CDS 131, Fall 2018
Introduction to Feedback Control Systems  
Instructors

Teaching Assistants

This is the course homepage for CDS 131, Fall 2018.

Course Syllabus
Basic system concepts; statespace and I/O representation. Properties of linear systems, including stability, performance, robustness. Reachability, observability, minimality, state and outputfeedback.
Intended audience and expected background:
 First year graduate students in controls  assume they have already had at least one control course (could be frequency domain only). This course will provide the mathematical basis for CDS 231 (John’s course; not quite sure what it covers) and CDS 232 (nonlinear systems).
 Advanced undergraduates in EE and ChE who have taken EE 113 or ChE 105  this course could serve as a second course for students who have access to a basic controls course in their discipline.
 Motivated graduate students in CMS, BE, or other disciplines  students who have taken CDS 141 (John’s other course) and are motivated to learn more about linear systems and control could take the course, assuming they have a decent mathematical background (differential equations, linear algebra).
Lecture Schedule
With the exception of the first week, there will be two 1hour lectures per week, with the specific days varying from weektoweek. The lecture days for each week will be announced in class and posted here at least 1 week in advance.
Date  Topic  Reading  Homework 
Week 1 1 Oct 
Introduction and review

FBS2e, Ch 3  HW #1 
Week 2 8 Oct 
Linear I/O systems

FBS2e, Ch 4  HW #2 
Week 3 15 Oct 
Reachability
Definitions (reachability, stabilizability) Characterization and rank tests (Grammian, PBH) Decomposition into stable/unstable and reachable/unreachable subspaces 
FBS2e, Ch 4 (concepts)  HW #3 
Week 4 22 Oct 
State feedback

FBS2e, Ch 5 (concepts)  HW #4 
Week 5 29 Oct 
Observability and state estimation

FBS2e, Ch 6 (concepts)  Midterm 
Week 6 5 Nov 
Frequency domain representations

HW #5  
Week 7 
HW #6  
Week 8 
HW #7  
Week 9 
HW #8  
Week 10 
Final Review + Demos  None 
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.