Difference between revisions of "CDS 101/110 - Robust Performance"

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== Overview ==
 
== Overview ==
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The learning objectives for this week are:
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* Students should be able to represent the uncertainty in a model using additive, multiplicative or feedback uncertainty representations
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* Students should be able to analyze robust stability and performance for a system with uncertainty
  
'''Monday:''' Design Example ({{cds101 handouts|L10-1_dfan.pdf|Notes}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/27Nov06.mp3 MP3])
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'''Monday:''' Robust Performance ({{cds101 handouts|L10-1_robperf.pdf|Slides}}, {{cds101 mp3|cds101-2008-12-01.mp3|MP3}})
  
This lecture will talk about the process of robust design, using the Caltech ducted fan as a case study.  
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In this lecture we will discuss how to model uncertainty in control systems.  We will focus on the inclusion of unmodeled dynamics in our system descriptions, allow us to reason about the performance of a system even when the dynamics are not exactly known.
  
'''Wednesday:''' Robust Performance ({{cds101 handouts|L10-2_robperf_h.pdf|Slides}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/29Nov06.mp3 MP3])
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* {{cds101 handouts|L10-1_robperf_h.pdf|Lecture handout}}
  
In this lecture we will discuss how to model uncertainty in control systems. We will focus on the inclusion of unmodeled dynamics in our system descriptions, allow us to reason about the performance of a system even when the dynamics are not exactly known.
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'''Wednesday:''' ({{cds101 handouts|L10-2_dfan.pdf|Notes}}, {{cds101 mp3|cds101-2008-12-03.mp3|MP3}})
  
'''Friday:''' Final exam review review ({{cds101 handouts|final_review_notes.pdf|Notes}}, [http://www.cds.caltech.edu/~murray/courses/cds101/fa06/mp3/1Dec06.mp3 MP3])
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In this lecture, we will work through a design exercise, summarizing the main topics of the course, including modeling, analysis and design of feedback systems in the frequency domain and in state space.
  
== Handouts ==
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* {{cds101 handouts|L10-2_dfan.pdf|Lecture notes}}
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* MATLAB: {{cds101 matlab|L10_2_dfan.m}}
  
{| width=100%
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'''Friday:''' Final exam review review ({{cds101 handouts|L10-3_review.pdf|Notes}}, {{cds101 mp3|cds101-2008-12-05.mp3|MP3}})
|- valign=top
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| width=33% | Monday
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* {{cds101 handouts|L10-1_dfan_n.pdf|Lecture notes}}
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* MATLAB code: {{cds101 matlab|L10_1_dfan.m}}
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| width=33% | Wednesday (CDS 110)
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* {{cds101 handouts|L10-2_robperf_h.pdf|Lecture handout}}
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| width=33% | Friday
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* {{cds101 handouts|final_review_notes.pdf|Final Review Notes}}
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* Final: available in class or outside 102 Steele
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|}
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== Reading ==
 
== Reading ==
  
* {{AM06|Chapter 12 - Robust Performance}}
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* {{AM08|Chapter 12 - Robust Performance}}
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** CDS 101: Read sections 12.1-12.3, skipping advanced sections [30 min]
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** CDS 110: Read sections 12.1-12.3, skim section 12.4-12.5 [60 min]
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** CDS 210: Read sections 12.1-12.5 [90 min]
  
 
== Final ==
 
== Final ==
  
The exam will consist of 3-5 problems, covering all of the the material in the course.  The exam will be open book. You may use the course notes, any of the optional texts (Friedland, Franklin-Powell and Emami-Naeni, Leonard and Levin, Strogatz, or Kuo), course handouts, lecture notes, course problem sets and solutions, and your own handwritten notes. ''No other books are allowed.''  
+
The exam will consist of 3-5 problems, covering all of the the material in the course.  The exam will be open book. You may use the course notes, any of the optional texts, course handouts, lecture notes, course problem sets and solutions, and your own handwritten notes. ''No other books are allowed.''  
  
 
You may use a computer or calculator for carrying out numerical computations. MATLAB may be used but is not required. You are not allowed to use the Internet during the exam except for accessing local computing resources, such as MATLAB/SIMULINK or accessing copies of presentations, notes, FAQs, or other material posted on the course web site. You are not allowed to access or print out contents of other sites for use while taking the exam (although you can take handwritten notes on the sites and use your own notes in the exam).
 
You may use a computer or calculator for carrying out numerical computations. MATLAB may be used but is not required. You are not allowed to use the Internet during the exam except for accessing local computing resources, such as MATLAB/SIMULINK or accessing copies of presentations, notes, FAQs, or other material posted on the course web site. You are not allowed to access or print out contents of other sites for use while taking the exam (although you can take handwritten notes on the sites and use your own notes in the exam).
  
The exam will be due by 5 p.m. on riday, 8 December, in the box outside 102 Steele. Please write your solutions in a fresh exam book (blue book). We have to grade a large collections of exams in a short time and it makes things much simpler to manage if everyone uses a bluebook.
+
The exam will be due by 5 p.m. on riday, 12 December, in the box outside 102 Steele. Please write your solutions in a fresh exam book (blue book). We have to grade a large collections of exams in a short time and it makes things much simpler to manage if everyone uses a bluebook.
  
 
== FAQ ==
 
== FAQ ==
 
'''Monday'''
 
'''Monday'''
<ncl>CDS 101/110 FAQ - Lecture 10-1</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 10-1, Fall 2008</ncl>
 
'''Wednesday'''
 
'''Wednesday'''
<ncl>CDS 101/110 FAQ - Lecture 10-2</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 10-2, Fall 2008</ncl>
 
'''Friday'''
 
'''Friday'''
<ncl>CDS 101/110 FAQ - Lecture 10-3</ncl>
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<ncl>CDS 101/110 FAQ - Lecture 10-3, Fall 2008</ncl>
 
'''Final'''
 
'''Final'''
<ncl>CDS 101/110 FAQ - Final</ncl>
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<ncl>CDS 101/110 FAQ - Final, Fall 2007</ncl>

Latest revision as of 06:00, 9 December 2008

CDS 101/110a Schedule Recitations FAQ ()

Overview

The learning objectives for this week are:

  • Students should be able to represent the uncertainty in a model using additive, multiplicative or feedback uncertainty representations
  • Students should be able to analyze robust stability and performance for a system with uncertainty

Monday: Robust Performance (Slides, MP3)

In this lecture we will discuss how to model uncertainty in control systems. We will focus on the inclusion of unmodeled dynamics in our system descriptions, allow us to reason about the performance of a system even when the dynamics are not exactly known.

Wednesday: (Notes, MP3)

In this lecture, we will work through a design exercise, summarizing the main topics of the course, including modeling, analysis and design of feedback systems in the frequency domain and in state space.

Friday: Final exam review review (Notes, MP3)

Reading

  • K. J. Åström and R. M. Murray,, Princeton University Press, 2008..
    • CDS 101: Read sections 12.1-12.3, skipping advanced sections [30 min]
    • CDS 110: Read sections 12.1-12.3, skim section 12.4-12.5 [60 min]
    • CDS 210: Read sections 12.1-12.5 [90 min]

Final

The exam will consist of 3-5 problems, covering all of the the material in the course. The exam will be open book. You may use the course notes, any of the optional texts, course handouts, lecture notes, course problem sets and solutions, and your own handwritten notes. No other books are allowed.

You may use a computer or calculator for carrying out numerical computations. MATLAB may be used but is not required. You are not allowed to use the Internet during the exam except for accessing local computing resources, such as MATLAB/SIMULINK or accessing copies of presentations, notes, FAQs, or other material posted on the course web site. You are not allowed to access or print out contents of other sites for use while taking the exam (although you can take handwritten notes on the sites and use your own notes in the exam).

The exam will be due by 5 p.m. on riday, 12 December, in the box outside 102 Steele. Please write your solutions in a fresh exam book (blue book). We have to grade a large collections of exams in a short time and it makes things much simpler to manage if everyone uses a bluebook.

FAQ

Monday

Wednesday

Friday

Final