View source for Cds212 SP14

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<font color='blue' size='+2'>CDS 110b: Introduction to Control Theory</font>__NOTOC__
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'''Instructors'''
* John Doyle, doyle@cds.caltech.edu
* Lectures: Tu/Th, 2:30-4 314 ANB
* Office hours: TBD (please e-mail to schedule)
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'''Teaching Assistants'''
* Vanessa Jonsson
* Contact: vjonssons@cds.caltech.edu
* Office hours: TH, 4-5 pm, Ann 213, and upon request
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=== Course Description ===
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. State-space methods, time and frequency domain, stability and stabilization, realization theory. Time-varying and nonlinear models. Uncertainty and robustness.

===Announcements ===
* 2 Apr 2014: web page creation

=== Tentative Lecture Schedule ===

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| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
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| 7 Jan <br>  9 Jan
| Robustness, fragility, complexity and control I
* Examples in neuroscience, glycolysis, technology
Inverted pendulum revisited <br>
Discrete time, finite horizon LQR
| 
* [https://www.cds.caltech.edu/~murray/wiki/images/b/b5/InvertedPendulum_classnote.pdf  notes]<br>
* [https://www.cds.caltech.edu/~murray/wiki/images/0/04/CDS110bLect1.pdf  slides1],  [https://www.cds.caltech.edu/~murray/wiki/images/a/a6/CDS110bLect1.pptx slides2]
| [https://www.cds.caltech.edu/~murray/wiki/images/0/0f/Cds110bwi14_hw1.pdf hw1]
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| 14 Jan <br> 16 Jan
| Discrete time stochastic LQR <br>
*  Finite horizon, infinite horizon
| 
* [https://www.cds.caltech.edu/~murray/wiki/images/c/c5/Ln1.pdf lecnotes1 ]
* [https://www.cds.caltech.edu/~murray/wiki/images/8/83/Ln2.pdf lecnotes2]
* [http://lall.stanford.edu/svn/engr207b_2012_to_2013_winter/data/matrix_facts_2011_02_07_01.pdf matrixnotes]
| [https://www.cds.caltech.edu/~murray/wiki/images/d/d9/Cds110bwi14hw2.pdf hw2]
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| 21 Jan <br> 23 Jan
| Continuous time LQR 
* Pontryagin's maximum principle <br>
* Costate equations 
SDPs, duality and LQR
* Relationship to Riccati solutions 
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| 28 Jan <br> 30 Jan
| State estimation <br> 
Kalman Filters
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| [https://www.cds.caltech.edu/~murray/wiki/images/4/47/Cds110bwi14_hw3.pdf hw3]
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| 4 Feb <br> 6 Feb
| Discrete time output feedback LQG 
* Connections with H2 optimal control 
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| 11 Feb <br> 13 Feb
| Modeling, Robustness/efficiency tradeoffs <br>
* Heart rate variability
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* [https://www.cds.caltech.edu/~murray/wiki/images/c/cb/2HRVdetails.pdf lecslides]
*[https://www.cds.caltech.edu/~murray/wiki/images/4/4b/Main_text.pdf HRVpreprint ] [https://www.cds.caltech.edu/~murray/wiki/images/b/b4/SI.PDF HRVSI]
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| 18 Feb <br> 20 Feb <br>
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| 25 Feb <br> 27 Feb <br>
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| 4 Mar <br> 6 Mar <br>
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| 11 Mar <br> 
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=== Course Text and References ===

The main course text is
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992.
* G. Dullerud and F. Paganini, A Course in Robust Control Theory, Springer, 2000.
* R. M. Murray, {{obc08|Optimization-Based Control}}, Preprint, 2008.

You may find the following texts useful as well:
* K. J. {{Astrom}} and R. M. Murray, ''[[AM:Main Page|Feedback Systems]]'', Princeton University Press, 2008.
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004.
* F. L. Lewis and V. L. Syrmos, ''Optimal Control'', Second Edition, Wiley-IEEE, 1995.  ([http://books.google.com/books?ie=UTF-8&hl=en&vid=ISBN0471033782&id=jkD37elP6NIC Google Books])
* A. D. Lewis, ''[http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control]'', 2003.

=== Selected Papers ===

1.	M Chiang, SH Low, AR Calderbank, JC. Doyle (2007) Layering As Optimization Decomposition, PROCEEDINGS OF THE IEEE, Volume: 95  Issue: 1  Jan 2007 [https://www.cds.caltech.edu/~murray/wiki/images/6/6d/01IEEEProcNetsLayeringAsOptDecomp.pdf link]

2.	Martins NC, Dahleh MA, Doyle JC (2007) Fundamental Limitations of Disturbance Attenuation in the Presence of Side Information,  IEEE Trans Auto Control, Feb 2007 [https://www.cds.caltech.edu/~murray/wiki/images/d/df/02-2007-FundamentalLimits.pdf link]

3.	Bowman, Balch, Artaxo, Bond, Carlson, Cochrane, D’Antonio, DeFries, Doyle, et al. Fire in the Earth System, Science, Vol. 324 no. 5926 pp. 481-484 24 April 2009 [https://www.cds.caltech.edu/~murray/wiki/images/b/b9/03ScienceFire.pdf link]

4.	Willinger W, Alderson D, and Doyle JC (2009) Mathematics and the internet: A source of enormous confusion and great potential. Notices Amer Math Soc 56:586-599. [https://www.cds.caltech.edu/~murray/wiki/images/b/b3/04AMSNoticesInternet.pdf link]

5.	Alderson DL, Doyle JC (2010) Contrasting views of complexity and their implications for network-centric infrastructures. IEEE Trans Systems Man Cybernetics—Part A: Syst Humans 40:839-852.  [https://www.cds.caltech.edu/~murray/wiki/images/3/31/05AldersonDoyle-tsmca-July2010.pdf link]

6.	Gayme DF, McKeon BJ, Papachristodoulou P, Bamieh B, Doyle JC (2010) A streamwise constant model of turbulence in plane Couette flow, J Fluid Mech, vol 665, pp 99-119 [https://www.cds.caltech.edu/~murray/wiki/images/3/37/06GaymeJFM2010.pdf link] 

7.	H. Sandberg, J. C. Delvenne, J. C. Doyle. (2011) On Lossless Approximations, the Fluctuation-Dissipation Theorem, and Limitations of Measurements, IEEE Trans Auto Control, Feb 2011 

8.	J Lavaei, A Babakhani, A Hajimiri, and JC Doyle (2011), Solving Large-Scale Hybrid Circuit-Antenna Problems, IEEE Transactions on Circuits and Systems I, vol. 58, no. 2, pp. 374-387, Feb. 2011. [https://www.cds.caltech.edu/~murray/wiki/images/0/04/08LavaeiCircuits.pdf link]

9.	Chandra F, Buzi G, Doyle JC (2011) Glycolytic oscillations and limits on robust efficiency. Science, Vol 333, pp 187-192. [https://www.cds.caltech.edu/~murray/wiki/images/6/68/09ScienceGlycolyticOscOnlineFinal.pdf link]

10.	JC Doyle, ME Csete (2011) Architecture, Constraints, and Behavior, P Natl Acad Sci USA, vol. 108, Sup 3 15624-15630 [https://www.cds.caltech.edu/~murray/wiki/images/4/47/10PNASOnlineFinalSackler2011.pdf link]

11.	Gayme DF, McKeon BJ, Bamieh B, Papachristodoulou P, Doyle JC (2011) Amplification and Nonlinear Mechanisms in Plane Couette Flow, Physics of Fluids, V23, Issue 6, 065108 [https://www.cds.caltech.edu/~murray/wiki/images/4/47/11PhysOfFluidsForcedSolutions2011.pdf link]

12.	Page, M. T., D. Alderson, and J. Doyle (2011), The magnitude distribution of earthquakes near Southern California faults, J. Geophys. Res., 116, B12309, doi:10.1029/2010JB007933.

13.	Namas R, Zamora R, An, G, Doyle, J et al, (2012) Sepsis: Something old, something new, and a systems view, Journal Of Critical Care  Volume: 27   Issue: 3  [https://www.cds.caltech.edu/~murray/wiki/images/a/a6/13SepsisJCritCareNihms300207.pdf link]

14.	Chen, L; Ho, T; Chiang, M, Low S; Doyle J,(2012) Congestion Control for Multicast Flows With Network Coding, IEEE Trans On Information Theory  Volume: 58   Issue: 9   Pages: 5908-5921   
[https://www.cds.caltech.edu/~murray/wiki/images/5/55/14ChenEtAlMulticastIEEETIT2012.pdf  link ]