http://www.cds.caltech.edu/~murray/wiki/api.php?action=feedcontributions&user=Franco&feedformat=atomMurrayWiki - User contributions [en]2021-01-27T15:03:06ZUser contributionsMediaWiki 1.23.12http://www.cds.caltech.edu/~murray/wiki/index.php?title=Winter_2009_Meeting_ScheduleWinter 2009 Meeting Schedule2008-12-21T18:02:43Z<p>Franco: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
| <br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p|Elisa}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Open (short)}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Odd: Francisco}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Open}}<br />
{{agenda end}}<br />
|<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|2:00p|Open}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Hill,_Dec_08David Hill, Dec 082008-12-03T03:00:05Z<p>Franco: /* Schedule */</p>
<hr />
<div>David Hill from Australian National University will be visiting Caltech on 4-5 Dec (Thu-Fri).<br />
<br />
=== Schedule ===<br />
<br />
4 Dec (Thu)<br />
* 7:30 am - breakfast with Richard<br />
* 8:45 am - Francisco/Sawyer<br />
* 9:30 am - Ufuk/Nok<br />
* 10:15 am - Elisa/ Ophelia?<br />
* 10:45 am - seminar prep<br />
* 11:00 am - Seminar, 114 Steele<br />
* 12:00 pm - Lunch with CDS faculty<br />
* 1:30 pm - open<br />
* 2:15 pm - Steven Low<br />
* 3:00 pm - Shuo/Andrea<br />
* 3:45 pm - open<br />
<br />
5 Dec (Fri)<br />
* Appointments on request (send e-mail to Richard)<br />
* 1:30 pm - Mani Chandy<br />
<br />
=== Seminar Abstract ===<br />
<center><br />
'''Feedback Networks'''<br />
<br />
David J Hill<br><br />
Federation Fellow<br><br />
Research School of Information Sciences and Engineering<br><br />
The Australian National University (ANU)<br />
</center><br />
The field of systems and control has gone through stages based around focus on <br />
preferred models for systems and appropriate structures for controllers, including linear systems and state variable feedback, time-varying parametric systems and adaptive control, nonlinear systems and optimal control and so on. However, important control tasks in living systems and modern infrastructure technology actually take the form of systems with network structure controlled by distributed control, with switching, time-delays and other complexities, i.e. control of <br />
networks by networks or feedback networks. Examples in engineering include power grids, road traffic control and Internet congestion control. This model opens up a plethora of new systems and control science questions, which are being studied by separate communities in science and engineering. <br />
<br />
This seminar will describe recent work in this area mainly focussing on work in the Lab for Networks and Control at ANU. The emphasis is on the role of structure, i.e. the various graphs in the networks (system, sensing and controller), stability-related questions and self-organising mechanisms for control.<br />
<br />
=== Biography ===<br />
David J Hill received the BE and BSc degrees from the University of Queensland, Australia, in 1972 and 1974, respectively. He received the PhD degree in Electrical Engineering from the University of Newcastle, Australia, in 1976. He is currently a Professor and Australian Research Council Federation Fellow in the Research School of Information Sciences and Engineering at The Australian National University. He has held academic and substantial visiting positions at the universities of Melbourne, California (Berkeley), Newcastle (Australia), Lund (Sweden), Sydney and Hong Kong (City University). He holds honorary professorships at the University of Sydney, University of Queensland (Australia), South China University of Technology, City University of Hong Kong, Wuhan University and Northeastern University (China). His research interests are in network systems science, stability analysis, nonlinear control and applications. He is a Fellow of the Institution of Engineers, Australia, the Institute of Electrical and Electronics Engineers, USA and the Australian Academy of Science; he is also a Foreign Member of the Royal Swedish Academy of Engineering Sciences.</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Hill,_Dec_08David Hill, Dec 082008-12-02T17:16:26Z<p>Franco: /* Schedule */</p>
<hr />
<div>David Hill from Australian National University will be visiting Caltech on 4-5 Dec (Thu-Fri).<br />
<br />
=== Schedule ===<br />
<br />
4 Dec (Thu)<br />
* 7:30 am - breakfast with Richard<br />
* 8:45 am - Francisco/Sawyer<br />
* 9:30 am - Ufuk/Nok<br />
* 10:15 am - Elisa<br />
* 10:45 am - seminar prep<br />
* 11:00 am - Seminar, 114 Steele<br />
* 12:00 pm - Lunch with CDS faculty<br />
* 1:30 pm - open<br />
* 2:15 pm - Steven Low<br />
* 3:00 pm - Shuo/Andrea<br />
* 3:45 pm - open<br />
<br />
5 Dec (Fri)<br />
* Appointments on request (send e-mail to Richard)<br />
* 1:30 pm - Mani Chandy<br />
<br />
=== Seminar Abstract ===<br />
<center><br />
'''Feedback Networks'''<br />
<br />
David J Hill<br><br />
Federation Fellow<br><br />
Research School of Information Sciences and Engineering<br><br />
The Australian National University (ANU)<br />
</center><br />
The field of systems and control has gone through stages based around focus on <br />
preferred models for systems and appropriate structures for controllers, including linear systems and state variable feedback, time-varying parametric systems and adaptive control, nonlinear systems and optimal control and so on. However, important control tasks in living systems and modern infrastructure technology actually take the form of systems with network structure controlled by distributed control, with switching, time-delays and other complexities, i.e. control of <br />
networks by networks or feedback networks. Examples in engineering include power grids, road traffic control and Internet congestion control. This model opens up a plethora of new systems and control science questions, which are being studied by separate communities in science and engineering. <br />
<br />
This seminar will describe recent work in this area mainly focussing on work in the Lab for Networks and Control at ANU. The emphasis is on the role of structure, i.e. the various graphs in the networks (system, sensing and controller), stability-related questions and self-organising mechanisms for control.<br />
<br />
=== Biography ===<br />
David J Hill received the BE and BSc degrees from the University of Queensland, Australia, in 1972 and 1974, respectively. He received the PhD degree in Electrical Engineering from the University of Newcastle, Australia, in 1976. He is currently a Professor and Australian Research Council Federation Fellow in the Research School of Information Sciences and Engineering at The Australian National University. He has held academic and substantial visiting positions at the universities of Melbourne, California (Berkeley), Newcastle (Australia), Lund (Sweden), Sydney and Hong Kong (City University). He holds honorary professorships at the University of Sydney, University of Queensland (Australia), South China University of Technology, City University of Hong Kong, Wuhan University and Northeastern University (China). His research interests are in network systems science, stability analysis, nonlinear control and applications. He is a Fellow of the Institution of Engineers, Australia, the Institute of Electrical and Electronics Engineers, USA and the Australian Academy of Science; he is also a Foreign Member of the Royal Swedish Academy of Engineering Sciences.</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Fall_2008_Meeting_ScheduleFall 2008 Meeting Schedule2008-09-24T15:42:20Z<p>Franco: /* Wed */</p>
<hr />
<div>__NOTOC__<br />
Sign up for a time to meet. Note that different slots are for different amounts of time. Here are some guides:<br />
* 30 minute slot - weekly meeting; good if you are busy with mainly classes<br />
* 60 minute slot - standard weekly meeting<br />
* 90 minute slot - ''biweekly'' meeting. Pick even or odd weeks (week of 29 Sep = odd)<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=20% |<br />
==== Mon ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Yizhar}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Andrea}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Tue ====<br />
{{agenda begin}}<br />
{{agenda item|1:30p|Julia}}<br />
{{agenda item|2:30p|Open (short)}}<br />
{{agenda item|3:00p|Odd: Open}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|6:00p|Odd: Francisco}}<br />
{{agenda item||Even: Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Wed ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|4:30p|Shuo}}<br />
{{agenda item|5:30p|Ufuk}}<br />
{{agenda item|6:30p|Elisa}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Thu ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item|3:30p|Open (short)}}<br />
{{agenda item|4:00p|Odd: Sawyer}}<br />
{{agenda item||Even: Open}}<br />
{{agenda item|5:30p|Open}}<br />
{{agenda item|6:30p|Open}}<br />
{{agenda end}}<br />
| width=20% |<br />
<br />
==== Fri ====<br />
{{agenda begin}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|3:00p|Open}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|5:00p|Open}}<br />
{{agenda item||}}<br />
{{agenda end}}<br />
|}</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Vinutha_Kallem,_April_2008Vinutha Kallem, April 20082008-04-28T16:10:41Z<p>Franco: /* Tuesday */</p>
<hr />
<div>Vinutha Kallem is a PhD student at Johns Hopkins who is visiting on 28-29 April 2008. __NOTOC__<br />
<br />
=== Schedule ===<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
==== Monday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Richard}}<br />
{{agenda item|10:00a|Julia}}<br />
{{agenda item|10:45a|Seminar prep}}<br />
{{agenda item|11:00a|Seminar}}<br />
{{agenda item|12:15p|Lunch: V&V?}}<br />
{{agenda item|1:30p|Mani Chandy}}<br />
{{agenda item|2:00p|Nok}}<br />
{{agenda item|3:15p|Ling}}<br />
{{agenda item|4:00p|Elisa}}<br />
{{agenda item|4:45p|Open}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Tuesday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Dionysios}}<br />
{{agenda item|10:15a|Open}}<br />
{{agenda item|11:00a|Erik Winfree}}<br />
{{agenda item|11:30p|Richard}}<br />
{{agenda item|12:00p|Lunch: biocircuits?}}<br />
{{agenda item|1:30p|Depart for airport}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Abstract ===<br />
<br />
TASK-INDUCED REDUCTION WITH APPLICATIONS TO NEEDLE STEERING<br />
<br />
Vinutha Kallem<br><br />
Mechanical Engineering Department<br><br />
Johns Hopkins University<br><br />
<br />
Monday, April 28, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele Bldg. Room 114 (CDS Library)<br><br />
<br />
What if sensitive organs prevents a physician from accessing a percutaneous target using a straight, rigid needle? One promising solution involves steering flexible bevel-tip needles. These needles introduce exciting robotics and control systems challenges because the needle tip evolves on a Lie group, and the system exhibits a high degree of nonholonomy.<br />
<br />
In this work, we present image-guided controllers for steerable needles to improve the accuracy of needle insertions. We build upon a previously proposed needle steering model to develop nonlinear observer-based controllers to drive the needle tip to a desired subspace. These controllers are designed to work in conjunction with subspace planners for the needle tip to reach a desired location in human tissue. We show that the tasks of these controllers induces symmetry, thus resulting in a reduced system which greatly simplifies controller and observer design. We propose a method to perform such reductions for generic nonholonomic kinematic systems on Lie groups with left-invariant vector fields. This technique is used to develop controllers for curve-following of a unicycle and subspace-following in needle steering. We show that this "task-induced" reduction lifts to mechanical systems.</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Vinutha_Kallem,_April_2008Vinutha Kallem, April 20082008-04-28T16:10:32Z<p>Franco: /* Monday */</p>
<hr />
<div>Vinutha Kallem is a PhD student at Johns Hopkins who is visiting on 28-29 April 2008. __NOTOC__<br />
<br />
=== Schedule ===<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
==== Monday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Richard}}<br />
{{agenda item|10:00a|Julia}}<br />
{{agenda item|10:45a|Seminar prep}}<br />
{{agenda item|11:00a|Seminar}}<br />
{{agenda item|12:15p|Lunch: V&V?}}<br />
{{agenda item|1:30p|Mani Chandy}}<br />
{{agenda item|2:00p|Nok}}<br />
{{agenda item|3:15p|Ling}}<br />
{{agenda item|4:00p|Elisa}}<br />
{{agenda item|4:45p|Open}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Tuesday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Dionysios}}<br />
{{agenda item|10:15a|Elisa}}<br />
{{agenda item|11:00a|Erik Winfree}}<br />
{{agenda item|11:30p|Richard}}<br />
{{agenda item|12:00p|Lunch: biocircuits?}}<br />
{{agenda item|1:30p|Depart for airport}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Abstract ===<br />
<br />
TASK-INDUCED REDUCTION WITH APPLICATIONS TO NEEDLE STEERING<br />
<br />
Vinutha Kallem<br><br />
Mechanical Engineering Department<br><br />
Johns Hopkins University<br><br />
<br />
Monday, April 28, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele Bldg. Room 114 (CDS Library)<br><br />
<br />
What if sensitive organs prevents a physician from accessing a percutaneous target using a straight, rigid needle? One promising solution involves steering flexible bevel-tip needles. These needles introduce exciting robotics and control systems challenges because the needle tip evolves on a Lie group, and the system exhibits a high degree of nonholonomy.<br />
<br />
In this work, we present image-guided controllers for steerable needles to improve the accuracy of needle insertions. We build upon a previously proposed needle steering model to develop nonlinear observer-based controllers to drive the needle tip to a desired subspace. These controllers are designed to work in conjunction with subspace planners for the needle tip to reach a desired location in human tissue. We show that the tasks of these controllers induces symmetry, thus resulting in a reduced system which greatly simplifies controller and observer design. We propose a method to perform such reductions for generic nonholonomic kinematic systems on Lie groups with left-invariant vector fields. This technique is used to develop controllers for curve-following of a unicycle and subspace-following in needle steering. We show that this "task-induced" reduction lifts to mechanical systems.</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Vinutha_Kallem,_April_2008Vinutha Kallem, April 20082008-04-25T05:08:29Z<p>Franco: /* Tuesday */</p>
<hr />
<div>Vinutha Kallem is a PhD student at Johns Hopkins who is visiting on 28-29 April 2008. __NOTOC__<br />
<br />
=== Schedule ===<br />
{| width=100%<br />
|- valign=top<br />
| width=50% |<br />
==== Monday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Richard}}<br />
{{agenda item|10:00a|Open}}<br />
{{agenda item|10:45a|Seminar prep}}<br />
{{agenda item|11:00a|Seminar}}<br />
{{agenda item|12:15p|Lunch: V&V?}}<br />
{{agenda item|1:30p|Mani Chandy}}<br />
{{agenda item|2:00p|Nok}}<br />
{{agenda item|3:15p|Ling}}<br />
{{agenda item|4:00p|Open}}<br />
{{agenda item|4:45p|Open}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Tuesday ====<br />
{{agenda begin}}<br />
{{agenda item|9:30a|Open}}<br />
{{agenda item|10:15a|Elisa}}<br />
{{agenda item|11:00a|Erik Winfree}}<br />
{{agenda item|11:30p|Richard}}<br />
{{agenda item|12:00p|Lunch: biocircuits?}}<br />
{{agenda item|1:30p|Depart for airport}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Abstract ===<br />
<br />
TASK-INDUCED REDUCTION WITH APPLICATIONS TO NEEDLE STEERING<br />
<br />
Vinutha Kallem<br><br />
Mechanical Engineering Department<br><br />
Johns Hopkins University<br><br />
<br />
Monday, April 28, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele Bldg. Room 114 (CDS Library)<br><br />
<br />
What if sensitive organs prevents a physician from accessing a percutaneous target using a straight, rigid needle? One promising solution involves steering flexible bevel-tip needles. These needles introduce exciting robotics and control systems challenges because the needle tip evolves on a Lie group, and the system exhibits a high degree of nonholonomy.<br />
<br />
In this work, we present image-guided controllers for steerable needles to improve the accuracy of needle insertions. We build upon a previously proposed needle steering model to develop nonlinear observer-based controllers to drive the needle tip to a desired subspace. These controllers are designed to work in conjunction with subspace planners for the needle tip to reach a desired location in human tissue. We show that the tasks of these controllers induces symmetry, thus resulting in a reduced system which greatly simplifies controller and observer design. We propose a method to perform such reductions for generic nonholonomic kinematic systems on Lie groups with left-invariant vector fields. This technique is used to develop controllers for curve-following of a unicycle and subspace-following in needle steering. We show that this "task-induced" reduction lifts to mechanical systems.</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-23T00:01:19Z<p>Franco: /* Friday (25 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15| Open}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Julia (329 Thomus)}}<br />
{{agenda item|11:15|Erik Winfree (204 Moore)}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, Elisa}}<br />
{{agenda item|1:30|Sayan (334 Moore)}}<br />
{{agenda item|2:15| Elisa (204 Moore)}}<br />
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}<br />
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-23T00:01:07Z<p>Franco: /* Thursday (24 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15| Open}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Julia (329 Thomus)}}<br />
{{agenda item|11:15|Erik Winfree (204 Moore)}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}<br />
{{agenda item|1:30|Sayan (334 Moore)}}<br />
{{agenda item|2:15| Elisa (204 Moore)}}<br />
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}<br />
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-23T00:00:56Z<p>Franco: /* Friday (25 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15|Elisa}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Julia (329 Thomus)}}<br />
{{agenda item|11:15|Erik Winfree (204 Moore)}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}<br />
{{agenda item|1:30|Sayan (334 Moore)}}<br />
{{agenda item|2:15| Elisa (204 Moore)}}<br />
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}<br />
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-23T00:00:40Z<p>Franco: /* Friday (25 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15|Elisa}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Julia (329 Thomus)}}<br />
{{agenda item|11:15|Erik Winfree (204 Moore)}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}<br />
{{agenda item|1:30|Sayan (334 Moore)}}<br />
{{agenda item|2:15| Elisa - 204 Moore}}<br />
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}<br />
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-22T22:45:57Z<p>Franco: /* Friday (25 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15|Elisa}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Julia (329 Thomus)}}<br />
{{agenda item|11:15|Erik Winfree (204 Moore)}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}<br />
{{agenda item|1:30|Sayan (334 Moore)}}<br />
{{agenda item|2:15| Elisa ?}}<br />
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}<br />
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=David_Thorsley,_April_2008David Thorsley, April 20082008-04-19T21:23:46Z<p>Franco: /* Thursday (24 Apr) */</p>
<hr />
<div>David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__<br />
<br />
=== Schedule ===<br />
<br />
{| width=100% border=1<br />
|- valign=top<br />
| width=50% |<br />
==== Thursday (24 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|9:30|Nok Wongpiromsarn}}<br />
{{agenda item|10:15|Elisa}}<br />
{{agenda item|11:00|Seminar (CDS library)}}<br />
{{agenda item|12:15|Lunch: Nok, ___, ___}}<br />
{{agenda end}}<br />
| width=50% |<br />
<br />
==== Friday (25 Apr) ====<br />
{{agenda begin}}<br />
{{agenda item|10:30|Open}}<br />
{{agenda item|11:15|Open}}<br />
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}<br />
{{agenda item|1:30|Sayan}}<br />
{{agenda item|2:15|Open}}<br />
{{agenda item|3:00|Open}}<br />
{{agenda end}}<br />
|}<br />
<br />
=== Seminar ===<br />
<br />
APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS<br />
<br />
David Thorsley<br><br />
Research Associate<br><br />
Department of Electrical Engineering <br><br />
University of Washington<br />
<br />
Thursday, April 24, 2008<br><br />
11:00 AM to 12:00 PM<br><br />
Steele 114 (CDS Library)<br />
<br />
Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.<br />
</pre></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Jan/Feb_2008_MeetingsJan/Feb 2008 Meetings2008-01-27T21:20:43Z<p>Franco: /* Tue, 5 Feb */</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|Elisa}}<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|Yizhar}}<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>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Winter_2008_Meeting_ScheduleWinter 2008 Meeting Schedule2008-01-03T23:13:55Z<p>Franco: /* Thu */</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|Elisa}}<br />
{{agenda item||}}<br />
{{agenda item||}}<br />
{{agenda item|5:00p| Nok}}<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| Ling}}<br />
{{agenda end}}<br />
|}</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=HW8_Problem_3HW8 Problem 32007-12-07T18:44:34Z<p>Franco: </p>
<hr />
<div>My notes for this problem are [[ Media:EF11302007Recitation.pdf | here]]. <br />
The Pade approximation to use should be verified to present the same phase as the delay term <math>e^{-\tau s}</math>; an approximation of order 2 or 3 will be sufficient. Increasing the order of the approximation will add too many poles and zeros to the transfer function of the process. <br />
<br />
--[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Homework 8]]<br />
[[Category: CDS 101/110 FAQ - Homework 8, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007CDS 101/110a, Fall 20072007-12-05T22:11:27Z<p>Franco: /* Announcements */</p>
<hr />
<div>{{cds101-fa07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br><br />
<li> [[#Course Text and References|Course Texts]] <br><br />
<li> [[#Course_Schedule|Course Schedule]]<br><br />
<li> [[#Course Project|Course Project]]<br />
</ul><br />
</table><br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2007. __NOTOC__<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td width=50%><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours: Fridays, 3-4 pm (by appt)<br />
* Prior years: [http://www.cds.caltech.edu/~murray/courses/cds101/fa03 FA03], [http://www.cds.caltech.edu/~murray/courses/cds101/fa04 FA04], [[CDS 101/110a, Fall 2006|FA06]]<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds101-tas@cds.caltech.edu cds110-tas@cds])<br />
* Julia Braman, Elisa Franco, Sawyer Fuller, George Hines, Luis Soto<br />
* Office hours: Sundays, 4-5; Tuesdays, 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Vanessa Carson and Matthew Feldman<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 5 Dec 07: Homework #7 is graded.<br />
** CDS 110 average: 32.2/40, <math>\sigma</math> = 5.3<br />
** CDS 101 average: 17.9/20, <math>\sigma</math> = 3.15<br />
* OFFICE HOURS for the week of December 2-8: Tue 4-5 pm Steele 110, Thu 4-5 pm Steele 110.<br />
* 2 Dec 07: [[CDS 101/110, Week 10 - Robust Performance]]<br />
* 26 Nov 07: [[CDS 101/110, Week 9 - Loop Shaping]]<br />
** {{cds101 handouts|hw8.pdf|HW #8}} is now posted; due 5 Dec (Wed) @ 5 pm<br />
* 26 Nov 07: Homework #6 is graded and the {{cds101 handouts|soln6.pdf|solutions}} are posted<br />
** CDS 110 average: 36/40, <math>\sigma</math> = 4.1<br />
** CDS 101 average: 17/20, <math>\sigma</math> = 3.9<br />
* 19 Nov 07: [[CDS 101/110, Week 8 - PID Control]]<br />
** {{cds101 handouts|hw7.pdf|HW #7}} is now posted; due 28 Nov (Wed) @ 5 pm<br />
* 19 Nov 07: Homework #5 is graded and the {{cds101 handouts|soln5.pdf|solutions}} are posted<br />
** CDS 110 average: 36.3/40, <math>\sigma</math> = 3.2<br />
** CDS 101 average: 17.9/20, <math>\sigma</math> = 1.1<br />
* 12 Nov 07: [[CDS 101/110, Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6.pdf|HW #6}} is now posted; due 19 Nov @ 5 pm<br />
<br />
== Course Syllabus ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science<br />
and engineering who are interested in the principles and tools of feedback<br />
control, but not the analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a stronger<br />
mathematical background, including working knowledge of linear algebra and<br />
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. <br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. A two day grace period is allowed to turn in your homework. Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (31 Oct) and due at the end of the midterm examination period (6 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (7 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the [[CDS 101/110a, Fall 2007 - Course Schedule|course schedule]] page.<br />
<br />
== Old Announcements ==<br />
* 20 Aug 07: created wiki page for CDS 101/110a, Fall 2007<br />
* 1 Oct 07: [[CDS 101/110, Week 1 - Introduction to Feedback and Control]]<br />
* 8 Oct 07: [[CDS 101/110, Week 2 - System Modeling]]<br />
* 15 Oct 07: {{cds101 handouts|soln1.pdf|Solutions to homework #1}} are now available<br />
** CDS 110: Average score = 35.7/40 (<math>\sigma</math> = 3.4); average time = 6.2 hours<br />
** CDS 101: Average score = 18.7/20 (<math>\sigma</math> = 1.6); average time = 3.4 hours<br />
* 15 Oct 07: [[CDS 101/110, Week 3 - Dynamic Behavior]]<br />
* 22 Oct 07: {{cds101 handouts|soln2.pdf|Solutions to homework #2}} are now available<br />
** CDS 110: Average score = 22.4/30 (<math>\sigma</math> = 4.3); average time = 9.7 hours<br />
** CDS 101: Average score = 14.8/20 (<math>\sigma</math> = 3.6); average time = 8.1 hours<br />
* 22 Oct 07: [[CDS 101/110, Week 4 - Linear Systems]]<br />
* 29 Oct 07: HW # 3 is graded and the {{cds101 handouts|soln3.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 30.5/40 (<math>\sigma</math> = 6.49); average time = 11.8 hours<br />
** CDS 101: Average score = 19.3/20 (<math>\sigma</math> = 0.75).<br />
* 1 Nov 07: [[Media:Sawyer_reviewnotes.pdf|Midterm review]] notes are up<br />
* 1 Nov 07: Midterms are outside 102 Steele. Due back by Tuesday 5pm<br />
* 1 Nov 07: No recitations Friday; Midterm review is Friday 2 Nov at the normal recitation hour, 2-3p, in 74 Jorgenson<br />
* 2 Nov 07: HW #4 is graded and the {{cds101 handouts|soln4.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 34.5/40 (<math>\sigma</math> = 4.6); average time = 9.9 hours<br />
** CDS 101: Average score = 17.0/20 (<math>\sigma</math> = 3.4)<br />
* 3 Nov 07: [[CDS 101/110, Week 5 - State Feedback]] web page is now updated<br />
* 5 Nov 07: [[CDS 101/110, Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5.pdf|HW #5}} is now posted; due 12 Nov @ 5 pm<br />
* 9 Nov 07: [[Media:EF11092007Recitation.pdf | Notes ]] for Section 4 (theory) recitation only - Laplace transforms. <br />
* 12 Nov 07: Midterms are graded<br />
** CDS 110 average: 44/55, <math>\sigma</math> = 7.6<br />
** CDS 101 average: 29/35, <math>\sigma</math> = 4.0<br />
<br />
[[Category: Courses]] [[Category: 2007-08 Courses]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007CDS 101/110a, Fall 20072007-12-04T19:43:55Z<p>Franco: /* Announcements */</p>
<hr />
<div>{{cds101-fa07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br><br />
<li> [[#Course Text and References|Course Texts]] <br><br />
<li> [[#Course_Schedule|Course Schedule]]<br><br />
<li> [[#Course Project|Course Project]]<br />
</ul><br />
</table><br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2007. __NOTOC__<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td width=50%><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours: Fridays, 3-4 pm (by appt)<br />
* Prior years: [http://www.cds.caltech.edu/~murray/courses/cds101/fa03 FA03], [http://www.cds.caltech.edu/~murray/courses/cds101/fa04 FA04], [[CDS 101/110a, Fall 2006|FA06]]<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds101-tas@cds.caltech.edu cds110-tas@cds])<br />
* Julia Braman, Elisa Franco, Sawyer Fuller, George Hines, Luis Soto<br />
* Office hours: Sundays, 4-5; Tuesdays, 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Vanessa Carson and Matthew Feldman<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* OFFICE HOURS for the week of December 2-8: Tue 4-5 pm Steele 110, Thu 4-5 pm Steele 110.<br />
* 26 Nov 07: [[CDS 101/110, Week 9 - Loop Shaping]]<br />
** {{cds101 handouts|hw8.pdf|HW #8}} is now posted; due 5 Dec (Wed) @ 5 pm<br />
* 26 Nov 07: Homework #6 is graded and the {{cds101 handouts|soln6.pdf|solutions}} are posted<br />
** CDS 110 average: 36/40, <math>\sigma</math> = 4.1<br />
** CDS 101 average: 17/20, <math>\sigma</math> = 3.9<br />
* 19 Nov 07: [[CDS 101/110, Week 8 - PID Control]]<br />
** {{cds101 handouts|hw7.pdf|HW #7}} is now posted; due 28 Nov (Wed) @ 5 pm<br />
* 19 Nov 07: Homework #5 is graded and the {{cds101 handouts|soln5.pdf|solutions}} are posted<br />
** CDS 110 average: 36.3/40, <math>\sigma</math> = 3.2<br />
** CDS 101 average: 17.9/20, <math>\sigma</math> = 1.1<br />
* 12 Nov 07: [[CDS 101/110, Week 7 - Loop Analysis]]<br />
** {{cds101 handouts|hw6.pdf|HW #6}} is now posted; due 19 Nov @ 5 pm<br />
<br />
== Course Syllabus ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science<br />
and engineering who are interested in the principles and tools of feedback<br />
control, but not the analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a stronger<br />
mathematical background, including working knowledge of linear algebra and<br />
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. <br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. A two day grace period is allowed to turn in your homework. Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (31 Oct) and due at the end of the midterm examination period (6 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (7 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the [[CDS 101/110a, Fall 2007 - Course Schedule|course schedule]] page.<br />
<br />
== Old Announcements ==<br />
* 20 Aug 07: created wiki page for CDS 101/110a, Fall 2007<br />
* 1 Oct 07: [[CDS 101/110, Week 1 - Introduction to Feedback and Control]]<br />
* 8 Oct 07: [[CDS 101/110, Week 2 - System Modeling]]<br />
* 15 Oct 07: {{cds101 handouts|soln1.pdf|Solutions to homework #1}} are now available<br />
** CDS 110: Average score = 35.7/40 (<math>\sigma</math> = 3.4); average time = 6.2 hours<br />
** CDS 101: Average score = 18.7/20 (<math>\sigma</math> = 1.6); average time = 3.4 hours<br />
* 15 Oct 07: [[CDS 101/110, Week 3 - Dynamic Behavior]]<br />
* 22 Oct 07: {{cds101 handouts|soln2.pdf|Solutions to homework #2}} are now available<br />
** CDS 110: Average score = 22.4/30 (<math>\sigma</math> = 4.3); average time = 9.7 hours<br />
** CDS 101: Average score = 14.8/20 (<math>\sigma</math> = 3.6); average time = 8.1 hours<br />
* 22 Oct 07: [[CDS 101/110, Week 4 - Linear Systems]]<br />
* 29 Oct 07: HW # 3 is graded and the {{cds101 handouts|soln3.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 30.5/40 (<math>\sigma</math> = 6.49); average time = 11.8 hours<br />
** CDS 101: Average score = 19.3/20 (<math>\sigma</math> = 0.75).<br />
* 1 Nov 07: [[Media:Sawyer_reviewnotes.pdf|Midterm review]] notes are up<br />
* 1 Nov 07: Midterms are outside 102 Steele. Due back by Tuesday 5pm<br />
* 1 Nov 07: No recitations Friday; Midterm review is Friday 2 Nov at the normal recitation hour, 2-3p, in 74 Jorgenson<br />
* 2 Nov 07: HW #4 is graded and the {{cds101 handouts|soln4.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 34.5/40 (<math>\sigma</math> = 4.6); average time = 9.9 hours<br />
** CDS 101: Average score = 17.0/20 (<math>\sigma</math> = 3.4)<br />
* 3 Nov 07: [[CDS 101/110, Week 5 - State Feedback]] web page is now updated<br />
* 5 Nov 07: [[CDS 101/110, Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5.pdf|HW #5}} is now posted; due 12 Nov @ 5 pm<br />
* 9 Nov 07: [[Media:EF11092007Recitation.pdf | Notes ]] for Section 4 (theory) recitation only - Laplace transforms. <br />
* 12 Nov 07: Midterms are graded<br />
** CDS 110 average: 44/55, <math>\sigma</math> = 7.6<br />
** CDS 101 average: 29/35, <math>\sigma</math> = 4.0<br />
<br />
[[Category: Courses]] [[Category: 2007-08 Courses]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=File:EF11302007Recitation.pdfFile:EF11302007Recitation.pdf2007-12-03T17:32:47Z<p>Franco: </p>
<hr />
<div></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-12-03T17:03:15Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
* [[Media:EF11092007Recitation.pdf | Notes]] for the recitation of Friday, November 9.<br />
* [[Media:EF11162007Recitation.pdf | Notes]] for the recitation of Friday, November 16.<br />
* [[Media:EF11302007Recitation.pdf | Notes]] for the recitation of Friday, November 30.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines<br />
<br />
Notes from week 4's recitation are available [[Media:GHH_Recitation_10_26_07.pdf|here]].<br><br />
Notes from week 6's recitation are available [[Media:GHH_Recitation_11_9_07.pdf|here]].</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Why_is_it_better_to_use_a_lead_controller_than_a_PD_controller%3FWhy is it better to use a lead controller than a PD controller?2007-12-03T01:19:11Z<p>Franco: </p>
<hr />
<div>The lead controller helps us in two ways: it can increase the gain of the open loop transfer function, and also the phase margin in a certain frequency range. But why could we not use just a PD controller, that increases the phase over a wider range of frequencies?<br />
<br />
The use of the derivative action should always be limited: it helps improve the control performance when the error signal changes rapidly, but for the same reason it could amplify unwanted disturbances on the measured output.<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 9-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 9-1, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=HW_7_problem_4HW 7 problem 42007-11-25T18:44:16Z<p>Franco: </p>
<hr />
<div>This problem focuses on frequency domain specifications and loop shaping. You should learn in fact how to shape the frequency response of a plant so that it will present some desired properties.<br />
<br />
Following the paradigm showed in class (Lecture 8-1, slide 5), you should plot the Bode diagram for the plant considered and mark on such graph the performance specifications required.<br />
<br />
Based on the specifications, you should find what type of controller you need: make sure you understand what yields to gain and phase changes for the overall system. You should not do this by trial and error, but reason in terms of what you need to "add" to the open loop system to have the required behavior; add only the controller terms that are necessary. Don't forget to verify that the new system L(s)=P(s)C(s) satisfies the specifications.<br />
<br />
Finally, you need to plot step and frequency response for the closed loop system, using the known MATLAB commands, finding rise time, overshoot, settling time and steady state error.<br />
<br />
---[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Lecture 8-3]]<br />
[[Category: CDS 101/110 FAQ - Homework 7, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=HW_7_problem_4HW 7 problem 42007-11-25T18:44:08Z<p>Franco: </p>
<hr />
<div>This problem focuses on frequency domain specifications and loop shaping. You should learn in fact how to shape the frequency response of a plant so that it will present some desired properties.<br />
<br />
Following the paradigm showed in class (Lecture 8-1, slide 5), you should plot the Bode diagram for the plant considered and mark on such graph the performance specifications required.<br />
<br />
Based on the specifications, you should find what type of controller you need: make sure you understand what yields to gain and phase changes for the overall system. You should not do this by trial and error, but reason in terms of what you need to "add" to the open loop system to have the required behavior; add only the controller terms that are necessary. Don't forget to verify that the new system L(s)=P(s)C(s) satisfies the specifications.<br />
<br />
Finally, you need to plot step and frequency response for the closed loop system, using the known MATLAB commands, finding rise time, overshoot, settling time and steady state error.<br />
<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 8-3]]<br />
[[Category: CDS 101/110 FAQ - Homework 7, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Hw_6_Problem_2Hw 6 Problem 22007-11-21T22:01:20Z<p>Franco: </p>
<hr />
<div>In Problem number 2, the nyquist plot of transfer function number 2 (kp=.05, ki=1) presents some issues, in particular the amnyquist vs nyquist outcomes are different. This is most likely due to the pole at the origin. To determine stability of the closed loop system we suggest that you do not use nyquist for this specific transfer function, but rather check the poles of the closed loop system.<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Homework 6]]<br />
[[Category: CDS 101/110 FAQ - Homework 6, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-11-17T00:20:56Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
* [[Media:EF11092007Recitation.pdf | Notes]] for the recitation of Friday, November 9.<br />
* [[Media:EF11162007Recitation.pdf | Notes]] for the recitation of Friday, November 16.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines<br />
<br />
Notes from week 4's recitation are available [[Media:GHH_Recitation_10_26_07.pdf|here]].<br><br />
Notes from week 6's recitation are available [[Media:GHH_Recitation_11_9_07.pdf|here]].</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=File:EF11162007Recitation.pdfFile:EF11162007Recitation.pdf2007-11-17T00:20:13Z<p>Franco: </p>
<hr />
<div></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-11-17T00:19:14Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
* [[Media:EF11092007Recitation.pdf | Notes]] for the recitation of Friday, November 9.<br />
* [[Media:EFRecitation11162007.pdf | Notes]] for the recitation of Friday, November 16.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines<br />
<br />
Notes from week 4's recitation are available [[Media:GHH_Recitation_10_26_07.pdf|here]].<br><br />
Notes from week 6's recitation are available [[Media:GHH_Recitation_11_9_07.pdf|here]].</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=File:EFrecitation11162007.pdfFile:EFrecitation11162007.pdf2007-11-17T00:18:35Z<p>Franco: </p>
<hr />
<div></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-11-10T00:49:31Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
* [[Image:EF11092007Recitation.pdf | Notes]] for the recitation of Friday, November 9.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007CDS 101/110a, Fall 20072007-11-10T00:49:09Z<p>Franco: /* Announcements */</p>
<hr />
<div>{{cds101-fa07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br><br />
<li> [[#Course Text and References|Course Texts]] <br><br />
<li> [[#Course_Schedule|Course Schedule]]<br><br />
<li> [[#Course Project|Course Project]]<br />
</ul><br />
</table><br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2007. __NOTOC__<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td width=50%><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours: Fridays, 3-4 pm (by appt)<br />
* Prior years: [http://www.cds.caltech.edu/~murray/courses/cds101/fa03 FA03], [http://www.cds.caltech.edu/~murray/courses/cds101/fa04 FA04], [[CDS 101/110a, Fall 2006|FA06]]<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds101-tas@cds.caltech.edu cds110-tas@cds])<br />
* Julia Braman, Elisa Franco, Sawyer Fuller, George Hines, Luis Soto<br />
* Office hours: Sundays, 4-5; Tuesdays, 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Vanessa Carson and Matthew Feldman<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 9 Nov 07: [[Image:EF11092007Recitation.pdf | Notes ]] for Section 4 (theory) recitation only - Laplace transforms. <br />
* 5 Nov 07: [[CDS 101/110, Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5.pdf|HW #5}} is now posted; due 12 Nov @ 5 pm<br />
* 3 Nov 07: [[CDS 101/110, Week 5 - State Feedback]] web page is now updated<br />
* 2 Nov 07: HW #4 is graded and the {{cds101 handouts|soln4.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 34.5/40 (<math>\sigma</math> = 4.6); average time = 9.9 hours<br />
** CDS 101: Average score = 17.0/20 (<math>\sigma</math> = 3.4)<br />
<br />
== Course Syllabus ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science<br />
and engineering who are interested in the principles and tools of feedback<br />
control, but not the analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a stronger<br />
mathematical background, including working knowledge of linear algebra and<br />
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. <br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. A two day grace period is allowed to turn in your homework. Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (31 Oct) and due at the end of the midterm examination period (6 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (7 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the [[CDS 101/110a, Fall 2007 - Course Schedule|course schedule]] page.<br />
<br />
== Old Announcements ==<br />
* 20 Aug 07: created wiki page for CDS 101/110a, Fall 2007<br />
* 1 Oct 07: [[CDS 101/110, Week 1 - Introduction to Feedback and Control]]<br />
* 8 Oct 07: [[CDS 101/110, Week 2 - System Modeling]]<br />
* 15 Oct 07: {{cds101 handouts|soln1.pdf|Solutions to homework #1}} are now available<br />
** CDS 110: Average score = 35.7/40 (<math>\sigma</math> = 3.4); average time = 6.2 hours<br />
** CDS 101: Average score = 18.7/20 (<math>\sigma</math> = 1.6); average time = 3.4 hours<br />
* 15 Oct 07: [[CDS 101/110, Week 3 - Dynamic Behavior]]<br />
* 22 Oct 07: {{cds101 handouts|soln2.pdf|Solutions to homework #2}} are now available<br />
** CDS 110: Average score = 22.4/30 (<math>\sigma</math> = 4.3); average time = 9.7 hours<br />
** CDS 101: Average score = 14.8/20 (<math>\sigma</math> = 3.6); average time = 8.1 hours<br />
* 22 Oct 07: [[CDS 101/110, Week 4 - Linear Systems]]<br />
* 29 Oct 07: HW # 3 is graded and the {{cds101 handouts|soln3.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 30.5/40 (<math>\sigma</math> = 6.49); average time = 11.8 hours<br />
** CDS 101: Average score = 19.3/20 (<math>\sigma</math> = 0.75).<br />
* 1 Nov 07: [[Media:Sawyer_reviewnotes.pdf|Midterm review]] notes are up<br />
* 1 Nov 07: Midterms are outside 102 Steele. Due back by Tuesday 5pm<br />
* 1 Nov 07: No recitations Friday; Midterm review is Friday 2 Nov at the normal recitation hour, 2-3p, in 74 Jorgenson<br />
<br />
<br />
[[Category: Courses]] [[Category: 2007-08 Courses]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007CDS 101/110a, Fall 20072007-11-10T00:48:22Z<p>Franco: /* Announcements */</p>
<hr />
<div>{{cds101-fa07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br><br />
<li> [[#Course Text and References|Course Texts]] <br><br />
<li> [[#Course_Schedule|Course Schedule]]<br><br />
<li> [[#Course Project|Course Project]]<br />
</ul><br />
</table><br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2007. __NOTOC__<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td width=50%><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours: Fridays, 3-4 pm (by appt)<br />
* Prior years: [http://www.cds.caltech.edu/~murray/courses/cds101/fa03 FA03], [http://www.cds.caltech.edu/~murray/courses/cds101/fa04 FA04], [[CDS 101/110a, Fall 2006|FA06]]<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds101-tas@cds.caltech.edu cds110-tas@cds])<br />
* Julia Braman, Elisa Franco, Sawyer Fuller, George Hines, Luis Soto<br />
* Office hours: Sundays, 4-5; Tuesdays, 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Vanessa Carson and Matthew Feldman<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 9 Nov 07: [[EF11092007Recitation.pdf | Notes ]] for Section 4 (theory) recitation only - Laplace transforms. <br />
* 5 Nov 07: [[CDS 101/110, Week 6 - Transfer Functions]]<br />
** {{cds101 handouts|hw5.pdf|HW #5}} is now posted; due 12 Nov @ 5 pm<br />
* 3 Nov 07: [[CDS 101/110, Week 5 - State Feedback]] web page is now updated<br />
* 2 Nov 07: HW #4 is graded and the {{cds101 handouts|soln4.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 34.5/40 (<math>\sigma</math> = 4.6); average time = 9.9 hours<br />
** CDS 101: Average score = 17.0/20 (<math>\sigma</math> = 3.4)<br />
<br />
== Course Syllabus ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science<br />
and engineering who are interested in the principles and tools of feedback<br />
control, but not the analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a stronger<br />
mathematical background, including working knowledge of linear algebra and<br />
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. <br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. A two day grace period is allowed to turn in your homework. Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (31 Oct) and due at the end of the midterm examination period (6 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (7 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the [[CDS 101/110a, Fall 2007 - Course Schedule|course schedule]] page.<br />
<br />
== Old Announcements ==<br />
* 20 Aug 07: created wiki page for CDS 101/110a, Fall 2007<br />
* 1 Oct 07: [[CDS 101/110, Week 1 - Introduction to Feedback and Control]]<br />
* 8 Oct 07: [[CDS 101/110, Week 2 - System Modeling]]<br />
* 15 Oct 07: {{cds101 handouts|soln1.pdf|Solutions to homework #1}} are now available<br />
** CDS 110: Average score = 35.7/40 (<math>\sigma</math> = 3.4); average time = 6.2 hours<br />
** CDS 101: Average score = 18.7/20 (<math>\sigma</math> = 1.6); average time = 3.4 hours<br />
* 15 Oct 07: [[CDS 101/110, Week 3 - Dynamic Behavior]]<br />
* 22 Oct 07: {{cds101 handouts|soln2.pdf|Solutions to homework #2}} are now available<br />
** CDS 110: Average score = 22.4/30 (<math>\sigma</math> = 4.3); average time = 9.7 hours<br />
** CDS 101: Average score = 14.8/20 (<math>\sigma</math> = 3.6); average time = 8.1 hours<br />
* 22 Oct 07: [[CDS 101/110, Week 4 - Linear Systems]]<br />
* 29 Oct 07: HW # 3 is graded and the {{cds101 handouts|soln3.pdf|solutions}} are now posted<br />
** CDS 110: Average score = 30.5/40 (<math>\sigma</math> = 6.49); average time = 11.8 hours<br />
** CDS 101: Average score = 19.3/20 (<math>\sigma</math> = 0.75).<br />
* 1 Nov 07: [[Media:Sawyer_reviewnotes.pdf|Midterm review]] notes are up<br />
* 1 Nov 07: Midterms are outside 102 Steele. Due back by Tuesday 5pm<br />
* 1 Nov 07: No recitations Friday; Midterm review is Friday 2 Nov at the normal recitation hour, 2-3p, in 74 Jorgenson<br />
<br />
<br />
[[Category: Courses]] [[Category: 2007-08 Courses]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-11-10T00:46:41Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
* [[EF11092007Recitation.pdf | Notes]] for the recitation of Friday, November 9.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=File:EF11092007Recitation.pdfFile:EF11092007Recitation.pdf2007-11-10T00:45:09Z<p>Franco: </p>
<hr />
<div></div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Question_3Question 32007-11-09T02:42:38Z<p>Franco: </p>
<hr />
<div>To solve this problem, it is important to have read and understood Chapter 8.2 of AM, in particular the section that talks about transmission of exponential signals. <br />
<br />
<br />
It will be trivial to find the transfer function from u to x (note there is a typo here, y should be x) using the convolution integral.<br />
<br />
For the second part, I suggest to repeat the calculation of the convolution integral, assuming now s=a.<br />
<br />
<br />
<br />
<br />
--[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Homework 5]]<br />
[[Category: CDS 101/110 FAQ - Homework 5, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Question_4Question 42007-11-08T07:16:21Z<p>Franco: </p>
<hr />
<div>The point of this exercise is that of practicing your Bode plot sketching skills.<br />
<br />
Part a) Look for simplifications in the transfer function; the information given on the relative magnitude of the parameters of the circuit will allow you to place poles and zeros in the diagram.<br />
<br />
Part b) Here you just have to make a substitution! Note that with the information given, you can find all the numerical coefficients of the transfer function.<br />
<br />
Part c) Not much harder than Part a).<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Homework 5]]<br />
[[Category: CDS 101/110 FAQ - Homework 5, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Can_you_explain_the_axes_of_the_Bode_plot_better%3FCan you explain the axes of the Bode plot better?2007-11-08T01:06:33Z<p>Franco: </p>
<hr />
<div>The axes of the Bode plot are log log axes. The x axis is going to have as units the log on base 10 of the frequency considered: if we span <math>\omega</math> between 0.1 and 10^4, there will be equidistant ticks on the axis corresponding go the log being -1, 0, 1, 2, 3, 4. The way such ticks are labeled is up to you: you can leave the log or write what that corresponds to in <math>\omega</math>, i.e. .1, 1, 10, 100, 1000, 10000. Same reasoning for the y axis, where you will take the log of the modulus of the transfer function you're considering. The important aspect for sketched Bode plots, is that the ticks on your axes should result in lines of correct slope (0, 1, -1, 2, -2) depending on how many poles/zeros were encountered. <br />
<br />
Many books use units of dB for the y axis instead of just the log scale. Please see this [http://www.cds.caltech.edu/~murray/wiki/Why_is_dB_defined_as_20log_10%3F FAQ] for more information. <br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 6-1, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007CDS 101/110a, Fall 20072007-10-29T21:41:23Z<p>Franco: /* Announcements */</p>
<hr />
<div>{{cds101-fa07}}<br />
<table align=right border=1 width=20% cellpadding=6><br />
<tr><td><br />
<center>'''Contents'''</center><br />
<ul><br />
<li> [[#Grading|Grading]] <br><br />
<li> [[#Collaboration Policy|Collaboration Policy]] <br><br />
<li> [[#Course Text and References|Course Texts]] <br><br />
<li> [[#Course_Schedule|Course Schedule]]<br><br />
<li> [[#Course Project|Course Project]]<br />
</ul><br />
</table><br />
This is the homepage for CDS 101 (Analysis and Design of Feedback Systems) and CDS 110 (Introduction to Control Theory) for Fall 2007. __NOTOC__<br />
<br />
<table width=80%><br />
<tr valign=top><br />
<td width=50%><br />
'''Instructor'''<br />
* [[Main Page|Richard Murray]], murray@cds.caltech.edu<br />
* Lectures: MWF, 2-3 pm, 74 JRG<br />
* Office hours: Fridays, 3-4 pm (by appt)<br />
* Prior years: [http://www.cds.caltech.edu/~murray/courses/cds101/fa03 FA03], [http://www.cds.caltech.edu/~murray/courses/cds101/fa04 FA04], [[CDS 101/110a, Fall 2006|FA06]]<br />
<td><br />
'''Teaching Assistants''' ([mailto:cds101-tas@cds.caltech.edu cds110-tas@cds])<br />
* Julia Braman, Elisa Franco, Sawyer Fuller, George Hines, Luis Soto<br />
* Office hours: Sundays, 4-5; Tuesdays, 4-5 in 114 STL<br />
'''Course Ombuds'''<br />
* Vanessa Carson and Matthew Feldman<br />
</table><br />
<br />
== Announcements ==<br />
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table><br />
* 29 Oct 07: HW # 3 is graded, the solutions will be posted soon.<br />
** CDS 110: Average score = 30.5/40 (<math>\sigma</math> = 6.49); average time = 11.8 hours<br />
** CDS 101: Average score = 19.3/20 (<math>\sigma</math> = 0.75).<br />
* 22 Oct 07: [[CDS 101/110, Week 4 - Linear Systems]]<br />
** {{cds101 handouts|hw4.pdf|HW #4}} is now posted; due 29 Oct @ 5 pm<br />
* 22 Oct 07: {{cds101 handouts|soln2.pdf|Solutions to homework #2}} are now available<br />
** CDS 110: Average score = 22.4/30 (<math>\sigma</math> = 4.3); average time = 9.7 hours<br />
** CDS 101: Average score = 14.8/20 (<math>\sigma</math> = 3.6); average time = 8.1 hours<br />
* 15 Oct 07: [[CDS 101/110, Week 3 - Dynamic Behavior]]<br />
<br />
== Course Syllabus ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. Basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems and<br />
managing uncertainty. Key themes throughout the course will include<br />
input/output response, modeling and model reduction, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science<br />
and engineering who are interested in the principles and tools of feedback<br />
control, but not the analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a stronger<br />
mathematical background, including working knowledge of linear algebra and<br />
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. <br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (50%):'' Homework sets will be handed out weekly and due on Mondays by 5 pm to the box outside of 109 Steele. A two day grace period is allowed to turn in your homework. Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).<br />
<br />
* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (31 Oct) and due at the end of the midterm examination period (6 Nov). The midterm exam will be open book and computers will be allowed (though not required). <br />
<br />
* ''Final exam (30%):'' The final exam will be handed out on the last day of class (7 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is [[AM:Main Page|''Feedback Systems: An Introduction for Scientists and Engineers'']] by {{Astrom}} and Murray (2008). This book is available in the Caltech bookstore and via download from the [[AM:Main Page|companion web site]]. The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://penelope.mast.queensu.ca/math332/notes.shtml Online access].<br />
<br />
In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.<br />
<br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Course Schedule ===<br />
The course is scheduled for MWF 2-3 pm in 74 Jorgenson. CDS 101 meets on Monday and Friday only. A detailed course schedule is available on the [[CDS 101/110a, Fall 2007 - Course Schedule|course schedule]] page.<br />
<br />
== Old Announcements ==<br />
* 20 Aug 07: created wiki page for CDS 101/110a, Fall 2007<br />
* 1 Oct 07: [[CDS 101/110, Week 1 - Introduction to Feedback and Control]]<br />
* 8 Oct 07: [[CDS 101/110, Week 2 - System Modeling]]<br />
* 15 Oct 07: {{cds101 handouts|soln1.pdf|Solutions to homework #1}} are now available<br />
** CDS 110: Average score = 35.7/40 (<math>\sigma</math> = 3.4); average time = 6.2 hours<br />
** CDS 101: Average score = 18.7/20 (<math>\sigma</math> = 1.6); average time = 3.4 hours<br />
<br />
[[Category: Courses]] [[Category: 2007-08 Courses]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=How_do_we_investigate_stability_of_a_system_that_has_inputs%3FHow do we investigate stability of a system that has inputs?2007-10-28T05:35:19Z<p>Franco: </p>
<hr />
<div>Stability of a linear system <math>\dot{x} = Ax + Bu, y = Cx + Du</math> is a property that only depends on the eigenvalues of the matrix A.<br />
<br />
For a nonlinear system <math>\dot{x}=f(x,u)</math> things are more complicated, and the equilibria usually vary as a function of the chosen input. Stability of the linearized system around the equilibria <math>(x_{eq},u_{eq})</math> will depend on both equilibrium state and input, but it's always the <math>\frac{df}{dx}(x_{eq},u_{eq})</math> matrix that one has to look at.<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 4-3]]<br />
[[Category: CDS 101/110 FAQ - Homework 4, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-10-24T16:29:01Z<p>Franco: /* Section 4: Theory */</p>
<hr />
<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
<br />
Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
<br />
=== Section 1: Feedback and Control in Nature ===<br />
<br />
This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
<br />
=== Section 2: Ae/ME ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
<br />
=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
<br />
=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
<br />
<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 102 Steele<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
|}<br />
</blockquote><br />
<br />
=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Typo_in_exercise_4Typo in exercise 42007-10-21T22:13:21Z<p>Franco: </p>
<hr />
<div>There is a typo in exercise 4; the text should state m,k,a and b>0 (not c>0).<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category:CDS 101/110 FAQ - Homework 3, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Can_we_use_phaseplot_in_exercise_2%3FCan we use phaseplot in exercise 2?2007-10-21T22:13:03Z<p>Franco: </p>
<hr />
<div>To draw the phase plot required in exercise 2, you are allowed to use the phaseplot command provided on the course website.<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category:CDS 101/110 FAQ - Homework 3, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Can_we_use_phaseplot_in_exercise_2%3FCan we use phaseplot in exercise 2?2007-10-21T22:12:45Z<p>Franco: </p>
<hr />
<div>To draw the phase plot required in exercise 2, you are allowed to use the phaseplot command provided on the course website.<br />
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--[[User:Franco|Elisa]]<br />
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[[Category:CDS 101/110 FAQ - Homework 2, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Typo_in_exercise_4Typo in exercise 42007-10-21T22:04:29Z<p>Franco: </p>
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<div>There is a typo in exercise 4; the text should state m,k,a and b>0 (not c>0).<br />
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--[[User:Franco|Elisa]]<br />
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[[Category:CDS 101/110 FAQ - Homework 2, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Where_can_I_find_the_proof_to_the_Lyapunov_Theorem%3FWhere can I find the proof to the Lyapunov Theorem?2007-10-19T22:43:35Z<p>Franco: </p>
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<div>The proof of the Lyapunov Theorem can be found in the following books:<br />
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H. Khalil, Nonlinear Systems (Prentice Hall), Chapter 4.<br />
<br />
<br />
M. Vidyasagar, Nonlinear Systems Analysis, SIAM<br />
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--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 3-2]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-2, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Where_can_I_find_the_proof_to_the_Lyapunov_Theorem%3FWhere can I find the proof to the Lyapunov Theorem?2007-10-19T22:43:24Z<p>Franco: </p>
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<div>The proof of the Lyapunov Theorem can be found in the following books:<br />
<br />
H. Khalil, Nonlinear Systems (Prentice Hall), Chapter 4.<br />
M. Vidyasagar, Nonlinear Systems Analysis, SIAM<br />
<br />
--[[User:Franco|Elisa]]<br />
<br />
[[Category: CDS 101/110 FAQ - Lecture 3-2]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-2, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=CDS_101/110a,_Fall_2007_-_Recitation_ScheduleCDS 101/110a, Fall 2007 - Recitation Schedule2007-10-18T08:03:40Z<p>Franco: /* Section 4: Theory */</p>
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<div>{{cds101-fa07}}{{righttoc}}<br />
The purpose of the recitation sections is to provide additional insight into the material for the week, including answer questions on specific topics of interests to the students in that section. The TAs leading the recitation will generally work through one problem from the homework set (same problem in each section) so that students can see what is expected on the homeworks and how the tools from the course can be applied. (Note: students must still work through and turn in the problem that the TAs work through and what you turn in must reflect your understanding of the problem.)<br />
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Recitations for CDS 101/110a will be on Fridays from 2-3 pm unless otherwise noted. Each recitation session is tuned for a slightly different audience and we have made initial assignments based on the course you are taking, the option you are in, and your class standing (So, Jr, Sr, G1, G2, etc). <br />
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=== Section 1: Feedback and Control in Nature ===<br />
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This section is designed for students interested in the application of ideas from feedback and control to systems in nature. It is also suitable for students who do not have lots of prior coursework in linear algebra, ordinary differential equations or complex variables. All students in CDS 101 are initially assigned to this section. <br />
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<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Luis Soto<br />
| <br />
* '''Location:''' 110 STL<br />
|- valign=top<br />
| <br />
* Rebecca Barter<br />
* Arkya Dhar <br />
* Stephan Duewel<br />
| <br />
* Alberto Izarraraz<br />
* Lauren LeBon<br />
* Ophelia Venturelli<br />
|}<br />
</blockquote><br />
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=== Section 2: Ae/ME ===<br />
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This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc. <br />
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<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Sawyer Fuller<br />
| <br />
* '''Location:''' 214 STL<br />
|- valign=top<br />
| <br />
* Balakrishnam, Karthik<br />
* Bozorg-Grayeli, Elah<br />
* Chan, Derek<br />
* Coralic, Vedran<br />
* Cui, Shifu<br />
* Elzinga, Michael<br />
* Feldman, Matthew S.<br />
* Grossman, Marc<br />
* Gutschick, David<br />
* Haderlein, Peter<br />
* Heltsley, Drew<br />
* Hires, Bryan<br />
|<br />
* Kramer, Nick<br />
* Kwa, Timothy<br />
* Liang, Joe<br />
* Man, Han Bin<br />
* Merfeld, Max<br />
* Miller, Madeline<br />
* Paulos, Jimmy<br />
* Roa, Mario<br />
* Sheng, Jing<br />
* Stroup, Adrianne<br />
* Winiarz, Christine<br />
|}<br />
</blockquote><br />
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=== Section 3: Ae/ME/EE ===<br />
<br />
This section is intended for students who are interested in the application of feedback and control to mechanical and electro-mechanical systems such as airplanes, cars, robots, etc.<br />
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<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Julia Braman<br />
| <br />
* '''Location:''' 206 TOM<br />
|- valign=top<br />
| <br />
* Arroyo, Jennifer<br />
* Bowers, Steven<br />
* Burt, Jason<br />
* Chen, Jay<br />
* Fuentes Hierro, Manuel<br />
* Grogan, Robert<br />
* Jiang, Michelle<br />
* Ko, Huaising Cindy<br />
* Leichty, John<br />
* Littlepage, Kelly<br />
* Liu, Annie<br />
|<br />
* Liu, Qing<br />
* Pallett, Elliott<br />
* Pantel, Erica<br />
* Spink, Torrey<br />
* Thai, Daniel<br />
* Ueno, Makoto<br />
* Wagner, Glenn<br />
* Wang, Yingying<br />
* Wierman, Matthew<br />
* Wu, Min-Hao<br />
* Zhang, Sebastian<br />
|}<br />
</blockquote><br />
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=== Section 4: Theory ===<br />
<br />
This section is intended for more advanced students who would like a more theoretical description of some of the tools of the class. This section will not go through a problem from the homework in much detail, but will instead discuss more advanced approaches to the topics being considered for that week. <br />
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<blockquote><br />
{| width=100% cellspacing=0 cellpadding = 0<br />
|-<br />
| width=50% |<br />
* '''TA:''' Elisa Franco<br />
| <br />
* '''Location:''' 100 Powell Booth<br />
|- valign=top<br />
| <br />
<br />
* Best, Melissa<br />
* Bourel, Alexis<br />
* Carson, Vanessa<br />
* Cayco Gajic, Natasha<br />
* Cho, Angela<br />
* Chen, Kevin<br />
* Cruz, Gerardo<br />
| <br />
* Fette, Nicholas<br />
* Li, Na<br />
* Nair, Jayakrishnan<br />
* Nguyen, Nam<br />
* Richards, Andy<br />
* Sharan, Rangoli<br />
* Zhon, Cheng Shan<br />
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<br />
<br />
<br />
|}<br />
</blockquote><br />
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=== Section 5: Off Schedule ===<br />
<br />
This section will be held at on Fridays at 8PM in 214 Steele. It will focus on engineering applications of feedback and control and provide brief introductions to some application topics that may not be covered in class. TA: George Hines</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=How_are_the_z_variables_defined_on_slide_10,_Lecture_3-1%3FHow are the z variables defined on slide 10, Lecture 3-1?2007-10-15T22:29:55Z<p>Franco: </p>
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<div>Looking back at slide 9, the z variables just represent a shift of coordinates so that now the origin of the system is the considered equilibrium point - in this case the point (pi, 0). As a consequence, one must also shift the dynamics.<br />
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---[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-1, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=How_was_V(x)_derived_on_slide_13_of_Lecture_3-1%3FHow was V(x) derived on slide 13 of Lecture 3-1?2007-10-15T22:19:54Z<p>Franco: </p>
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<div><br />
V(x) is a Lyapunov function. There is no unique rule to find Lyapunov functions (if they exist) for a given system - see Lecture 3-2. For most mechanical or electrical systems it is possible to find Lyapunov functions by writing down a function that stores the total energy of the system, and analyze its derivative along the system trajectories. Energy dissipation usually indicates that the system has an equilibrium point, where the Lyapunov - energy function reaches zero.<br />
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---[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 3-1, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=Where_can_I_find_a_theoretical_definition_of_dynamical_system%3FWhere can I find a theoretical definition of dynamical system?2007-10-10T20:30:37Z<p>Franco: </p>
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<div>Modeling in the state space or in the frequency domain are considered in Chapters 2 and 8 of Astrom and Murray. For a more theoretical definition of dynamical system, I suggest L. Perko, "Differential Equations and Dynamical Systems".<br />
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--[[User:Franco|Elisa]]<br />
[[Category: CDS 101/110 FAQ - Lecture 2-1]]<br />
[[Category: CDS 101/110 FAQ - Lecture 2-1, Fall 2007]]</div>Francohttp://www.cds.caltech.edu/~murray/wiki/index.php?title=What_are_the_Di_parameters_in_the_power_grid_model%3FWhat are the Di parameters in the power grid model?2007-10-08T22:15:19Z<p>Franco: </p>
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<div>The <math>D_i</math> parameters in the power grid model are the damping coefficients for the different rotors; there is a typo in the equations (slide 9 of Lecture 2-1), as each rotor has its own damping coefficient (the first equation notation is <math> D_1</math>, the second has to be corrected to <math>D_2 </math>). <br />
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--[[User:Franco|Elisa]] 15:11, 8 October 2007 (PDT)<br />
[[Category:CDS 101/110 FAQ - Lecture 2-1]]<br />
[[Category:CDS 101/110 FAQ - Lecture 2-1, Fall 2007]]</div>Franco