http://robotics.caltech.edu/wiki/api.php?action=feedcontributions&user=YokePeng&feedformat=atomRobotics - User contributions [en]2022-01-23T14:26:20ZUser contributionsMediaWiki 1.26.0http://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution8_2016.pdf&diff=684File:CDS110 Solution8 2016.pdf2016-12-08T19:31:50Z<p>YokePeng: YokePeng uploaded a new version of File:CDS110 Solution8 2016.pdf</p>
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<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution8_2016.pdf&diff=683File:CDS110 Solution8 2016.pdf2016-12-08T19:30:02Z<p>YokePeng: </p>
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<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=682CDS110 20162016-12-08T19:29:41Z<p>YokePeng: /* Lecture Schedule */</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 />
* '''Dec. 5, 2016:''' The [[Media:CDS110_Final_2016.pdf | Final Exam]] is due Dec. 9 at 5:00. The instructions are on the first page<br />
of the exam.<br />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<br />
* '''LAST OFFICE HOUR:''' The last office hour of this term will be on Saturday (December 3) and Sunday (December 4) from 8pm-9pm. Location: ANN 107.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br>[[Media:CDS110_Solution7_2016.pdf | HW7 Solutions]]<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br>[[Media:CDS110_Solution8_2016.pdf | HW8 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture3.pdf | Fri. Review slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution7_2016.pdf&diff=681File:CDS110 Solution7 2016.pdf2016-12-05T21:52:23Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=680CDS110 20162016-12-05T21:51:46Z<p>YokePeng: /* Lecture Schedule */</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 />
* '''Dec. 5, 2016:''' The [[Media:CDS110_Final_2016.pdf | Final Exam]] is due Dec. 9 at 5:00. The instructions are on the first page<br />
of the exam.<br />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<br />
* '''LAST OFFICE HOUR:''' The last office hour of this term will be on Saturday (December 3) and Sunday (December 4) from 8pm-9pm. Location: ANN 107.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br>[[Media:CDS110_Solution7_2016.pdf | HW7 Solutions]]<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture3.pdf | Fri. Review slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=671CDS110 20162016-12-02T18:40:53Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<br />
* '''LAST OFFICE HOUR:''' The last office hour of this term will be on Saturday (December 3) and Sunday (December 4) from 8pm-9pm. Location: ANN 107.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=670CDS110 20162016-12-02T04:32:47Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<br />
* '''LAST OFFICE HOUR:''' The last office hour of this term will be on Saturday (December 3) and Sunday (December 4) from 8pm-9pm. Location TBA.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution6_2016.pdf&diff=667File:CDS110 Solution6 2016.pdf2016-11-30T01:18:14Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=666CDS110 20162016-11-30T01:09:45Z<p>YokePeng: /* Lecture Schedule */</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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=665CDS110 20162016-11-29T21:27:48Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm in Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 29 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=664CDS110 20162016-11-29T21:27:30Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm In Annenberg 107.<br />
* '''HOMEWORK 7:''' Homework 7 s now due on November 30. Problem 4 is 11.7 instead of 10.7.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 29 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 10'''<br><br />
28 Nov <br> 30 Nov. <br> 2 Dec<br />
| Loop Shaping II<br />
* Fundamental limitations<br />
* Loop Shaping Examples<br />
* Final Exam Review<br />
| FBS-2e 12.6-12.7<br />
* [[Media:CDS110_Week10_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week10_Lecture2.pdf | Wed. lecture slides]]<br />
| Final exam <br> Due 5 pm on last day of Final Exam Period<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=657CDS110 20162016-11-23T05:52:29Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm In Annenberg 107.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 29 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=655CDS110 20162016-11-22T13:12:55Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28 at 8.30pm - 10.00pm. Location TBA.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 29 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution5_2016.pdf&diff=654File:CDS110 Solution5 2016.pdf2016-11-22T07:18:42Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=653CDS110 20162016-11-22T07:17:47Z<p>YokePeng: /* Lecture Schedule */</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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28. Time and location TBA.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_Solution5_2016.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 29 Nov, 5 pm<br />
<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 12.1 <br> FBS-2e 12.3-12.4<br />
* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]<br />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/Bode_Paper.pdf | H.W. Bode, ''Relations Between Attenuation and Phase in Feedback Amplifier Design'', Bell Systems Journal, 1940]<br />
* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]<br />
| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=646CDS110 20162016-11-17T23:02:16Z<p>YokePeng: /* 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 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 />
* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102<br />
* ''' NO CLASS:''' on Monday, November 14.<br />
* '''NOTE:''' On October 7, November 11, 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<br />
* '''THANKSGIVING WEEK:''' Homework 7 is due on November 29. There will be no office hour on November 23 and 24. Office hour will be held in the evening of November 27 and 28. Time and location TBA.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br><br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]<br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 28 Nov, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=640CDS110 20162016-11-15T22:46:12Z<p>YokePeng: /* Lecture Schedule */</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 />
* ''' NO CLASS:''' on Monday, November 14.<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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br><br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 28 Nov, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_HW5_2016_solns.pdf&diff=639File:CDS110 HW5 2016 solns.pdf2016-11-15T22:43:05Z<p>YokePeng: YokePeng uploaded a new version of File:CDS110 HW5 2016 solns.pdf</p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_HW5_2016_solns.pdf&diff=638File:CDS110 HW5 2016 solns.pdf2016-11-15T22:42:26Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=637CDS110 20162016-11-15T22:41:49Z<p>YokePeng: /* Lecture Schedule */</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 />
* ''' NO CLASS:''' on Monday, November 14.<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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br>[[Media:CDS110_HW5_2016_solns.pdf | HW5 Solutions]]<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br />
<br />
<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-2e 11.1-11.4<br />
* '''NO CLASS''' on Monday, Nov. 14.<br />
* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]] <br />
* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]] <br />
| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 28 Nov, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=631CDS110 20162016-11-09T22:07:19Z<p>YokePeng: /* 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 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<br />
* '''HOMEWORK 5:''' There is a typo in first and second problems. The same problems are assigned on both. This homework will have one less problem, and you may treat the two same problems as one problem.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br />
<br />
|- valign=top<br />
| '''Week 7'''<br><br />
7 Nov <br> 9 Nov <br> 11 Nov<br />
| Loop Analysis<br />
* Loop transfer function, Nyquist Plot, and Nyquist criterion<br />
* Stability margins<br />
| FBS-2e 10.1-10.4<br />
* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br />
<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=621CDS110 20162016-11-01T17:22:21Z<p>YokePeng: /* 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 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 />
* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.<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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)<br />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=616CDS110 20162016-10-31T18:35:10Z<p>YokePeng: /* Lecture Schedule */</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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]<br />
<br />
* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]<br />
<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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<br />
| No Homework Handed out <br />
<br />
{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)<br />
|- valign=top<br />
| '''Week 6'''<br><br />
31 Oct <br> 2 Nov <br> 4 Nov<br />
| Observability wrap up <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 />
| Midterm exam; Due: 4 Nov, 5 pm <br> [[Media:CDS110_Homework5_2016.pdf| HomeWork 5]]<br> Due: 11 Nov, 5 pm<br />
<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_Solution4_2016.pdf&diff=615File:CDS110 Solution4 2016.pdf2016-10-31T18:34:06Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_HW3_2016_solns.pdf&diff=610File:CDS110 HW3 2016 solns.pdf2016-10-28T22:00:30Z<p>YokePeng: YokePeng uploaded a new version of File:CDS110 HW3 2016 solns.pdf</p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_HW3_2016_solns.pdf&diff=609File:CDS110 HW3 2016 solns.pdf2016-10-28T21:59:13Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=608CDS110 20162016-10-28T21:58:21Z<p>YokePeng: /* Lecture Schedule */</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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <br><br />
[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm<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 />
|- 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 />
* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]<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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=601CDS110 20162016-10-23T05:42:17Z<p>YokePeng: /* Lecture Schedule */</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 />
[[Media:CDS110_Solution1_2016.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 />
* Linearization around an equilibrium point<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 />
* [http://robotics.caltech.edu/~jwb/courses/CDS110/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 | HW2 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 />
* Introduction to MATLAB<br />
| FBS-2e 6.1-6.3<br />
* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]<br />
* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]<br />
| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm<br />
<br />
<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-2e 7.1-7.4<br />
* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]<br />
* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]<br />
| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm<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 />
|- 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>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=File:CDS110_HW2_2016_solns.pdf&diff=600File:CDS110 HW2 2016 solns.pdf2016-10-23T05:40:44Z<p>YokePeng: </p>
<hr />
<div></div>YokePenghttp://robotics.caltech.edu/wiki/index.php?title=CDS110_2016&diff=570CDS110 20162016-10-03T22:31:40Z<p>YokePeng: /* 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 />
| TBD<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 />
| TBD<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>YokePeng