Difference between revisions of "CDS 101/110, Fall 2015"
(→Lecture Schedule) 

Line 66:  Line 66:  
12 Oct <br> 14 Oct <br> 16 Oct  12 Oct <br> 14 Oct <br> 16 Oct  
 Linear Systems   Linear Systems  
+  * Input/output response of LTI systems  
+  * Matrix exponential, convolution equation  
+  * Linearization around an equilibrium point  
 FBS2e 6.16.4   FBS2e 6.16.4  
 {{cds110 fa15 pdf pending hw3.pdf  HW 3}} <br> Due: 19 Oct   {{cds110 fa15 pdf pending hw3.pdf  HW 3}} <br> Due: 19 Oct  
Line 72:  Line 75:  
19 Oct <br> 21 Oct <br> 23 Oct  19 Oct <br> 21 Oct <br> 23 Oct  
 State Feedback   State Feedback  
−   FBS 7.17.4  +  * Reachability 
+  * State feedback and eigenvalue placement  
+   FBS2 7.17.4  
 {{cds110 fa15 pdf pending hw4.pdf  HW 4}} <br> Due: 26 Oct   {{cds110 fa15 pdf pending hw4.pdf  HW 4}} <br> Due: 26 Oct  
 valign=top   valign=top  
Line 78:  Line 83:  
26 Oct <br> 28 Oct <br> 30 Oct  26 Oct <br> 28 Oct <br> 30 Oct  
 Output Feedback   Output Feedback  
−   FBS 8.18.3  +  * State estimation 
+  * Trajectory generation, feedforward  
+  * Midterm review  
+   FBS2e 8.18.3  
 Midterm exam <br> Due: 3 Nov   Midterm exam <br> Due: 3 Nov  
 valign=top   valign=top  
Line 84:  Line 92:  
2 Nov <br> 4 Nov <br> 6 Nov  2 Nov <br> 4 Nov <br> 6 Nov  
 Transfer Functions   Transfer Functions  
−   FBS 9.19.4  +  * Frequency domain modeling 
+  * Block diagram algebra  
+  * Bode plots  
+   FBS2e 9.19.4  
 {{cds110 fa15 pdf pending hw5.pdf  HW 5}} <br> Due: 9 Nov   {{cds110 fa15 pdf pending hw5.pdf  HW 5}} <br> Due: 9 Nov  
 valign=top   valign=top  
Line 90:  Line 101:  
9 Nov <br> 11 Nov <br> 13 Nov  9 Nov <br> 11 Nov <br> 13 Nov  
 Loop Analysis   Loop Analysis  
−   FBS 10.110.3  +  * Loop transfer function and the Nyquist criterion 
+  * Stability margins  
+   FBS2e 10.110.3  
 {{cds110 fa15 pdf pending hw6.pdf  HW 6}} <br> Due: 16 Nov   {{cds110 fa15 pdf pending hw6.pdf  HW 6}} <br> Due: 16 Nov  
 valign=top   valign=top  
Line 96:  Line 109:  
16 Nov <br> 18 Nov <br> 20 Nov  16 Nov <br> 18 Nov <br> 20 Nov  
 PID Control   PID Control  
−   FBS 11.111.4  +  * Simple controllers for complex systems 
+  * Integral action and antiwindup  
+   FBS2e 11.111.4  
 {{cds110 fa15 pdf pending hw7.pdf  HW 7}} <br> Due: 23 Nov   {{cds110 fa15 pdf pending hw7.pdf  HW 7}} <br> Due: 23 Nov  
 valign=top   valign=top  
Line 102:  Line 117:  
23 Nov <br> 25 Nov*  23 Nov <br> 25 Nov*  
 Loop Shaping, I   Loop Shaping, I  
−   FBS 12.112.4  +  * Sensitivity functions 
+  * Feedback design via loop shaping  
+   FBS2e 12.112.4  
 {{cds110 fa15 pdf pending hw8.pdf  HW 8}} <br> Due: 30 Nov   {{cds110 fa15 pdf pending hw8.pdf  HW 8}} <br> Due: 30 Nov  
 valign=top   valign=top  
Line 108:  Line 125:  
30 Nov <br> 2 Dec <br> 4 Dec  30 Nov <br> 2 Dec <br> 4 Dec  
 Loop Shaping II   Loop Shaping II  
−   FBS 12.612.7, 13.113.2  +  * Fundamental limitations 
−  +  * Modeling uncertainty  
−  +  * Performance/robustness tradeoffs  
−  +   FBS2e 12.612.7, 13.113.2  
−  +  
−  +  
−  +  
 Final exam <br> Due 11 Dec   Final exam <br> Due 11 Dec  
}  } 
Revision as of 05:37, 16 September 2015
Introduction to Control Systems  
Instructors

Teaching Assistants

This is the course homepage for CDS 101/110, Fall 2015.
Course Syllabus
CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. Basic principles of feedback and its use as a tool for altering the dynamics of systems and managing uncertainty. Key themes throughout the course will include input/output response, modeling and model reduction, linear versus nonlinear models, and local versus global behavior.
CDS 101 is a 6 unit (204) class intended for advanced students in science and engineering who are interested in the principles and tools of feedback control, but not the analytical techniques for design and synthesis of control systems. CDS 110 is a 12 unit class (309) that provides a traditional first course in control for engineers and applied scientists. It assumes a stronger mathematical background, including working knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required.
Lecture Schedule
Date  Topic  Reading  Homework 
Week 1 28 Sep 
Introduction and Review

FBS2e 1.11.5  HW 1 (PDF) Due: 5 Oct 
Week 2 5 Oct 
Modeling, Stability

FBS2e 3.13.2, 5.15.3  HW 2 Due: 12 Oct 
Week 3 12 Oct 
Linear Systems

FBS2e 6.16.4  HW 3 Due: 19 Oct 
Week 4 19 Oct 
State Feedback

FBS2 7.17.4  HW 4 Due: 26 Oct 
Week 5 26 Oct 
Output Feedback

FBS2e 8.18.3  Midterm exam Due: 3 Nov 
Week 6 2 Nov 
Transfer Functions

FBS2e 9.19.4  HW 5 Due: 9 Nov 
Week 7 9 Nov 
Loop Analysis

FBS2e 10.110.3  HW 6 Due: 16 Nov 
Week 8 16 Nov 
PID Control

FBS2e 11.111.4  HW 7 Due: 23 Nov 
Week 9 23 Nov 
Loop Shaping, I

FBS2e 12.112.4  HW 8 Due: 30 Nov 
Week 10 30 Nov 
Loop Shaping II

FBS2e 12.612.7, 13.113.2  Final exam Due 11 Dec 
Grading
The final grade will be based on homework sets, a midterm exam, and a final exam:
 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/Python code and SIMULINK/Modelica 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).
 Midterm exam (20%): A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).
 Final exam (30%): The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. MATLAB/Python scripts and plots are considered part of your writeup and should be done individually (you can share ideas, but not code).
No collaboration is allowed on the midterm or final exams.
Course Text and References
The primary course text is by Åström and Murray (2008). This book is available in the Caltech bookstore and via download from the companion web site. The following additional references may also be useful:
 A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.
 J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), Schaum's Outline of Feedback and Control Systems, 2nd Edition, 2013.
In addition to the books above, the textbooks below may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.
 B. Friedland, Control System Design: An Introduction to StateSpace Methods, McGrawHill, 1986.
 G. F. Franklin, J. D. Powell, and A. EmamiNaeni, Feedback Control of Dynamic Systems, AddisonWesley, 2002.