CDS 101/110 - Robust Performance

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CDS 101/110a Schedule Recitations FAQ ()


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)


  • 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]


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.