Cds212 SP14
CDS 110b: Introduction to Control Theory  
Instructors

Teaching Assistants

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. Statespace methods, time and frequency domain, stability and stabilization, realization theory. Timevarying and nonlinear models. Uncertainty and robustness.
Announcements
 2 Apr 2014: web page creation
Tentative Lecture Schedule
Date  Topic  Reading  Homework 
7 Jan 9 Jan 
Robustness, fragility, complexity and control I
Inverted pendulum revisited 
hw1  
14 Jan 16 Jan 
Discrete time stochastic LQR

hw2  
21 Jan 23 Jan 
Norms for signals and systems  
28 Jan 30 Jan 
State estimation Kalman Filters 
hw3  
4 Feb 6 Feb 
Discrete time output feedback LQG


11 Feb 13 Feb 
Modeling, Robustness/efficiency tradeoffs


18 Feb 20 Feb 

25 Feb 27 Feb 

4 Mar 6 Mar 

11 Mar 
Course Text and References
The main course text is
 J. Doyle, B. Francis, A. Tannenbaum, Feedback Control Theory, Macmillan, 1992.
 G. Dullerud and F. Paganini, A Course in Robust Control Theory, Springer, 2000.
 R. M. Murray, OptimizationBased Control, Preprint, 2008.
You may find the following texts useful as well:
 K. J. Åström and R. M. Murray, ', Princeton University Press, 2008.
 B. Friedland, Control System Design: An Introduction to StateSpace Methods, Dover, 2004.
 F. L. Lewis and V. L. Syrmos, Optimal Control, Second Edition, WileyIEEE, 1995. (Google Books)
 A. D. Lewis, 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 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 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. 481484 24 April 2009 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 56:586599. link
5. Alderson DL, Doyle JC (2010) Contrasting views of complexity and their implications for networkcentric infrastructures. IEEE Trans Systems Man Cybernetics—Part A: Syst Humans 40:839852. 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 99119 link
7. H. Sandberg, J. C. Delvenne, J. C. Doyle. (2011) On Lossless Approximations, the FluctuationDissipation Theorem, and Limitations of Measurements, IEEE Trans Auto Control, Feb 2011
8. J Lavaei, A Babakhani, A Hajimiri, and JC Doyle (2011), Solving LargeScale Hybrid CircuitAntenna Problems, IEEE Transactions on Circuits and Systems I, vol. 58, no. 2, pp. 374387, Feb. 2011. link
9. Chandra F, Buzi G, Doyle JC (2011) Glycolytic oscillations and limits on robust efficiency. Science, Vol 333, pp 187192. link
10. JC Doyle, ME Csete (2011) Architecture, Constraints, and Behavior, P Natl Acad Sci USA, vol. 108, Sup 3 1562415630 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 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 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: 59085921 link