# Difference between revisions of "CDS 101/110 - Introduction and Review"

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* Students should be able to use MATLAB and SIMULINK to run a simulation of a control system and generate plots showing the performance of the system | * Students should be able to use MATLAB and SIMULINK to run a simulation of a control system and generate plots showing the performance of the system | ||

− | '''Monday:''' Introduction to Feedback and Control ({{cds101 handouts|L1-1_introduction.pdf|Slides}}, {{cds101 mp3 | + | '''Monday:''' Introduction to Feedback and Control ({{cds101 handouts|L1-1_introduction.pdf|Slides}}, {{cds101 mp3|lecture_0929.mp3|MP3}}) |

− | + | ||

The goal of this lecture is to introduce some of the basic ideas in feedback and control systems and provide examples that will allow students to identify and recognize control systems in their everyday world. Two major principles of control--robustness through feedback and design of dynamics--are emphasized throughout the lecture. CDS 101/110 course administration is also covered. | The goal of this lecture is to introduce some of the basic ideas in feedback and control systems and provide examples that will allow students to identify and recognize control systems in their everyday world. Two major principles of control--robustness through feedback and design of dynamics--are emphasized throughout the lecture. CDS 101/110 course administration is also covered. | ||

* {{cds101 handouts|L1-1_introduction_h.pdf|Lecture handout}} | * {{cds101 handouts|L1-1_introduction_h.pdf|Lecture handout}} | ||

* {{cds101 handouts|bgsurvey.pdf|Course survey}} (turn in by 1 Oct) | * {{cds101 handouts|bgsurvey.pdf|Course survey}} (turn in by 1 Oct) | ||

− | '''Wednesday:''' Review of Modeling using ODEs ({{cds101 handouts|L1-2_modeling.pdf|Slides}}, | + | '''Wednesday:''' Review of Modeling using ODEs ({{cds101 handouts|L1-2_modeling.pdf|Slides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa07/mp3/cds101-2007-10-08.mp3 MP3]- last year's lecture) |

+ | *NOTE: Due to technical difficulties, this Wednesday's lecture was not recorded. Sorry for the inconvenience. | ||

This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts. | This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts. | ||

* {{cds101 handouts|L1-2_modeling_h.pdf|Lecture handout}} | * {{cds101 handouts|L1-2_modeling_h.pdf|Lecture handout}} | ||

+ | * MATLAB: {{cds101 matlab|L1_2_modeling.m}}, {{cds101 matlab|springmass.m}} | ||

− | '''Friday:''' | + | '''Friday:''' [[CDS_101/110_-_MATLAB/SIMULINK_Tutorial|Matlab Tutorial]] |

− | This lecture provides an introduction to MATLAB/SIMULINK, a software package that will be used extensively throughout the course and on the homework assignments. Students who have not used MATLAB and SIMULINK in previous courses are strongly encouraged to attend. '''Note:''' This tutorial will be offered from 2-4 pm and 4-6 pm in | + | This lecture provides an introduction to MATLAB/SIMULINK, a software package that will be used extensively throughout the course and on the homework assignments. Students who have not used MATLAB and SIMULINK in previous courses are strongly encouraged to attend. '''Note:''' This tutorial will be offered from 2-4 pm and 4-6 pm in 328 SFL. Students may attend either session. |

− | * | + | * [[Media:ex1.m|Lecture handout]] |

== Reading == | == Reading == | ||

+ | The reading for the week is out of the main text. The material in Chapter 2 should be review (Ph1, Ma 2, mainly), but introduces some important concepts in terms of control-oriented modeling (inputs, outputs, state). Section 3.1 gives an overview of the cruise control model, which is part of this week's homework. | ||

* {{AM08 book}} | * {{AM08 book}} | ||

** {{AM08 chapter|Chapter 1 - Introduction}} - Read sections 1.1-1.2 and 1.4-1.5 (skim 1.3) [30 min] | ** {{AM08 chapter|Chapter 1 - Introduction}} - Read sections 1.1-1.2 and 1.4-1.5 (skim 1.3) [30 min] | ||

− | ** {{AM08 chapter|Chapter 2 - System Modeling}} - Read sections 2.1-2. | + | ** {{AM08 chapter|Chapter 2 - System Modeling}} - Read sections 2.1-2.3 [30 min] |

− | ** {{AM08 chapter|Chapter 3 - Examples}} - Skim section 3.1 [10 min] | + | ** {{AM08 chapter|Chapter 3 - Examples}} - Skim section 3.1 (cruise control model) [10 min] |

+ | |||

+ | Students interested in more advanced material should read Chapter 1 of Lewis: | ||

+ | * {{Lew03|Chapter 1 - An introduction to linear control theory}} | ||

+ | |||

+ | In addition, for the MATLAB/SIMULINK tutorial, students may want to have a look at [http://www.engin.umich.edu/class/ctms/basic/basic.htm MATLAB basics], part of the [http://www.engin.umich.edu/class/ctms Control Tutorials for MATLAB] web site. | ||

== Homework == | == Homework == |

## Latest revision as of 05:55, 9 December 2008

CDS 101/110a | ← Schedule → | Recitations | FAQ | () |

## Contents |

## Overview

The learning objectives for this week are:

- Students should know what a feedback system is and how to identify the key components and properties of a control system in the everyday world
- Students should be able to model a simple system (using ODEs) and use their model to make predictions about the behavior of a system
- Students should be able to use MATLAB and SIMULINK to run a simulation of a control system and generate plots showing the performance of the system

**Monday:** Introduction to Feedback and Control (Slides, MP3)
The goal of this lecture is to introduce some of the basic ideas in feedback and control systems and provide examples that will allow students to identify and recognize control systems in their everyday world. Two major principles of control--robustness through feedback and design of dynamics--are emphasized throughout the lecture. CDS 101/110 course administration is also covered.

- Lecture handout
- Course survey (turn in by 1 Oct)

**Wednesday:** Review of Modeling using ODEs (Slides, MP3- last year's lecture)

- NOTE: Due to technical difficulties, this Wednesday's lecture was not recorded. Sorry for the inconvenience.

This lecture provides an overview of modeling for control systems. We discuss what a model is and what types of questions it can be used to answer. The concepts of state, dynamics, inputs and outputs are described, including running examples to demonstrate the concepts. Several different modeling techniques are summarized, with emphasis on differential equations. Two examples are included to demonstrate the main concepts.

- Lecture handout
- MATLAB: L1_2_modeling.m, springmass.m

**Friday:** Matlab Tutorial

This lecture provides an introduction to MATLAB/SIMULINK, a software package that will be used extensively throughout the course and on the homework assignments. Students who have not used MATLAB and SIMULINK in previous courses are strongly encouraged to attend. **Note:** This tutorial will be offered from 2-4 pm and 4-6 pm in 328 SFL. Students may attend either session.

## Reading

The reading for the week is out of the main text. The material in Chapter 2 should be review (Ph1, Ma 2, mainly), but introduces some important concepts in terms of control-oriented modeling (inputs, outputs, state). Section 3.1 gives an overview of the cruise control model, which is part of this week's homework.

- K. J. Åström and R. M. Murray,, Princeton University Press, 2008
- - Read sections 1.1-1.2 and 1.4-1.5 (skim 1.3) [30 min]
- - Read sections 2.1-2.3 [30 min]
- - Skim section 3.1 (cruise control model) [10 min]

Students interested in more advanced material should read Chapter 1 of Lewis:

- A. Lewis, A Mathematical Approach to Classical Control, 2003. Chapter 1 - An introduction to linear control theory

In addition, for the MATLAB/SIMULINK tutorial, students may want to have a look at MATLAB basics, part of the Control Tutorials for MATLAB web site.

## Homework

- Homework #1 (due 6 Oct)
- SIMULINK speed control module: cruise_ctrl.mdl,

## FAQ

[Prior years] |

**Monday**

- How do I create a FAQ for CDS 101/110?
- How would you make the dynamics in the cruise control example more realistic?
- Is a high gain good in the speed control example?
- Is it true that feedback systems are in closed loop by definition?
- Is kp (the gain of the system) dimensionless?
- Please turn the AC higher.
- The additional material and schedule of cds210.
- The last few slides went by too fast
- What do you mean by "gain" in the speed control example? What relation to sensing does it have?
- What is an example of an open loop system
- What should we do with unsused Mud Cards?

**Wednesday**

**Friday**

**Homework**