Difference between revisions of "CDS 101/110, Fall 2015"
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'''Instructors'''  '''Instructors'''  
* Richard Murray (CDS/BE), murray@cds.caltech.edu  * Richard Murray (CDS/BE), murray@cds.caltech.edu  
−  * Lectures: MWF,  +  * Lectures: MWF, 23 pm, 105 ANB 
−  * Office hours: Wed  +  * Office hours: Wed 3:304:30 pm (please email to confirm) 
 width=50%    width=50%   
'''Teaching Assistants'''  '''Teaching Assistants'''  
−  * Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)  +  * Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS), Daniel Guo (EE) 
* Contact: cds110tas@cds.caltech.edu  * Contact: cds110tas@cds.caltech.edu  
−  * Office hours:  +  * Office hours: Sun, 34 pm in 106 ANB, Mon, 34 pm in 243 ANB and Tue, 78 pm in 106 ANB 
}  }  
This is the course homepage for CDS 101/110, Fall 2015.  This is the course homepage for CDS 101/110, Fall 2015.  
−  == Course Syllabus ==  +  === Announcements === 
+  * 8 Dec: Solutions to HW #8 are posted  
+  * 23 Nov: HW #8 and lecture notes posted  
+  * 16 Nov: HW #7 and lecture notes posted  
+  * 9 Nov: HW #6, midterm solutions and lecture notes posted  
+  * 8 Nov 2015: Homework and exam statistics for the first half of the class  
+  ** HW 1: CDS 110: average 34/40; CDS 101: average 28/30  
+  ** HW 2: CDS 110: average 28/33; CDS 101: average 18/20  
+  ** HW 3: CDS 110: average 21/25; CDS 101: average 8/9  
+  ** HW 4: CDS 110: average 34/38; CDS 101: average 16/20  
+  ** Midterm: CDS 110: average = 59/75, σ = 10.7; CDS 101: average = 36/40, σ = 2.3  
+  * 19 Oct 2015: Corrected version of {{cds110 fa15 pdf hw3fa15.pdf  HW 3}} posted: references corrected on problem 1  
+  * 12 Oct 2015: {{cds110 fa15 pdf hw3fa15.pdf  HW 3}} has been posted; due 21 Oct (Wed), 2 pm  
+  * 10 Oct 2015: Corrected version of {{cds110 fa15 pdf hw2fa15.pdf  HW 2}} posted: references to equations and sections corrected  
+  * 5 Oct 2015: {{cds110 fa15 pdf hw2fa15.pdf  HW 2}} has been posted; due 14 Oct (Wed), 2 pm  
+  * 30 Sep 2015: Office hours for CDS 101/110 are Mon, 34 pm in 243 ANB and Tue, 79 pm in 106 ANB  
+  * 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm  
+  * 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send email to Richard  
+  
+  === Course Syllabus ===  
CDS 101/110 provides an introduction to feedback and control in physical,  CDS 101/110 provides an introduction to feedback and control in physical,  
Line 35:  Line 54:  
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)  ODEs. Familiarity with complex variables (Laplace transforms, residue theory)  
is helpful but not required.  is helpful but not required.  
+  
+  === Lecture Schedule ===  
+  
+  { class="mwcollapsible wikitable" width=100% border=1 cellpadding=5  
+    
+   '''Date'''  
+   '''Topic'''  
+   '''Reading'''  
+   '''Homework'''  
+   valign=top  
+   valign=top  
+   '''Week 1'''<br>  
+  28 Sep <br> 30 Sep* <br> 2 Oct  
+   Introduction and Review  
+  * Introduction to feedback and control  
+  * Review of differential equation and linear algebra  
+  * Feedback principles and examples  
+   FBS1e 1.11.2, 1.41.5 <br> FBS2e 1.11.5 (skim), ''2.12.4''  
+  * {{cds110 fa15 pdf bgsurvey.pdf  Background survey}}  
+  * {{cds110 fa15 pdf L11_intro28Sep15_h.pdf  Mon lecture notes}},  
+  * [[Media:ReviewLAODEs.pdf  Wed review session notes]] (PDF)  
+   {{cds110 fa15 pdf hw1fa15.pdf  HW 1}} <br> Due: 7 Oct, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw1fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 2'''<br>  
+  5 Oct <br> 7 Oct <br> 9 Oct*  
+   Modeling, Stability  
+  * State space models  
+  * Phase portraits and stability  
+  * Introduction to MATLAB  
+   FBS1e 2.12.2, 3.1 4.14.3 <br> FBS2e 3.13.2, 4.1, 5.15.3  
+  * {{cds110 fa15 pdf L21_modeling05Oct15_h.pdf  Mon lecture notes}}  
+  * {{cds110 fa15 pdf L22_stability07Oct15_h.pdf  Wed lecture notes}}  
+   {{cds110 fa15 pdf hw2fa15.pdf  HW 2}} <br> Due: 14 Oct, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw2fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 3'''<br>  
+  12 Oct* <br> 14 Oct* <br> 16 Oct*  
+   Linear Systems  
+  * Input/output response of LTI systems  
+  * Matrix exponential, convolution equation  
+  * Linearization around an equilibrium point  
+   FBS1e 5.15.4 <br> FBS2e 6.16.4  
+  * {{cds110 fa15 pdf L31_linsys12Oct15.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L33_recitation.pdf  Fri recitation slides}}  
+   {{cds110 fa15 pdf hw3fa15.pdfHW 3}} <br> Due: 21 Oct, 2 pm  
+  * Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]  
+  * MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]  
+  * SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]  
+  
+  {{cds110 fa15 pdf caltech/hw3fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 4'''<br>  
+  19 Oct <br> 21 Oct <br> 23 Oct*  
+   State Feedback  
+  * Reachability  
+  * State feedback and eigenvalue placement  
+   FBS1e 6.16.4 <br> FBS2e 7.17.4  
+  * {{cds110 fa15 pdf L41_statefbk19Oct15_h.pdf  Mon lecture slides}}  
+  * MATLAB: {{cds110 fa15 matlabL4_1_statefbk.m}}, {{cds110 fa15 matlab predprey.m}}, {{cds110 fa15 matlab predprey_rh.m}}  
+  * Python: {{cds110 fa15 pythonL4_1_statefbk.py}}, {{cds110 fa15 pythonpredprey.py}}  
+   {{cds110 fa15 pdf hw4fa15.pdfHW 4}} <br> Due: 28 Oct, 2 pm  
+  
+  [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]  
+  * MATLAB: {{cds110 fa15 matlabbike_linmod.m}}  
+  * Python: {{cds110 fa15 pythonbike_linmod.py}}  
+  
+  {{cds110 fa15 pdf caltech/hw4fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 5'''<br>  
+  26 Oct <br> 28 Oct <br> 30 Oct  
+   State space control design  
+  * Trajectory generation, feedforward  
+  * Integral feedback  
+  * State estimation (if time)  
+  * Midterm review  
+   FBS1e 7.17.3 <br> FBS2e 8.18.3  
+   Midterm exam <br> Due: 3 Nov, 5 pm  
+  
+  {{cds110 fa15 pdf caltech/midtermfa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 6'''<br>  
+  2 Nov <br> 4 Nov <br> 6 Nov*  
+   Transfer Functions  
+  * Frequency domain modeling  
+  * Block diagram algebra  
+  * Bode plots  
+   FBS1e 8.18.4 <br> FBS2e 9.19.4  
+  * {{cds110 fa15 pdf L61_xferfcns02Nov15_h.pdf  Mon lecture slides}}  
+  * [[Media:Recitation_nov_6.pdf  Fri review session notes]] (PDF)  
+   {{cds110 fa15 pdf hw5fa15.pdf  HW 5}} <br> Due: 11 Nov, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw5fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 7'''<br>  
+  9 Nov <br> 11 Nov <br> 13 Nov*  
+   Loop Analysis  
+  * Loop transfer function and the Nyquist criterion  
+  * Stability margins  
+   FBS1e 9.19.3 <br> FBS2e 10.110.3  
+  * {{cds110 fa15 pdf L71_loopanal09Nov15_h.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L73_delay+nyquist.pdf  Fri recitation notes}}  
+   {{cds110 fa15 pdf hw6fa15.pdf  HW 6}} <br> Due: 18 Nov, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw6fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 8'''<br>  
+  16 Nov <br> 18 Nov* <br> 20 Nov  
+   PID Control  
+  * Simple controllers for complex systems  
+  * Integral action and antiwindup  
+   FBS1e 10.110.4 <br> FBS2e 11.111.4  
+  * {{cds110 fa15 pdf L81_pid16Nov15_h.pdf  Mon lecture slides}}  
+  * [[Media:Recitation_110_nov_17.pdf  Wed lecture slides]] (PDF)  
+  * [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)  
+   {{cds110 fa15 pdf hw7fa15.pdf  HW 7}} <br> Due: 25 Nov, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw7fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 9'''<br>  
+  23 Nov <br> 25 Nov*  
+   Loop Shaping, I  
+  * Sensitivity functions  
+  * Feedback design via loop shaping  
+   FBS1e 11.111.3 <br> FBS2e 12.112.4  
+  * {{cds110 fa15 pdf L91_loopsyn23Nov15_h.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L92_recitation25Nov15.pdf  Wed recitation slides}}  
+   {{cds110 fa15 pdf hw8fa15.pdf  HW 8}} <br> Due: 4 Dec, 2 pm  
+  
+  {{cds110 fa15 pdf caltech/hw8fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 10'''<br>  
+  30 Nov <br> 2 Dec <br> 4 Dec  
+   Loop Shaping II  
+  * Fundamental limitations  
+  * Modeling uncertainty  
+  * Performance/robustness tradeoffs  
+   FBS1e 11.4, 12.112.4 <br> FBS2e 12.612.7, 13.113.3  
+  * {{cds110 fa15 pdf L101_limits30Nov15_h.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L102_pvtol02Dec15_h.pdf  Wed lecture slides}}  
+  * [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtolnested.py Wed PVTOL example] (python)  
+   Final exam <br> Due 11 Dec, 5 pm  
+  * Will be handed out in class on 4 Dec  
+  }  
=== Grading ===  === Grading ===  
The final grade will be based on homework sets, a midterm exam, and a final exam:  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  +  *''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted 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 (  +  * ''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 (  +  * ''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 Policy ===  
Line 53:  Line 218:  
references. All solutions that are handed in should be written up  references. All solutions that are handed in should be written up  
individually and should reflect your own understanding of the subject  individually and should reflect your own understanding of the subject  
−  matter at the time of writing. MATLAB scripts and plots are  +  matter at the time of writing. MATLAB/Python scripts and plots are 
considered part of your writeup and should be done individually (you  considered part of your writeup and should be done individually (you  
can share ideas, but not code).  can share ideas, but not code).  
Line 61:  Line 226:  
=== Course Text and References ===  === Course Text and References ===  
−  The primary course text is [  +  The primary course text is 
+  * K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008  
+  This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).  
+  
+  The following additional references may also be useful:  
−  * A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://  +  * A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml 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.  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. 
Latest revision as of 03:35, 9 December 2015
Introduction to Control Systems  
Instructors

Teaching Assistants

This is the course homepage for CDS 101/110, Fall 2015.
Announcements
 8 Dec: Solutions to HW #8 are posted
 23 Nov: HW #8 and lecture notes posted
 16 Nov: HW #7 and lecture notes posted
 9 Nov: HW #6, midterm solutions and lecture notes posted
 8 Nov 2015: Homework and exam statistics for the first half of the class
 HW 1: CDS 110: average 34/40; CDS 101: average 28/30
 HW 2: CDS 110: average 28/33; CDS 101: average 18/20
 HW 3: CDS 110: average 21/25; CDS 101: average 8/9
 HW 4: CDS 110: average 34/38; CDS 101: average 16/20
 Midterm: CDS 110: average = 59/75, σ = 10.7; CDS 101: average = 36/40, σ = 2.3
 19 Oct 2015: Corrected version of HW 3 (PDF) posted: references corrected on problem 1
 12 Oct 2015: HW 3 (PDF) has been posted; due 21 Oct (Wed), 2 pm
 10 Oct 2015: Corrected version of HW 2 (PDF) posted: references to equations and sections corrected
 5 Oct 2015: HW 2 (PDF) has been posted; due 14 Oct (Wed), 2 pm
 30 Sep 2015: Office hours for CDS 101/110 are Mon, 34 pm in 243 ANB and Tue, 79 pm in 106 ANB
 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm
 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send email to Richard
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 (skim), 2.12.4

HW 1 (PDF) Due: 7 Oct, 2 pm Solutions (PDF) (Caltech access only) 
Week 2 5 Oct 
Modeling, Stability

FBS1e 2.12.2, 3.1 4.14.3 FBS2e 3.13.2, 4.1, 5.15.3

HW 2 (PDF) Due: 14 Oct, 2 pm Solutions (PDF) (Caltech access only) 
Week 3 12 Oct* 
Linear Systems

FBS1e 5.15.4 FBS2e 6.16.4

HW 3 (PDF) Due: 21 Oct, 2 pm
Solutions (PDF) (Caltech access only) 
Week 4 19 Oct 
State Feedback

FBS1e 6.16.4 FBS2e 7.17.4

HW 4 (PDF) Due: 28 Oct, 2 pm
Solutions (PDF) (Caltech access only) 
Week 5 26 Oct 
State space control design

FBS1e 7.17.3 FBS2e 8.18.3 
Midterm exam Due: 3 Nov, 5 pm Solutions (PDF) (Caltech access only) 
Week 6 2 Nov 
Transfer Functions

FBS1e 8.18.4 FBS2e 9.19.4

HW 5 (PDF) Due: 11 Nov, 2 pm Solutions (PDF) (Caltech access only) 
Week 7 9 Nov 
Loop Analysis

FBS1e 9.19.3 FBS2e 10.110.3

HW 6 (PDF) Due: 18 Nov, 2 pm Solutions (PDF) (Caltech access only) 
Week 8 16 Nov 
PID Control

FBS1e 10.110.4 FBS2e 11.111.4

HW 7 (PDF) Due: 25 Nov, 2 pm Solutions (PDF) (Caltech access only) 
Week 9 23 Nov 
Loop Shaping, I

FBS1e 11.111.3 FBS2e 12.112.4

HW 8 (PDF) Due: 4 Dec, 2 pm Solutions (PDF) (Caltech access only) 
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, 5 pm

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 Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted 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
 K. J. Astrom and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the companion web site. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).
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.