23 Apr 06 Meeting Notes
From FBSwiki
Meeting with Karl in Cambridge, UK
Contents
General discussion
 Robust performance section: focus on disturbances, noise rejection
 New section on noise (35 pages)
 Karl to take first cut (done)
 Distribute time white noise, spectral density
 Move implementation chapter to wiki (done)
 Action (RMM): Reinsert bio stuff into wiki version of implementation chapter
Chapter 1 discussion
 Thoughts on controls tools (chapter 1)
 What we consider a solution changes with modern computation
 Theme throughout: standard problems/models → computational solutions
 Examples of standard problems: ABCD, block diagrams, transfer functions, LQG, Hinfty, MPC/RHC
 Need an "architecture for solving problems"
 NCS drawing (from CDS 110b)
 Action (KJA): Make sure to mention modes and Heaviside
Diagram Figures
 Circuit: PID or automatic gain control
 Gas turnbin OK
 Bio from mCSHL
 Chemical process example
 Petri net
References
 Advice for where to learn more
 Specialized books
 Historical perspective
Reachable canonical form
 Action (RMM): check sources for canonical forms: Kalman, Ho Narenda; Elmer Gilbert; Kalmbin, Arbib, Falb
 Decision: use the form with the coefficients in order (w/ a negative sign) in the top row
 Closed loop polynomial should be
LQR/LQG
 's for controller cost
 's for noise covariances

Action (RMM):Update LQR section to reflect this notation Completed on 18 May in text and summary
State feedback notation
 Final results should be A  BK  LC
 This gives
 Action (RMM): This is not consistent; figure out what we really want