6-8, students working on the course project are only required to complete 2 problems on each HW set.<br />
--><br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing. MATLAB scripts and plots are considered part of your writeup and should be done individually.<br />
<br />
No collaboration is allowed on the midterm of final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The recommended course texts are:<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004. Available in the Caltech bookstore.<br />
* K. J. {{Astrom}} and R. M. Murray, [AM:Main Page|Design and Analysis of Feedback Systems], Preprint, 2006. Available online.<br />
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992. Available online.<br />
<br />
You may find the following texts useful as well:<br />
* F. L. Lewis and V. L. Syrmos, "Optimal Control", Second Edition, Wiley-IEEE, 1995. ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.<br />
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.<br />
<br />
<hr><br />
<span id=Old_Announcements />'''Old Announcements'''<br />
* 3 Jan 07: [[CDS 110b: State Estimation|Week 1 - Introduction and State Estimation]] ({{cds110b-wi07 pdfs|hw1.pdf|HW #1}})<br />
* 7 Jan 07: Office hours will be held on Mondays from 3-5 pm in 110 or 114 Steele. For the week of 8 Jan, office hours will be from 6-8 pm (one time only).<br />
* 8 Jan 07: [[CDS 110b: Stochastic Systems|Week 2 - Stochastic Systems]] ({{cds110b-wi07 pdfs|hw2.pdf|HW #2}})<br />
* 15 Jan 07: office hours for this week will be on Tuesday from 5-7 pm<br />
* 16 Jan 07: The deadline for HW #2 has been extended to 19 Jan (Fri) @ 5 pm. Some [[CDS 110b, Winter 2007 - FAQ|FAQs]] are available to help with the problems.<br />
* 17 Jan 07: [[CDS 110b: Kalman Filters|Week 3 - Kalman Filters]] ({{cds110b-wi07 pdfs|hw3.pdf|HW #3}})<br />
* 17 Jan 07: HW #1 has been graded and is available in the homework return box in Steele bdg. The mean was 37.54. The solution to HW #1 has been posted ({{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}).<br />
* 18 Jan 07: There is going to be a recitation session on Friday, Jan 19, 5-6 PM, Steele 125. Topics from past and current week will be summarized.<br />
* 22 Jan 07: [[CDS 110b: Sensor Fusion|Week 4 - Sensor Fusion]] ({{cds110b-wi07 pdfs|hw4.pdf|HW #4}})<br />
* 24 Jan 07: HW #2 has been graded and can be picked up in the hw return box. Mean: 35.8. The solution is posted here: ({{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}).<br />
* 29 Jan 07: [[CDS 110b: Nonlinear Estimation|Week 5 - Nonlinear Estimation]]. Midterm will be handed out in class on Wednesday, due on 6 Feb (Tue) @ 5 pm.<br />
* 30 Jan 07: The complete solution to HW # 3 is posted ({{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}).<br />
* 31 Jan 07: Today there will be a midterm review session and the midterm will be handed out. HW #3 has been graded and will also be returned in class. Average: 24.1/30.<br />
<br />
<br />
[[Category:Courses]] [[Category:2006-07 Courses]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-15T23:44:31Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray - afternoon departure<br />
* Mary Dunlop - morning departure (driving)<br />
* John Carson - afternoon departure<br />
* Julia Braman (and Kevin) - morning departure (driving)<br />
* Stefano Di Cairano - afternoon departure<br />
* Elisa Franco - morning departure<br />
* Tim Chung - morning departure<br />
* Nok - morning departure<br />
* Sawyer Fuller - afternoon departure (driving)<br />
* Laura de Vargas Roditi - morning departure<br />
* Daniele Tamino - morning departure<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and two lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami/cold cuts, cheese, lettuce, tomatos, mustard, peanut butter, jelly), lemonade, apples, bananas, carrots (peeled)<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...), oh and Skittles for Richard.<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we will hopefully be able to warm the bagels...<br />
<br />
= Packing List =<br />
<br />
2/12/07 update: Weather looks mostly sunny with a few snow showers towards the end of the weekend, mid-40s during the day in the valley (where we're staying) and in the 30s at Badger Pass (where we'll be skiing).<br />
<br />
[http://www.weather.com/outlook/recreation/outdoors/tenday/CANPYOSE:13 Yosemite Valley Weather]<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-13T22:17:40Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami/cold cuts, cheese, lettuce, tomatos, mustard, peanut butter, jelly), lemonade, apples, bananas, carrots (peeled)<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...), oh and Skittles for Richard.<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we will hopefully be able to warm the bagels...<br />
<br />
= Packing List =<br />
<br />
2/12/07 update: Weather looks mostly sunny with a few snow showers towards the end of the weekend, mid-40s during the day in the valley (where we're staying) and in the 30s at Badger Pass (where we'll be skiing).<br />
<br />
[http://www.weather.com/outlook/recreation/outdoors/tenday/CANPYOSE:13 Yosemite Valley Weather]<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Two_Degree_of_Freedom_Control_DesignCDS 110b: Two Degree of Freedom Control Design2007-02-13T04:42:42Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
In this set of lectures we describe the problem of trajectory generation and tracking. We use differential flatness to generate feasible trajectories for the system, which are then tracked by a local (gain-scheduled) controller.<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|L6-1_tracking.pdf|Notes on trajectory tracking}}<br />
* Notes on differential flatness<br />
* Partial [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/12Feb07.mp3 MP3] of Monday lecture, 12 Feb 2007<br />
* Homework 6 (due 22 Feb @ 5 pm)<br />
<br />
== References and Further Reading ==<br />
<br />
== Frequently Asked Questions ==</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b:_Linear_Quadratic_Optimal_ControlCDS 110b: Linear Quadratic Optimal Control2007-02-13T04:40:02Z<p>Carson: /* Course Materials */</p>
<hr />
<div>{{cds110b-wi07}}<br />
This Wednesday lecture provides an overview of optimal control theory. Beginning with a review of optimization, we introduce the notion of Lagrange multipliers and provide a summary of the Pontryagin's maximum principle.<br />
<br />
== Course Materials ==<br />
* {{cds110b-wi07 pdfs|optimal.pdf|Notes on optimal control}}<br />
* {{cds110b-wi07 pdfs|lqr.pdf|Notes on linear quadratic regulators}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/7Feb07.mp3 MP3] of Wednesday lecture, 7 Feb 2007<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/9Feb07.mp3 MP3] of Friday lecture, 9 Feb 2007<br />
* {{cds110b-wi07 pdfs|dfan_lqr.m|dfan_lqr.m}} - Ducted fan LQR example<br />
* {{cds110b-wi07 pdfs|hw5.pdf|Homework #5 (due 14 Feb @ 5 pm)}}<br />
<br />
== References and Further Reading ==<br />
* {{cds110b-pdfs|LS95-optimal.pdf|Excerpt from LS95 on optimal control}} - This excerpt is from [http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Lewis and Syrmos, 1995] and gives a derivation of the necessary conditions for optimaliity. A few pages have been left out from the middle that contained some additional examples (which you can find in similar books in the library, if you are interested). Other parts of the book can be searched via [http://books.google.com Google Books] and purchased online.<br />
* [http://www.statslab.cam.ac.uk/~rrw1/oc/L13.pdf Notes on Pontryagin's Maximum Principle] - these come from a set of [http://www.statslab.cam.ac.uk/~rrw1/oc/index.html lecture notes on optimization and control] by [http://www.statslab.cam.ac.uk/~rrw1/ Richard Weber] at Cambridge University. The notes are based on dynamic programming (DP) and uses a slightly different notation than we used in class.<br />
<br />
<br />
== Frequently Asked Questions ==<br />
'''Q: In the example on Bang-Bang control discussed in the lecture, how is the control law for <math>u</math> obtained?'''<br />
<br />
<blockquote><br />
<p>Pontryagin's Maximum Principle says that <math>u</math> has to be chosen to minimise the Hamiltonian <math>H(x,u,\lambda)</math> for given values of <math>x</math> and <math>\lambda</math>. In the example, <math>H = 1 + ({\lambda}^TA)x + ({\lambda}^TB)u</math>. At first glance, it seems that the more negative <math>u</math> is the more <math>H</math> will be minimised. And since the most negative value of <math>u</math> allowed is <math>-1</math>, <math>u=-1</math>. However, the co-efficient of <math>u</math> may be of either sign. Therefore, the sign of <math>u</math> has to be chosen such that the sign of the term <math>({\lambda}^TB)u</math> is negative. That's how we come up with <math>u = -sign({\lambda}^TB)</math>.</p><br />
<br />
<p>Shaunak Sen, 12 Jan 06</p><br />
</blockquote><br />
<br />
'''Q: Notation question for you: In the Lecture notes from Wednesday, I'm assuming that <math>T</math> is the final time and <sup><math>T</math></sup> (superscript T) is a transpose operation. Am I correct in my assumption?'''<br />
<br />
<blockquote><br />
<p>Yes, you are correct.</p><br />
<br />
<p>Jeremy Gillula, 07 Jan 05</p><br />
</blockquote><br />
<br />
'''Q: What do you mean by penalizing something, from Q>=0 "penalizes" state error?'''<br />
<br />
<blockquote><br />
<p>According to the form of the quadratic cost function <math>J</math>, there are three quadratic terms such<br />
as <math>x^T Q x</math>, <math>u^T R u</math>, and <math>x(T)^T P_1 x(T)</math>. When <math>Q \geq 0</math> and if <math>Q</math> is relative big, the value of <math>x</math> will have bigger contribution to the value of <math>J</math>. In order to keep <math>J</math> small, <math>x</math> must be relatively small. So selecting a big <math>Q</math> can keep <math>x</math> in small value regions. This is what the "penalizing" means.</p><br />
<br />
<p>So in the optimal control design, the relative values of <math>Q</math>, <math>R</math>, and <math>P_1</math> represent how important <math>X</math>, <math>U</math>, and <math>X(T)</math> are in the designer's concerns.</p><br />
<br />
<p>Zhipu Jin,13 Jan 03</p><br />
</blockquote></div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-12T23:27:24Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami/cold cuts, cheese, lettuce, tomatos, mustard, peanut butter, jelly), lemonade, apples, bananas<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...), oh and Skittles for Richard.<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we will hopefully be able to warm the bagels...<br />
<br />
= Packing List =<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-12T23:26:44Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami/cold cuts, cheese, lettuce, tomatos, mustard, peanut butter, jelly), lemonade, apples, bananas<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...), oh and Skittles for Richard.<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Packing List =<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-12T23:22:59Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami, cheese, cold cuts, lettuce, tomatos, peanut butter, jelly), lemonade, apples, bananas<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...).<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Packing List =<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-12T23:22:39Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami, cheese, cold cuts, lettuce, tomatos, peanut butter, jelly), lemonade, apples, bananas<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too... for the non-purists).<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Packing List =<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-12T23:22:23Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
* Daniele Tamino<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)<br />
*Lunches: sandwiches (wheat bread, pita, salami, cheese, cold cuts, lettuce, tomatos, peanut butter, jelly), lemonade, apples, bananas<br />
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too... for you non-purists).<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Packing List =<br />
<br />
'''Head and Hands'''<br />
* Winter hat<br />
* Gloves or mittens<br />
* Scarf (optional)<br />
<br />
'''Upper Body Layers'''<br />
* 2 t-shirts<br />
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)<br />
* Sweater or sweatshirt<br />
* Fleece jacket or wool sweater<br />
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket<br />
<br />
'''Lower Body'''<br />
* Underwear as needed<br />
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night<br />
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them<br />
* Synthetic long underwear bottoms (if you have them)<br />
<br />
'''Feet'''<br />
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)<br />
* Socks<br />
<br />
'''Travel Gear'''<br />
* Small backpack for day hiking/skiing<br />
<br />
'''Sleeping'''<br />
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee. <br />
<br />
'''Micellaneous'''<br />
* 2 quart-sized water bottles<br />
* 1 small flashlight or headlamp<br />
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap<br />
* Towel for showering<br />
* Sunscreen, lip balm, tissues<br />
* Sunglasses<br />
* Any medications you need<br />
* Camera (optional)<br />
* Board games to play at night (Pictionary, Cranium, etc.)<br />
* Money for ski rentals, dinner, food on the drive up<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=How_many_controllers_should_be_plotted_for_problem_3c%3FHow many controllers should be plotted for problem 3c?2007-02-12T02:46:29Z<p>Carson: </p>
<hr />
<div>'''Q''' How many controllers should be plotted for problem 3c?<br />
<br />
'''A''' You want to contrast the effect on the step response from varying <math> \rho </math> for two fixed <math> q_1 </math> values, so constrasting requires you pick at least two values of <math> \rho </math> for these plots. In addition, contrast the effect on step response from varying <math> q_1 </math> for at least two fixed values of <math> \rho </math>.<br />
<br />
If you use subplot to display the x and <math> \theta </math> step response in a single figure, you can do the above contrast within four figures.<br />
<br />
--[[User:Carson|John]]<br />
[[Category:CDS 110b FAQ - Homework 5]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-09T20:02:17Z<p>Carson: /* Meals */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (6 am) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors), coffee!<br />
*Lunches: sandwiches (wheat bread, pita, salami, cheese, tuna, peanut butter, jelly), lemonade, apples, bananas, Trader Joes soups.<br />
*Snacks: Granola bars, trail mix, apples, lemonade, dark chocolate!<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-09T18:55:41Z<p>Carson: </p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (6 am) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
<br />
= Meals =<br />
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and three lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list <br />
<br />
*Breakfasts: bagels, cream cheese, orange juice, oatmeal (variety of flavors), coffee!<br />
*Lunches: sandwiches (wheat bread, pita, salami, cheese, tuna, peanut butter, jelly), lemonade, apples, bananas, Trader Joes soups.<br />
*Snacks: Granola bars, trail mix, apples, lemonade, dark chocolate!<br />
<br />
There is supposed to be an eating area at Curry Village with a toaster and microwave, so we should be able to toast the bread and warm things.<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Yosemite_Trip_-_Winter_2007Yosemite Trip - Winter 20072007-02-09T18:42:42Z<p>Carson: /* Participants */</p>
<hr />
<div>__NOTOC__<br />
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.<br />
<br />
Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.<br />
<br />
= Details =<br />
<br />
=== Trip Date ===<br />
We've selected the trip date based on people's availability and Richard's schedule: <br />
* 16-18 Feb<br />
<br />
If you are interested in joining the group trip, email John Carson or Mary Dunlop.<br />
<br />
=== Trip Itinerary ===<br />
* Friday - Meet early in the morning (6 am) and drive to Yosemite. Check into cabins and do a short hike.<br />
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.<br />
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.<br />
<br />
=== Information about Yosemite ===<br />
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]<br />
* [http://www.nps.gov/yose/ Yosemite National Park]<br />
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]<br />
<br />
= Participants =<br />
* Richard Murray<br />
* Mary Dunlop<br />
* John Carson (and Vanessa)<br />
* Julia Braman (and Kevin)<br />
* Stefano Di Cairano<br />
* Elisa Franco<br />
* Tim Chung<br />
* Nok<br />
* Sawyer Fuller<br />
* Laura de Vargas Roditi<br />
<br />
= Pictures =<br />
These pictures are from the 2003 Murray Group winter trip to Yosemite.<br />
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]<br />
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-02-07T20:34:39Z<p>Carson: /* Linear Quadratic Optimal Control */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw5.pdf|HW #5}}<br />
<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Differential Flatness and Trajectory Generation|Differential Flatness and Trajectory Generation]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Differential flatness<br />
|<br />
| rowspan=3 align=center | HW 6<br />
|-<br />
| 14 Feb (W)<br />
| Real-time trajectory generation<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | HW 7<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carsonhttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_110b,_Winter_2007_-_Course_ScheduleCDS 110b, Winter 2007 - Course Schedule2007-02-03T01:41:53Z<p>Carson: /* Sensor Fusion */</p>
<hr />
<div>{{cds110b-wi07}} __NOTOC__<br />
This page contains the course schedule for CDS 110b. 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=3 | 1 <br />
| colspan=4 |<br />
=====[[CDS 110b: State Estimation|State Estimation]] =====<br />
|-<br />
| 3 Jan (W)<br />
| Course overview<br />
| <br />
| rowspan=2 align=center | {{cds110b-wi07 pdfs|hw1.pdf|HW 1}} {{cds110b-wi07 pdfs|cds110b_hw1sol.pdf|solns}}<br />
|-<br />
| 5 Jan (F)<br />
| State estimation<br />
| [[AM:Output Feedback|AM, Ch 6]]<br />
|-<br />
| align=center rowspan=4 | 2<br />
| colspan=4 |<br />
<br />
===== [[CDS110b: Stochastic Systems|Stochastic Systems]] =====<br />
|-<br />
| 8 Jan (M)<br />
| Random Processes<br />
| rowspan=2 | Friedland, Ch 10<br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw2.pdf|HW 2}} {{cds110b-wi07 pdfs|cds110b_hw2sol.pdf|solns}}<br />
|-<br />
| 10 Jan* (W)<br />
| Stochastic Systems<br />
|-<br />
| 12 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 3<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Kalman Filters|Kalman Filters]] =====<br />
|-<br />
| 15 Jan (M)<br />
| Martin Luther King Holiday<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw3.pdf|HW #3}} {{cds110b-wi07 pdfs|cds110b_hw3sol.pdf|solns}}<br />
|-<br />
| 17 Jan (W)<br />
| Kalman Filtering<br />
| <br />
|-<br />
| 19 Jan (F)<br />
| Linear Quadratic Estimators<br />
| <br />
|-<br />
| align=center rowspan=4 | 4<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Sensor Fusion|Sensor Fusion]] =====<br />
|-<br />
| 22 Jan (M)<br />
| Discrete Time Kalman Filter<br />
| <br />
| rowspan=3 align=center | {{cds110b-wi07 pdfs|hw4.pdf|HW #4}} {{cds110b-wi07 pdfs|cds110b_hw4sol.pdf|solns}}<br />
<br />
|-<br />
| 24 Jan (W)<br />
| Sensor Fusion via Kalman Filtering<br />
| <br />
|-<br />
| 26 Jan (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 5<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Nonlinear Estimation|Nonlinear, Non-Gaussian Extensions]] =====<br />
|-<br />
| 29 Jan (M)<br />
| Moving horizon estimation and applications<br />
|<br />
| rowspan=3 align=center | Midterm<br />
|-<br />
| 31 Jan* (W)<br />
| Midterm exam review<br />
| <br />
|-<br />
| 2 Feb* (F)<br />
| No class<br />
| <br />
|-<br />
| align=center rowspan=4 | 6<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Linear Quadratic Optimal Control|Linear Quadratic Optimal Control]] =====<br />
|-<br />
| 5 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 5<br />
|-<br />
| 7 Feb* (W)<br />
| Maximum principle<br />
| <br />
|-<br />
| 9 Feb (F)<br />
| Linear quadratic regulators<br />
| <br />
|-<br />
| align=center rowspan=4 | 7<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Differential Flatness and Trajectory Generation|Differential Flatness and Trajectory Generation]] =====<br />
|-<br />
| 12 Feb (M)<br />
| Differential flatness<br />
|<br />
| rowspan=3 align=center | HW 6<br />
|-<br />
| 14 Feb (W)<br />
| Real-time trajectory generation<br />
| <br />
|-<br />
| 16 Feb (F)<br />
| Course project meeting<br />
| <br />
|-<br />
| align=center rowspan=4 | 8<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Receding Horizon Optimal Control|Receding Horizon Optimal Control]] =====<br />
|-<br />
| 19 Feb (M)<br />
| President's Day Holiday<br />
|<br />
| rowspan=3 align=center | HW 7<br />
|-<br />
| 21 Feb (W)<br />
| RHC problem formulation<br />
| <br />
|-<br />
| 23 Feb (F)<br />
| RHC design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 9<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Networked Control Systems|Networked Control Systems]] =====<br />
|-<br />
| 26 Feb* (M)<br />
| No class<br />
|<br />
| rowspan=3 align=center | HW 8<br />
|-<br />
| 28 Feb (W)<br />
| Networked control systems (NCS)<br />
| <br />
|-<br />
| 2 Mar (F)<br />
| NCS design considerations<br />
| <br />
|-<br />
| align=center rowspan=4 | 10<br />
| colspan=4 |<br />
<br />
===== [[CDS 110b: Optimal Control Design Example|Design Example]] =====<br />
|-<br />
| 5 Mar (M)<br />
| Alice: A Networked Control System for Autonomous Driving<br />
| <br />
| rowspan=3 align=center | Final<br />
|-<br />
| 7 Mar (W)<br />
| Alice performance analysis<br />
| <br />
|-<br />
| 8 Mar* (F)<br />
| Final exam review<br />
| <br />
|}</div>Carson