Difference between revisions of "CDS 101/110, Fall 2015"
(→Lecture Schedule) 
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* Review of differential equation and linear algebra  * Review of differential equation and linear algebra  
* Feedback principles  * Feedback principles  
−   FBS2e 1.11.5  +   FBS1e 1.11.2, 1.41.5 <br> FBS2e 1.11.5 
 {{cds110 fa15 pdf hw1.pdf  HW 1}} <br> Due: 5 Oct   {{cds110 fa15 pdf hw1.pdf  HW 1}} <br> Due: 5 Oct  
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* Phase portraits and stability  * Phase portraits and stability  
* Introduction to MATLAB  * Introduction to MATLAB  
−   FBS2e 3.13.2, 5.15.3  +   FBS1e 2.12.2, 4.14.3 <br> FBS2e 3.13.2, 5.15.3 
 {{cds110 fa15 pdf pending hw2.pdf  HW 2}} <br> Due: 12 Oct   {{cds110 fa15 pdf pending hw2.pdf  HW 2}} <br> Due: 12 Oct  
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* Matrix exponential, convolution equation  * Matrix exponential, convolution equation  
* Linearization around an equilibrium point  * Linearization around an equilibrium point  
−   FBS2e 6.16.4  +   FBS1e 5.15.4 <br> 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  
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* Reachability  * Reachability  
* State feedback and eigenvalue placement  * State feedback and eigenvalue placement  
−   FBS  +   FBS1e 6.16.4 <br> FBS2e 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  
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* Trajectory generation, feedforward  * Trajectory generation, feedforward  
* Midterm review  * Midterm review  
−   FBS2e 8.18.3  +   FBS1e 7.17.3 <br> FBS2e 8.18.3 
 Midterm exam <br> Due: 3 Nov   Midterm exam <br> Due: 3 Nov  
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* Block diagram algebra  * Block diagram algebra  
* Bode plots  * Bode plots  
−   FBS2e 9.19.4  +   FBS1e 8.18.4 <br> 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  
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* Loop transfer function and the Nyquist criterion  * Loop transfer function and the Nyquist criterion  
* Stability margins  * Stability margins  
−   FBS2e 10.110.3  +   FBS1e 9.19.3 <br> 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  
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* Simple controllers for complex systems  * Simple controllers for complex systems  
* Integral action and antiwindup  * Integral action and antiwindup  
−   FBS2e 11.111.4  +   FBS1e 10.110.4 <br> 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  
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* Sensitivity functions  * Sensitivity functions  
* Feedback design via loop shaping  * Feedback design via loop shaping  
−   FBS2e 12.112.4  +   FBS1e 11.111.3 <br> 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  
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* Modeling uncertainty  * Modeling uncertainty  
* Performance/robustness tradeoffs  * Performance/robustness tradeoffs  
−   FBS2e 12.612.7, 13.113.  +   FBS1e 11.4, 12.112.4 <br> FBS2e 12.612.7, 13.113.3 
 Final exam <br> Due 11 Dec   Final exam <br> Due 11 Dec  
}  } 
Revision as of 05:47, 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

FBS1e 1.11.2, 1.41.5 FBS2e 1.11.5 
HW 1 (PDF) Due: 5 Oct 
Week 2 5 Oct 
Modeling, Stability

FBS1e 2.12.2, 4.14.3 FBS2e 3.13.2, 5.15.3 
HW 2 Due: 12 Oct 
Week 3 12 Oct* 
Linear Systems

FBS1e 5.15.4 FBS2e 6.16.4 
HW 3 Due: 19 Oct 
Week 4 19 Oct 
State Feedback

FBS1e 6.16.4 FBS2e 7.17.4 
HW 4 Due: 26 Oct 
Week 5 26 Oct 
Output Feedback

FBS1e 7.17.3 FBS2e 8.18.3 
Midterm exam Due: 3 Nov 
Week 6 2 Nov 
Transfer Functions

FBS1e 8.18.4 FBS2e 9.19.4 
HW 5 Due: 9 Nov 
Week 7 9 Nov 
Loop Analysis

FBS1e 9.19.3 FBS2e 10.110.3 
HW 6 Due: 16 Nov 
Week 8 16 Nov 
PID Control

FBS1e 10.110.4 FBS2e 11.111.4 
HW 7 Due: 23 Nov 
Week 9 23 Nov 
Loop Shaping, I

FBS1e 11.111.3 FBS2e 12.112.4 
HW 8 Due: 30 Nov 
Week 10 30 Nov 
Loop Shaping II

FBS1e 11.4, 12.112.4 FBS2e 12.612.7, 13.113.3 
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.