View source for CDS 110b, Winter 2006

{{cds110b-wi06}}
<table align=right border=1 width=20% cellpadding=6>
<tr bgcolor=lightgreen><td>
<center>'''Contents'''</center>
<ul>
<li> [[#Grading|Grading]] <br>
<li> [[#Collaboration Policy|Collaboration Policy]] <br>
<li> [[#Course Text and References|Course Text and References]] <br>
<li> [[#Course_Schedule|Course Schedule]]<br>
<li> [[#Course Project|Course Project]]
</ul>
</table>
This is the homepage for CDS 110b, Introduction to Control Theory for Winter 2006.  __NOTOC__ [[Category:Courses]]

<table width=80%>
<tr valign=top>
<td>
'''Instructor'''
* [[User:Murray|Richard Murray]], murray@cds.caltech.edu
* Office hours: Fridays, 4-5 pm
<td>
'''Teaching Assistants''' ([mailto:cds110-tas@cds.caltech.edu cds110-tas@cds])
* [[User:Gillula|Jeremy Gillula]], jeremy@caltech.edu
* James Martin, duck@caltech.edu
* Shaunak Sen, shaunak@cds.caltech.edu
* Office hours: Fri, 4-5p & Sun 4-6p in 110 STL
</table>

== Announcements ==
<table align=right border=0><tr><td>[[#Old Announcements|Archive]]</table>
* 22 Feb: {{cds110b-pdfs|hw7.pdf|HW #7}} is now posted.  Due 1 Mar (Wed)
* 22 Feb: HW #5 solutions are coming; Average = 22/30

== Course Syllabus ==

'''Course Desciption and Goals:''' CDS 110b focuses on intermediate topics in control theory, including H_\infty control theory for robust performance, optimal control methods, and state estimation using Kalman filters.  Upon completion of the course, students will be able to design and analyze control systems of moderate complexity.  Students may optionally participate in a course project in lieu of taking the midterm and final.  Students participating in the course project will learn how to implement and test control systems on a modern experimental system.

* [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-students cds110-students mailing list] - all students in the class should be signed up on this list ([http://listserv.cds.caltech.edu/pipermail/cds110-students/ archive])

=== Grading ===
The final grade will be based on homework sets, a midterm exam and a final exam:
* '''Homework: 50%''' <br> Homework sets will be handed out weekly and will generally be due one week later at 5 pm to the box outside of 109 Steele.  <i>Late homework will not be accepted without'' <b>prior</b> permission from the instructor.</i><br>
* '''Midterm: 20%''' <br> A midterm exam will be handed out at the beginning of midterms week and due at the end of the midterm examination period.  The midterm exam will be open book.<br>
* '''Final: 30%''' <br>The final exam will be handed out on the last day of class due at the end of finals week.  It will be an open book exam.<br>

Note: students working on the [[#Course Project|course project]] will not be required to take the midterm or final.  Instead, two project reports will be due documenting the experimental work performed as part of the class.

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged.  You may consult outside reference materials, other students, the TA, or the instructor. All solutions that are handed in should reflect your understanding of the subject matter at the time of writing.  MATLAB scripts and plots are considered part of your writeup and should be done individually.

No collaboration is allowed on the midterm of final exams.

=== Course Text and References ===

The recommended course texts are:
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', Dover, 2004.  Available in the Caltech bookstore.
* K. J. {{Astrom}} and R. M. Murray, [http://www.cds.caltech.edu/~murray/books/AM05/wiki ''Design and Analysis of Feedback Systems''], Preprint, 2006.  Available online.
* J. Doyle, B. Francis, A. Tannenbaum, [http://www.control.utoronto.ca/people/profs/francis/dft.html ''Feedback Control Theory''], Macmillan, 1992.  Available online.

You may find the following texts useful as well:
* 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])
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
* N. E. Leonard and W. S. Levine, ''Using Matlab to Analyze and Design Control Systems'', Benjamin/Cummings, 1992.
* A. D. Lewis, [http://penelope.mast.queensu.ca/math332/notes.shtml A Mathematical Approach to Classical Control], 2003.

=== Course Schedule ===
The course is currently scheduled for MW 1:30-3:00 pm in 104 Watson ([[Talk:CDS 110b, Winter 2006#Course Scheduling|course scheduling page]]).

<table width=100% border=1 valign=top>
<tr valign=top>
<td> Week <td> Date <td> Topic <td> Reading <td> Homework

<tr><td rowspan=2 valign=middle>
===== 1 =====
<td>4 Jan (W) <td> [[CDS 110b: Course Overview|Course Overview]] + [[CDS 110b: Optimal Control|Optimal Control]] <td>{{cds110b-pdfs|LS95-optimal.pdf|LS95, 3.1-3.2}} <td rowspan=3> {{cds110b-pdfs|hw1.pdf|HW 1}}, {{cds110b-pdfs|soln1.pdf|Solns}}
<tr><td>6 Jan (F) <td>  [[CDS 110b: Control Implementation|Course Project overview]] (optional) <td>

<tr><td rowspan=3 valign=middle>

===== 2 =====
<td>  9 Jan (M)* <td> No class <td> 
<tr><td> 11 Jan (W)  <td> [[CDS 110b: Linear Quadratic Regulators|Linear Quadratic Regulators]] <td>Friedland, Ch 9 <td rowspan=3>{{cds110b-pdfs|hw2.pdf|HW 2}},  {{cds110b-pdfs|soln2.pdf|Solns}}
<tr><td> 13 Jan (F) <td> [[CDS 110b: Control Implementation|Control Implementation]] (optional) <td>  {{am05|Chapter_12_-Implementation|Ch 12}} 

<tr><td rowspan=3 valign=middle>
===== 3 =====
<td> 16 Jan (M) <td> No class (Institute holiday) <td> 
<tr><td> 18 Jan (W) <td> [[CDS 110b: Receding Horizon Control|Receding Horizon Control]] <td> [http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Murray et al, 2003] <td rowspan=3>{{cds110b-pdfs|hw3.pdf|HW 3}}, {{cds110b-pdfs|soln3.pdf|Solns}}

<tr><td> 20 Jan (F) <td> [[CDS 110b: Control Implementation|Control Implementation]] (optional) <td>

<tr><td rowspan=2 valign=middle>
===== 4 =====
<td> 23 Jan (M) <td> [[CDS 110b: Observability and Estimators|Observability and Estimators]] <td>  {{am05|Chapter_6_-_Output_Feedback|Ch 6}} 
<tr><td> 25 Jan (W) <td> [[CDS 110b: Random Processes|Random Processes]] <td rowspan=2> Friedland, Ch 10 <td rowspan=2>{{cds110b-pdfs|hw4.pdf|HW 4}}, [[Media:Hw4sol.pdf|Solns]]

<tr><td rowspan=3 valign=middle>
===== 5 =====
<td> 30 Jan (M) <td> [[CDS 110b: Stochastic Systems|Stochastic Systems]]
<tr><td> 1 Feb (W) <td> [[CDS 110b: Kalman Filtering|Kalman Filters]] <td> Friedland, Ch 11 <td rowspan=2> Midterm, {{cds110b-pdfs|mtsoln.pdf|Solns}}
<tr><td> 2 Feb (F) <td> Midterm review (optional) <td>

<tr><td rowspan=2 valign=middle>
===== 6 =====
<td> 6 Feb (M) <td>  [[CDS 110b:Sensor Fusion|Sensor Fusion]] <td> Friedland, Ch 11 + notes <td rowspan=2> {{cds110b-pdfs|hw5.pdf|HW 5}}
<tr><td>8 Feb (W) <td> [[CDS 110b: Introduction to Robust Control|Intro to Robust Control]] <td rowspan=3> DFT Ch 1-3, {{am05|Chapter_11_-_Robust_Performance|Sec 11.1}}

<tr><td rowspan=2 valign=middle>
===== 7 =====
<td> 13 Feb (M) <td> [[CDS 110b:Norms of Signals and Systems|Norms of Signals and Systems]] <td rowspan=3> {{cds110b-pdfs|hw6.pdf|HW 6}} (due 22 Feb)
<tr><td> 15 Feb (W) <td> [[CDS 110b: Weighted Sensitivity|Weighted Sensitivity]]

<tr><td rowspan=2 valign=middle>
===== 8 =====
<td> 20 Feb (M) <td> No class (Institute holiday) <td>
<tr> <td> 22 Feb (W) <td> [[CDS 110b: Robust Stability|Robust Stability]] <td> DFT 4.1-4.2, {{am05|Chapter_11_-_Robust_Performance|Sec 11.2}} <td rowspan=2> [[CDS 110b: Homework 7|HW 7]]

<tr><td rowspan=2 valign=middle>
===== 9 =====
<td> 27 Feb (M)  <td> [[CDS 110b: Robust Performance|Robust Performance]] <td> DFT 4.3, {{am05|Chapter_11_-_Robust_Performance|Sec 11.3}} 
<tr><td> 1 Mar (W) <td rowspan=2> [[CDS 110b: Design Constraints|Design Constraints]] <td rowspan=2> DFT, Ch 6 {{am05|Chapter_11_-_Robust_Performance|Sec 11.4}}  <td rowspan=3>[[CDS 110b: Homework 8|HW 8]]

<tr><td rowspan=3 valign=middle>
===== 10 =====
<td> 6 Mar (M)
<tr><td> 8 Mar (W) <td> [[CDS 110b: Design Example|Design Example]] <td> {{am05|Chapter_11_-_Robust_Performance|Sec 11.5}}
<tr><td> 10 Mar <td> Final review (optional) <td> <td> Final (due 17 Mar) 
</table>

=== Course Project ===

Students interested in the implementation of control systems may opt to do a course project in lieu of the midterm and final exams.  The course project will involve implementing control algorithms on a working application.  For 2006, the experiment will be control of an autonomous road vehicle, [http://gc.caltech.edu/wiki/index.php/Alice Alice].  

The following work must be performed as part of the class project:

* '''Midterm report: 20%'''<br> By midterm, all students should implement and test an LQR controller on the experimental system.  A report describing the control design and experimental results is due no later than 5 pm on the last day of the midterm examination period.  The report should include a description of the (nonlinear) model for the system, an analysis and design of a control law based on the linearization of that model, and a comparison between simulation and experimental results on the system.  For 2005-06, students will implement a lateral control law that controls the position of the vehicle and tracks a reference trajectory on flat pavement.  

* '''Final report: 30%'''<br> By the end of the course, students should implement a state estimator and controller on the experimental system.  A presentation and report describing the control design and experimental results will be given in lieu of the final.  The final presentation will be made after the end of classes and the report is due no later than 5 pm on the last day of finals.  The report should build on the report submitted at midterms and should include a design, analysis and demonstration of the full system.  An estimator must be part of the design.  The controller may be implemented either in state space or in frequency domain, but should be analyzed for robustness using the techniques demonstrated in Weeks 6-9.

A special set of lectures on [[CDS 110b: Control Implementation|control implementation]] will be given for students interested in purusing the course project.  

Students who are interested in continuing their work on the course project may wish to apply for the [http://gc.caltech.edu/wiki/index.php/2006_SURF Autonomous Vehicle SURF team].  Expression of interest is required no later than 27 Jan 06 (see SURF page for details).

== Old Announcements ==
* 4 Jan 05: Courses project information session: 6 Jan (Fri), 2-3 pm, 125 Steele
* 4 Jan 05: Please turn in {{cds110b-pdfs|scheduling.pdf|course scheduling form}} by 6 Jan (Fri), 5 pm
* 4 Jan 05: {{cds110b-pdfs|hw1.pdf|HW #1}} is now available; due 11 Jan (Wed)
* 4 Jan 05: <font color=red>No class on Monday (9 Jan)</font>; the next regularly schedule class is Wed from 1:30-3:00 pm
* 7 Jan 05: Office hours will be on Sun from 4-5 pm and Tue from 4-6 pm in <s>125</s> 110 Steele ([http://listserv.cds.caltech.edu/pipermail/cds110-students/2006-January/000005.html details])
* 6 Jan 05: There will be a [[CDS 110b: Control Implementation|course project]] information session today (Fri) at 2 pm in 125 Steele
* 10 Jan 05: Office hours will now be in 110 Steele, same times as before (check 125 Steele if nobody is in 110 Steele)
* 11 Jan 05: {{cds110b-pdfs|hw2.pdf|HW #2}} is now available; due 18 Jan (Wed)
* 12 Jan 05: Lectures are now available in MP3 format; see individual lecture pages for link
* 15 Jan 05: {{cds110b-pdfs|hw2.pdf|HW #2}} has been updated with some improved notation ([http://listserv.cds.caltech.edu/pipermail/cds110-students/2006-January/000006.html details])
* 15 Jan 05: A new mailing list, [http://listserv.cds.caltech.edu/mailman/listinfo/cds110-project cds110-project], has been set up for students participating in the course project
* 18 Jan 05: {{cds110b-pdfs|soln1.pdf|HW #1 Solutions}} are now posted.  Average = 27/30
* 18 Jan 05: Next week's lectures will be on Mon and Wed from '''2-3 pm''' in 102 Steele
* 18 Jan 05: {{cds110b-pdfs|hw3.pdf|HW #3}} has been posted
* 25 Jan 05: {{cds110b-pdfs|soln2.pdf|HW #2 Solutions}} are now posted.  Average = 31/40
* 25 Jan 05: {{cds110b-pdfs|hw4.pdf|HW #4}} is now posted.  Due 1 Feb @ 5 pm
* 3 Feb: HW 4 [[Media:Hw4sol.pdf|solutions]] are now posted.
* 3 Feb: Please remember to turn in the {{cds110b-pdfs|mtsurvey.pdf|midterm survey}}
* 6 Feb: {{cds110b-pdfs|hw5.pdf|HW #5}} is now posted ([http://www.nsd.es.northropgrumman.com/Html/LN-200/ datasheet here]).  Due 13 Feb (Mon)
* 13 Feb: {{cds110b-pdfs|mtsoln.pdf|Midterm solutions}} are now available.
* 13 Feb: {{cds110b-pdfs|hw6.pdf|HW #6}} is now posted.  Due 22 Feb (Wed)