http://robotics.caltech.edu/wiki/api.php?action=feedcontributions&user=131.215.220.164&feedformat=atomRobotics - User contributions [en]2024-03-29T10:47:50ZUser contributionsMediaWiki 1.26.0http://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=575CDS110 20162016-10-04T18:35:13Z<p>131.215.220.164: /* Course Staff, Hours, Location */</p>
<hr />
<div>This is the course homepage for Caltech's CDS 101/110, Fall 2016.<br />
<br />
== Course Staff, Hours, Location ==<br />
The course meets MWF 2-3 pm. All lectures will take place in Annenberg 105, except for 3 days (Oct. 7, Nov. 11, Nov. 18) during which lectures will take place in 102 Steele.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''<br />
|-<br />
| '''Instructor'''<br />
| Joel Burdick<br />
| 245 Gates-Thomas<br />
| ''send mail for an appointment''<br />
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]<br />
| 626-395-4139<br />
|-<br />
| '''Teach Asst.'''<br />
| Richard Cheng <br />
| 205 Gates-Thomas<br />
| Thurs 7-9pm (Annenberg 107)<br />
| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Teach Asst.'''<br />
| Yoke Peng Leong<br />
| 230 Annenberg<br />
| Wed 5-6pm, Thurs - 7-8pm (Annenberg 107)<br />
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Administrative'''<br />
| Sonya Lincoln<br />
| 250 Gates-Thomas<br />
| 7:30am-noon; 1:00pm-4:30pm<br />
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]<br />
| 626-395-3385<br />
|}<br />
<br />
== Announcements ==<br />
* '''NOTE:''' On October 7, November 11, and November 18, the course lectures will take place in 102 STEELE building.<br />
* '''OFFICE HOUR:''' On October 6, the office hour will be held at Annenberg 106. Office hour will be held at Annenberg 107 for the rest of the term.<br />
<br />
== Lecture Schedule ==<br />
<br />
The following is a '''tentative''' schedule for the class, based on previous years' experience.<br />
<br />
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5<br />
|-<br />
| '''Date'''<br />
| '''Topic'''<br />
| '''Reading'''<br />
| '''Homework'''<br />
|- valign=top<br />
|- valign=top<br />
| '''Week 1'''<br><br />
26 Sept <br> 28 Sept <br> 30 Sept.<br />
| Introduction and Review<br />
* Introduction to feedback and control<br />
* Review of differential equation and linear algebra<br />
* Feedback principles and examples<br />
| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf Mon lecture notes],<br />
* Wed. was a board Lecture,<br />
* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]<br />
| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br><br />
[[CDS110_HW1_2016_solns.pdf | HW1 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 2'''<br><br />
3 Oct <br> 5 Oct <br> 7 Oct<br />
| Modeling and Stability<br />
* Feedback principles (''cont.''), Modeling<br />
* Phase portraits and stability<br />
* Introduction to MATLAB<br />
| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3<br />
* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_HW2_2016.pdf | HomeWork 2]] <br> Due: 14 Oct, 5 pm <br><br />
[[Media:CDS110_HW2_2016_solns.pdf | HW Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 3'''<br><br />
10 Oct <br> 12 Oct <br> 14 Oct<br />
| Linear Systems<br />
* Input/output response of LTI systems<br />
* Matrix exponential, convolution equation<br />
* Linearization around an equilibrium point<br />
| FBS-1e 5.1-5.4 <br> FBS-2e 6.1-6.4<br />
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}<br />
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm<br />
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]<br />
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]<br />
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]<br />
<br />
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 4'''<br><br />
17 Oct <br> 19 Oct <br> 21 Oct<br />
| State Feedback<br />
* Reachability<br />
* State feedback and eigenvalue placement<br />
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4<br />
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}<br />
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}<br />
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}<br />
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm<br />
<br />
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}<br />
* Python: {{cds110 fa15 python|bike_linmod.py}}<br />
<br />
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 5'''<br><br />
24 Oct <br> 26 Oct <br> 28 Oct<br />
| State space control design<br />
* Trajectory generation, feedforward<br />
* Integral feedback<br />
* State estimation (if time)<br />
* Midterm review<br />
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3<br />
| Midterm exam <br> Due: 3 Nov, 5 pm<br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
1 Oct <br> 2 Nov <br> 4 Nov<br />
| Transfer Functions<br />
* Frequency domain modeling<br />
* Block diagram algebra<br />
* Bode plots<br />
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4<br />
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function and the Nyquist criterion<br />
* Stability margins<br />
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3<br />
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}<br />
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 8'''<br><br />
14 Nov <br> 16 Nov <br> 18 Nov<br />
| PID Control<br />
* Simple controllers for complex systems<br />
* Integral action and anti-windup<br />
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4<br />
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)<br />
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 9'''<br><br />
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''<br />
| Loop Shaping, I<br />
* Sensitivity functions<br />
* Feedback design via loop shaping<br />
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4<br />
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}<br />
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Modeling uncertainty<br />
* Performance/robustness tradeoffs<br />
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3<br />
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<br />
* To be posted on-line<br />
|}<br />
<br />
== Course Syllabus, Mechanics, and Grading ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. The course will introduce students to the basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and<br />
managing system uncertainty. Key themes include: linear system theory<br />
input/output response, closed loop behavior, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for science<br />
and engineering students who are interested in the principles and tools of feedback<br />
control, but not necessarily the engineering and analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and<br />
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. The basics of these topics will be reviewed during the course.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is <br />
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008<br />
<br />
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that we will be using the second edition of this book, which<br />
is in a ''best-test'' preparation for publication. The reading assignments and problem numbers are based on this version of the book.<br />
<br />
The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].<br />
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013. <br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (60%):'' Homework sets will be handed out on an approximately weekly schedule. Problem sets are due at 5:00 pm. They can be handed in during class period, or in a box outside the office of Sonya Lincoln (250 Gates-Thomas). Each student is allowed up to ''automatic'' two extensions of 2 day each over the course of the term. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set.<br />
<br />
* ''Midterm exam (10%):'' A midterm exam will be handed out at the beginning of midterms period (26 Oct) and due at the end of the midterm examination period (1 Nov). The midterm exam will be open book and computers will be allowed (though not necessarily required). <br />
<br />
* ''Final exam (30%):'' The final exam will be available at the beginning of the finals period, and due at the end of finals week. It will be an open book exam and computers will be allowed.<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB/Python scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.</div>131.215.220.164http://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=574CDS110 20162016-10-04T18:35:01Z<p>131.215.220.164: /* Announcements */</p>
<hr />
<div>This is the course homepage for Caltech's CDS 101/110, Fall 2016.<br />
<br />
== Course Staff, Hours, Location ==<br />
The course meets MWF 2-3 pm. All lectures will take place in Annenberg 105, except for 3 days (Oct. 7, Nov. 11, Nov. 18) during which lectures will take place in 102 Steele.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''<br />
|-<br />
| '''Instructor'''<br />
| Joel Burdick<br />
| 245 Gates-Thomas<br />
| ''send mail for an appointment''<br />
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]<br />
| 626-395-4139<br />
|-<br />
| '''Teach Asst.'''<br />
| Richard Cheng <br />
| 205 Gates-Thomas<br />
| Thurs 7-9pm (Annenberg 105)<br />
| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Teach Asst.'''<br />
| Yoke Peng Leong<br />
| 230 Annenberg<br />
| Wed 5-6pm, Thurs - 7-8pm (Annenberg 105)<br />
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Administrative'''<br />
| Sonya Lincoln<br />
| 250 Gates-Thomas<br />
| 7:30am-noon; 1:00pm-4:30pm<br />
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]<br />
| 626-395-3385<br />
|}<br />
<br />
== Announcements ==<br />
* '''NOTE:''' On October 7, November 11, and November 18, the course lectures will take place in 102 STEELE building.<br />
* '''OFFICE HOUR:''' On October 6, the office hour will be held at Annenberg 106. Office hour will be held at Annenberg 107 for the rest of the term.<br />
<br />
== Lecture Schedule ==<br />
<br />
The following is a '''tentative''' schedule for the class, based on previous years' experience.<br />
<br />
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5<br />
|-<br />
| '''Date'''<br />
| '''Topic'''<br />
| '''Reading'''<br />
| '''Homework'''<br />
|- valign=top<br />
|- valign=top<br />
| '''Week 1'''<br><br />
26 Sept <br> 28 Sept <br> 30 Sept.<br />
| Introduction and Review<br />
* Introduction to feedback and control<br />
* Review of differential equation and linear algebra<br />
* Feedback principles and examples<br />
| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf Mon lecture notes],<br />
* Wed. was a board Lecture,<br />
* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]<br />
| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br><br />
[[CDS110_HW1_2016_solns.pdf | HW1 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 2'''<br><br />
3 Oct <br> 5 Oct <br> 7 Oct<br />
| Modeling and Stability<br />
* Feedback principles (''cont.''), Modeling<br />
* Phase portraits and stability<br />
* Introduction to MATLAB<br />
| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3<br />
* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_HW2_2016.pdf | HomeWork 2]] <br> Due: 14 Oct, 5 pm <br><br />
[[Media:CDS110_HW2_2016_solns.pdf | HW Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 3'''<br><br />
10 Oct <br> 12 Oct <br> 14 Oct<br />
| Linear Systems<br />
* Input/output response of LTI systems<br />
* Matrix exponential, convolution equation<br />
* Linearization around an equilibrium point<br />
| FBS-1e 5.1-5.4 <br> FBS-2e 6.1-6.4<br />
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}<br />
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm<br />
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]<br />
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]<br />
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]<br />
<br />
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 4'''<br><br />
17 Oct <br> 19 Oct <br> 21 Oct<br />
| State Feedback<br />
* Reachability<br />
* State feedback and eigenvalue placement<br />
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4<br />
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}<br />
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}<br />
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}<br />
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm<br />
<br />
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}<br />
* Python: {{cds110 fa15 python|bike_linmod.py}}<br />
<br />
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 5'''<br><br />
24 Oct <br> 26 Oct <br> 28 Oct<br />
| State space control design<br />
* Trajectory generation, feedforward<br />
* Integral feedback<br />
* State estimation (if time)<br />
* Midterm review<br />
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3<br />
| Midterm exam <br> Due: 3 Nov, 5 pm<br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
1 Oct <br> 2 Nov <br> 4 Nov<br />
| Transfer Functions<br />
* Frequency domain modeling<br />
* Block diagram algebra<br />
* Bode plots<br />
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4<br />
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function and the Nyquist criterion<br />
* Stability margins<br />
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3<br />
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}<br />
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 8'''<br><br />
14 Nov <br> 16 Nov <br> 18 Nov<br />
| PID Control<br />
* Simple controllers for complex systems<br />
* Integral action and anti-windup<br />
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4<br />
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)<br />
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 9'''<br><br />
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''<br />
| Loop Shaping, I<br />
* Sensitivity functions<br />
* Feedback design via loop shaping<br />
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4<br />
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}<br />
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Modeling uncertainty<br />
* Performance/robustness tradeoffs<br />
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3<br />
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<br />
* To be posted on-line<br />
|}<br />
<br />
== Course Syllabus, Mechanics, and Grading ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. The course will introduce students to the basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and<br />
managing system uncertainty. Key themes include: linear system theory<br />
input/output response, closed loop behavior, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for science<br />
and engineering students who are interested in the principles and tools of feedback<br />
control, but not necessarily the engineering and analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and<br />
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. The basics of these topics will be reviewed during the course.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is <br />
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008<br />
<br />
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that we will be using the second edition of this book, which<br />
is in a ''best-test'' preparation for publication. The reading assignments and problem numbers are based on this version of the book.<br />
<br />
The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].<br />
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013. <br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (60%):'' Homework sets will be handed out on an approximately weekly schedule. Problem sets are due at 5:00 pm. They can be handed in during class period, or in a box outside the office of Sonya Lincoln (250 Gates-Thomas). Each student is allowed up to ''automatic'' two extensions of 2 day each over the course of the term. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set.<br />
<br />
* ''Midterm exam (10%):'' A midterm exam will be handed out at the beginning of midterms period (26 Oct) and due at the end of the midterm examination period (1 Nov). The midterm exam will be open book and computers will be allowed (though not necessarily required). <br />
<br />
* ''Final exam (30%):'' The final exam will be available at the beginning of the finals period, and due at the end of finals week. It will be an open book exam and computers will be allowed.<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB/Python scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.</div>131.215.220.164http://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=573CDS110 20162016-10-04T18:34:17Z<p>131.215.220.164: /* Course Staff, Hours, Location */</p>
<hr />
<div>This is the course homepage for Caltech's CDS 101/110, Fall 2016.<br />
<br />
== Course Staff, Hours, Location ==<br />
The course meets MWF 2-3 pm. All lectures will take place in Annenberg 105, except for 3 days (Oct. 7, Nov. 11, Nov. 18) during which lectures will take place in 102 Steele.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''<br />
|-<br />
| '''Instructor'''<br />
| Joel Burdick<br />
| 245 Gates-Thomas<br />
| ''send mail for an appointment''<br />
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]<br />
| 626-395-4139<br />
|-<br />
| '''Teach Asst.'''<br />
| Richard Cheng <br />
| 205 Gates-Thomas<br />
| Thurs 7-9pm (Annenberg 105)<br />
| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Teach Asst.'''<br />
| Yoke Peng Leong<br />
| 230 Annenberg<br />
| Wed 5-6pm, Thurs - 7-8pm (Annenberg 105)<br />
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Administrative'''<br />
| Sonya Lincoln<br />
| 250 Gates-Thomas<br />
| 7:30am-noon; 1:00pm-4:30pm<br />
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]<br />
| 626-395-3385<br />
|}<br />
<br />
== Announcements ==<br />
* '''NOTE:''' On October 7, November 11, and November 18, the course lectures will take place in 102 STEELE building.<br />
* '''OFFICE HOUR:''' On October 6, the office hour will be held at Annenberg 106.<br />
<br />
== Lecture Schedule ==<br />
<br />
The following is a '''tentative''' schedule for the class, based on previous years' experience.<br />
<br />
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5<br />
|-<br />
| '''Date'''<br />
| '''Topic'''<br />
| '''Reading'''<br />
| '''Homework'''<br />
|- valign=top<br />
|- valign=top<br />
| '''Week 1'''<br><br />
26 Sept <br> 28 Sept <br> 30 Sept.<br />
| Introduction and Review<br />
* Introduction to feedback and control<br />
* Review of differential equation and linear algebra<br />
* Feedback principles and examples<br />
| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf Mon lecture notes],<br />
* Wed. was a board Lecture,<br />
* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]<br />
| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br><br />
[[CDS110_HW1_2016_solns.pdf | HW1 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 2'''<br><br />
3 Oct <br> 5 Oct <br> 7 Oct<br />
| Modeling and Stability<br />
* Feedback principles (''cont.''), Modeling<br />
* Phase portraits and stability<br />
* Introduction to MATLAB<br />
| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3<br />
* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_HW2_2016.pdf | HomeWork 2]] <br> Due: 14 Oct, 5 pm <br><br />
[[Media:CDS110_HW2_2016_solns.pdf | HW Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 3'''<br><br />
10 Oct <br> 12 Oct <br> 14 Oct<br />
| Linear Systems<br />
* Input/output response of LTI systems<br />
* Matrix exponential, convolution equation<br />
* Linearization around an equilibrium point<br />
| FBS-1e 5.1-5.4 <br> FBS-2e 6.1-6.4<br />
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}<br />
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm<br />
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]<br />
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]<br />
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]<br />
<br />
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 4'''<br><br />
17 Oct <br> 19 Oct <br> 21 Oct<br />
| State Feedback<br />
* Reachability<br />
* State feedback and eigenvalue placement<br />
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4<br />
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}<br />
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}<br />
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}<br />
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm<br />
<br />
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}<br />
* Python: {{cds110 fa15 python|bike_linmod.py}}<br />
<br />
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 5'''<br><br />
24 Oct <br> 26 Oct <br> 28 Oct<br />
| State space control design<br />
* Trajectory generation, feedforward<br />
* Integral feedback<br />
* State estimation (if time)<br />
* Midterm review<br />
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3<br />
| Midterm exam <br> Due: 3 Nov, 5 pm<br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
1 Oct <br> 2 Nov <br> 4 Nov<br />
| Transfer Functions<br />
* Frequency domain modeling<br />
* Block diagram algebra<br />
* Bode plots<br />
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4<br />
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function and the Nyquist criterion<br />
* Stability margins<br />
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3<br />
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}<br />
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 8'''<br><br />
14 Nov <br> 16 Nov <br> 18 Nov<br />
| PID Control<br />
* Simple controllers for complex systems<br />
* Integral action and anti-windup<br />
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4<br />
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)<br />
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 9'''<br><br />
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''<br />
| Loop Shaping, I<br />
* Sensitivity functions<br />
* Feedback design via loop shaping<br />
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4<br />
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}<br />
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Modeling uncertainty<br />
* Performance/robustness tradeoffs<br />
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3<br />
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<br />
* To be posted on-line<br />
|}<br />
<br />
== Course Syllabus, Mechanics, and Grading ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. The course will introduce students to the basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and<br />
managing system uncertainty. Key themes include: linear system theory<br />
input/output response, closed loop behavior, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for science<br />
and engineering students who are interested in the principles and tools of feedback<br />
control, but not necessarily the engineering and analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and<br />
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. The basics of these topics will be reviewed during the course.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is <br />
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008<br />
<br />
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that we will be using the second edition of this book, which<br />
is in a ''best-test'' preparation for publication. The reading assignments and problem numbers are based on this version of the book.<br />
<br />
The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].<br />
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013. <br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (60%):'' Homework sets will be handed out on an approximately weekly schedule. Problem sets are due at 5:00 pm. They can be handed in during class period, or in a box outside the office of Sonya Lincoln (250 Gates-Thomas). Each student is allowed up to ''automatic'' two extensions of 2 day each over the course of the term. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set.<br />
<br />
* ''Midterm exam (10%):'' A midterm exam will be handed out at the beginning of midterms period (26 Oct) and due at the end of the midterm examination period (1 Nov). The midterm exam will be open book and computers will be allowed (though not necessarily required). <br />
<br />
* ''Final exam (30%):'' The final exam will be available at the beginning of the finals period, and due at the end of finals week. It will be an open book exam and computers will be allowed.<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB/Python scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.</div>131.215.220.164http://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=572CDS110 20162016-10-04T18:33:57Z<p>131.215.220.164: /* Announcements */</p>
<hr />
<div>This is the course homepage for Caltech's CDS 101/110, Fall 2016.<br />
<br />
== Course Staff, Hours, Location ==<br />
The course meets MWF 2-3 pm. All lectures will take place in Annenberg 105, except for 3 days (Oct. 7, Nov. 11, Nov. 18) during which lectures will take place in 102 Steele.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''<br />
|-<br />
| '''Instructor'''<br />
| Joel Burdick<br />
| 245 Gates-Thomas<br />
| ''send mail for an appointment''<br />
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]<br />
| 626-395-4139<br />
|-<br />
| '''Teach Asst.'''<br />
| Richard Cheng <br />
| 205 Gates-Thomas<br />
| Thurs 7-9pm (ANN 105)<br />
| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Teach Asst.'''<br />
| Yoke Peng Leong<br />
| 230 Annenberg<br />
| Wed 5-6pm, Thurs - 7-8pm (ANN 105)<br />
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Administrative'''<br />
| Sonya Lincoln<br />
| 250 Gates-Thomas<br />
| 7:30am-noon; 1:00pm-4:30pm<br />
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]<br />
| 626-395-3385<br />
|}<br />
<br />
== Announcements ==<br />
* '''NOTE:''' On October 7, November 11, and November 18, the course lectures will take place in 102 STEELE building.<br />
* '''OFFICE HOUR:''' On October 6, the office hour will be held at Annenberg 106.<br />
<br />
== Lecture Schedule ==<br />
<br />
The following is a '''tentative''' schedule for the class, based on previous years' experience.<br />
<br />
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5<br />
|-<br />
| '''Date'''<br />
| '''Topic'''<br />
| '''Reading'''<br />
| '''Homework'''<br />
|- valign=top<br />
|- valign=top<br />
| '''Week 1'''<br><br />
26 Sept <br> 28 Sept <br> 30 Sept.<br />
| Introduction and Review<br />
* Introduction to feedback and control<br />
* Review of differential equation and linear algebra<br />
* Feedback principles and examples<br />
| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf Mon lecture notes],<br />
* Wed. was a board Lecture,<br />
* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]<br />
| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br><br />
[[CDS110_HW1_2016_solns.pdf | HW1 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 2'''<br><br />
3 Oct <br> 5 Oct <br> 7 Oct<br />
| Modeling and Stability<br />
* Feedback principles (''cont.''), Modeling<br />
* Phase portraits and stability<br />
* Introduction to MATLAB<br />
| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3<br />
* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_HW2_2016.pdf | HomeWork 2]] <br> Due: 14 Oct, 5 pm <br><br />
[[Media:CDS110_HW2_2016_solns.pdf | HW Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 3'''<br><br />
10 Oct <br> 12 Oct <br> 14 Oct<br />
| Linear Systems<br />
* Input/output response of LTI systems<br />
* Matrix exponential, convolution equation<br />
* Linearization around an equilibrium point<br />
| FBS-1e 5.1-5.4 <br> FBS-2e 6.1-6.4<br />
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}<br />
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm<br />
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]<br />
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]<br />
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]<br />
<br />
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 4'''<br><br />
17 Oct <br> 19 Oct <br> 21 Oct<br />
| State Feedback<br />
* Reachability<br />
* State feedback and eigenvalue placement<br />
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4<br />
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}<br />
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}<br />
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}<br />
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm<br />
<br />
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}<br />
* Python: {{cds110 fa15 python|bike_linmod.py}}<br />
<br />
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 5'''<br><br />
24 Oct <br> 26 Oct <br> 28 Oct<br />
| State space control design<br />
* Trajectory generation, feedforward<br />
* Integral feedback<br />
* State estimation (if time)<br />
* Midterm review<br />
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3<br />
| Midterm exam <br> Due: 3 Nov, 5 pm<br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
1 Oct <br> 2 Nov <br> 4 Nov<br />
| Transfer Functions<br />
* Frequency domain modeling<br />
* Block diagram algebra<br />
* Bode plots<br />
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4<br />
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function and the Nyquist criterion<br />
* Stability margins<br />
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3<br />
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}<br />
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 8'''<br><br />
14 Nov <br> 16 Nov <br> 18 Nov<br />
| PID Control<br />
* Simple controllers for complex systems<br />
* Integral action and anti-windup<br />
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4<br />
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)<br />
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 9'''<br><br />
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''<br />
| Loop Shaping, I<br />
* Sensitivity functions<br />
* Feedback design via loop shaping<br />
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4<br />
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}<br />
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Modeling uncertainty<br />
* Performance/robustness tradeoffs<br />
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3<br />
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<br />
* To be posted on-line<br />
|}<br />
<br />
== Course Syllabus, Mechanics, and Grading ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. The course will introduce students to the basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and<br />
managing system uncertainty. Key themes include: linear system theory<br />
input/output response, closed loop behavior, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for science<br />
and engineering students who are interested in the principles and tools of feedback<br />
control, but not necessarily the engineering and analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and<br />
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. The basics of these topics will be reviewed during the course.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is <br />
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008<br />
<br />
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that we will be using the second edition of this book, which<br />
is in a ''best-test'' preparation for publication. The reading assignments and problem numbers are based on this version of the book.<br />
<br />
The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].<br />
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013. <br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (60%):'' Homework sets will be handed out on an approximately weekly schedule. Problem sets are due at 5:00 pm. They can be handed in during class period, or in a box outside the office of Sonya Lincoln (250 Gates-Thomas). Each student is allowed up to ''automatic'' two extensions of 2 day each over the course of the term. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set.<br />
<br />
* ''Midterm exam (10%):'' A midterm exam will be handed out at the beginning of midterms period (26 Oct) and due at the end of the midterm examination period (1 Nov). The midterm exam will be open book and computers will be allowed (though not necessarily required). <br />
<br />
* ''Final exam (30%):'' The final exam will be available at the beginning of the finals period, and due at the end of finals week. It will be an open book exam and computers will be allowed.<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB/Python scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.</div>131.215.220.164http://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=571CDS110 20162016-10-04T18:32:25Z<p>131.215.220.164: /* Course Staff, Hours, Location */</p>
<hr />
<div>This is the course homepage for Caltech's CDS 101/110, Fall 2016.<br />
<br />
== Course Staff, Hours, Location ==<br />
The course meets MWF 2-3 pm. All lectures will take place in Annenberg 105, except for 3 days (Oct. 7, Nov. 11, Nov. 18) during which lectures will take place in 102 Steele.<br />
<br />
{| border=1 width=100%<br />
|-<br />
| '''Position''' || '''Name''' || '''Office''' || '''Office Hours''' (changing weekly) || '''Email''' || '''Phone'''<br />
|-<br />
| '''Instructor'''<br />
| Joel Burdick<br />
| 245 Gates-Thomas<br />
| ''send mail for an appointment''<br />
| [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]<br />
| 626-395-4139<br />
|-<br />
| '''Teach Asst.'''<br />
| Richard Cheng <br />
| 205 Gates-Thomas<br />
| Thurs 7-9pm (ANN 105)<br />
| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Teach Asst.'''<br />
| Yoke Peng Leong<br />
| 230 Annenberg<br />
| Wed 5-6pm, Thurs - 7-8pm (ANN 105)<br />
| [mailto:ypleong@caltech.edu ypleong at caltech dot edu]<br />
| 626-395-????<br />
|-<br />
| '''Administrative'''<br />
| Sonya Lincoln<br />
| 250 Gates-Thomas<br />
| 7:30am-noon; 1:00pm-4:30pm<br />
| [mailto:lincolns@caltech.edu lincolns at caltech dot edu]<br />
| 626-395-3385<br />
|}<br />
<br />
== Announcements ==<br />
* '''NOTE:''' On October 7, November 11, and November 18, the course lectures will take place in 102 STEELE building.<br />
<br />
== Lecture Schedule ==<br />
<br />
The following is a '''tentative''' schedule for the class, based on previous years' experience.<br />
<br />
{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5<br />
|-<br />
| '''Date'''<br />
| '''Topic'''<br />
| '''Reading'''<br />
| '''Homework'''<br />
|- valign=top<br />
|- valign=top<br />
| '''Week 1'''<br><br />
26 Sept <br> 28 Sept <br> 30 Sept.<br />
| Introduction and Review<br />
* Introduction to feedback and control<br />
* Review of differential equation and linear algebra<br />
* Feedback principles and examples<br />
| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf Mon lecture notes],<br />
* Wed. was a board Lecture,<br />
* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]<br />
| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br><br />
[[CDS110_HW1_2016_solns.pdf | HW1 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 2'''<br><br />
3 Oct <br> 5 Oct <br> 7 Oct<br />
| Modeling and Stability<br />
* Feedback principles (''cont.''), Modeling<br />
* Phase portraits and stability<br />
* Introduction to MATLAB<br />
| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3<br />
* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week2_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_HW2_2016.pdf | HomeWork 2]] <br> Due: 14 Oct, 5 pm <br><br />
[[Media:CDS110_HW2_2016_solns.pdf | HW Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 3'''<br><br />
10 Oct <br> 12 Oct <br> 14 Oct<br />
| Linear Systems<br />
* Input/output response of LTI systems<br />
* Matrix exponential, convolution equation<br />
* Linearization around an equilibrium point<br />
| FBS-1e 5.1-5.4 <br> FBS-2e 6.1-6.4<br />
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}<br />
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm<br />
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]<br />
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]<br />
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]<br />
<br />
{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 4'''<br><br />
17 Oct <br> 19 Oct <br> 21 Oct<br />
| State Feedback<br />
* Reachability<br />
* State feedback and eigenvalue placement<br />
| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4<br />
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}<br />
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}<br />
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}<br />
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm<br />
<br />
[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}<br />
* Python: {{cds110 fa15 python|bike_linmod.py}}<br />
<br />
{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 5'''<br><br />
24 Oct <br> 26 Oct <br> 28 Oct<br />
| State space control design<br />
* Trajectory generation, feedforward<br />
* Integral feedback<br />
* State estimation (if time)<br />
* Midterm review<br />
| FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3<br />
| Midterm exam <br> Due: 3 Nov, 5 pm<br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
1 Oct <br> 2 Nov <br> 4 Nov<br />
| Transfer Functions<br />
* Frequency domain modeling<br />
* Block diagram algebra<br />
* Bode plots<br />
| FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4<br />
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function and the Nyquist criterion<br />
* Stability margins<br />
| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3<br />
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}<br />
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 8'''<br><br />
14 Nov <br> 16 Nov <br> 18 Nov<br />
| PID Control<br />
* Simple controllers for complex systems<br />
* Integral action and anti-windup<br />
| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4<br />
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}<br />
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)<br />
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 9'''<br><br />
21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''<br />
| Loop Shaping, I<br />
* Sensitivity functions<br />
* Feedback design via loop shaping<br />
| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4<br />
* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}<br />
| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm<br />
<br />
{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Modeling uncertainty<br />
* Performance/robustness tradeoffs<br />
| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3<br />
* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}<br />
* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}<br />
* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<br />
* To be posted on-line<br />
|}<br />
<br />
== Course Syllabus, Mechanics, and Grading ==<br />
<br />
CDS 101/110 provides an introduction to feedback and control in physical,<br />
biological, engineering, and information sciences. The course will introduce students to the basic principles of<br />
feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and<br />
managing system uncertainty. Key themes include: linear system theory<br />
input/output response, closed loop behavior, linear versus nonlinear<br />
models, and local versus global behavior. <br />
<br />
CDS 101 is a 6 unit (2-0-4) class intended for science<br />
and engineering students who are interested in the principles and tools of feedback<br />
control, but not necessarily the engineering and analytical techniques for design and synthesis of control<br />
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first<br />
course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and<br />
ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)<br />
is helpful but not required. The basics of these topics will be reviewed during the course.<br />
<br />
=== Course Text and References ===<br />
<br />
The primary course text is <br />
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008<br />
<br />
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that we will be using the second edition of this book, which<br />
is in a ''best-test'' preparation for publication. The reading assignments and problem numbers are based on this version of the book.<br />
<br />
The following additional references may also be useful:<br />
<br />
* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].<br />
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013. <br />
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.<br />
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.<br />
<br />
=== Grading ===<br />
The final grade will be based on homework sets, a midterm exam, and a final exam: <br />
<br />
*''Homework (60%):'' Homework sets will be handed out on an approximately weekly schedule. Problem sets are due at 5:00 pm. They can be handed in during class period, or in a box outside the office of Sonya Lincoln (250 Gates-Thomas). Each student is allowed up to ''automatic'' two extensions of 2 day each over the course of the term. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set.<br />
<br />
* ''Midterm exam (10%):'' A midterm exam will be handed out at the beginning of midterms period (26 Oct) and due at the end of the midterm examination period (1 Nov). The midterm exam will be open book and computers will be allowed (though not necessarily required). <br />
<br />
* ''Final exam (30%):'' The final exam will be available at the beginning of the finals period, and due at the end of finals week. It will be an open book exam and computers will be allowed.<br />
<br />
=== Collaboration Policy ===<br />
<br />
Collaboration on homework assignments is encouraged. You may consult<br />
outside reference materials, other students, the TA, or the<br />
instructor, but you cannot consult homework solutions from<br />
prior years and you must cite any use of material from outside<br />
references. All solutions that are handed in should be written up<br />
individually and should reflect your own understanding of the subject<br />
matter at the time of writing. MATLAB/Python scripts and plots are<br />
considered part of your writeup and should be done individually (you<br />
can share ideas, but not code).<br />
<br />
No collaboration is allowed on the midterm or final exams.</div>131.215.220.164