Difference between revisions of "CDS110 2016"

Latest revision as of 11:29, 8 December 2016

This is the course homepage for Caltech's CDS 101/110, Fall 2016.

Course Staff, Hours, Location

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.

Position	Name	Office	Office Hours (changing weekly)	Email	Phone
Instructor	Joel Burdick	245 Gates-Thomas	send mail for an appointment	jwb at robotics dot caltech dot edu	626-395-4139
Teach Asst.	Richard Cheng	205 Gates-Thomas	Thurs 7-9pm (Annenberg 107)	rcheng at caltech dot edu	626-395-????
Teach Asst.	Yoke Peng Leong	230 Annenberg	Wed 5-6pm, Thurs - 7-8pm (Annenberg 107)	ypleong at caltech dot edu	626-395-????
Administrative	Sonya Lincoln	250 Gates-Thomas	7:30am-noon; 1:00pm-4:30pm	lincolns at caltech dot edu	626-395-3385

Announcements

Dec. 5, 2016: The Final Exam is due Dec. 9 at 5:00. The instructions are on the first page

of the exam.

Nov. 18, 2016: Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102
NO CLASS: on Monday, November 14.
NOTE: On October 7, November 11, the course lectures will take place in 102 STEELE building.
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.
MIDTERM WEEK: No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.
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.
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.
HOMEWORK 7: Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.
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.

Lecture Schedule

The following is a tentative schedule for the class, based on previous years' experience.

Date	Topic	Reading	Homework
Week 1 26 Sept 28 Sept 30 Sept.	Introduction and Review Introduction to feedback and control Review of differential equation and linear algebra Feedback principles and examples	FBS-2e, Sections 1.1-1.5 Optional: FBS-2e, Sections 1.6-1.9; FBS-2e 2.1-2.4 Mon lecture notes, Wed. was a board Lecture, Fri. Lecture Notes	HomeWork 1 Due: 7 Oct, 5 pm HW1 Solutions
Week 2 3 Oct 5 Oct 7 Oct	Modeling and Stability Feedback principles (cont.), Modeling Phase portraits and stability Linearization around an equilibrium point	FBS-2e 2.1-2.4, 3.1 FBS-2e 3.1-3.2, 4.1, 5.1-5.3 Mon. lecture notes Wed. lecture notes Fri. lecture notes	HomeWork 2 Due: 14 Oct, 5 pm HW2 Solutions
Week 3 10 Oct 12 Oct 14 Oct	Linear Systems Input/output response of LTI systems Matrix exponential, convolution equation Introduction to MATLAB	FBS-2e 6.1-6.3 Mon. lecture notes Wed. lecture notes Fri. lecture notes	HomeWork 3 Due: Oct. 21, 5 pm HW3 Solutions
Week 4 17 Oct 19 Oct 21 Oct	State Feedback Reachability State feedback and eigenvalue placement	FBS-2e 7.1-7.4 Mon. lecture slides Wed. lecture slides Fri. lecture slides	HomeWork 4 Due: Oct. 28, 5 pm HW4 Solutions Bicycle dynamics
Week 5 24 Oct 26 Oct 28 Oct	State space control design Trajectory generation, feedforward Integral feedback State estimation (if time) Midterm review	FBS-1e 7.1-7.3 FBS-2e 8.1-8.3 Mon. lecture notes Wed. lecture notes Fri. lecture notes	No Homework Handed out
Week 6 31 Oct 2 Nov 4 Nov	Observability wrap up Transfer Functions Frequency domain modeling Block diagram algebra Bode plots	FBS-1e 8.1-8.4 FBS-2e 9.1-9.4 Mon. lecture notes Wed. lecture notes	Midterm exam; Due: 4 Nov, 5 pm HomeWork 5 Due: 11 Nov, 5 pm HW5 Solutions
Week 7 7 Nov 9 Nov 11 Nov	Loop Analysis Loop transfer function, Nyquist Plot, and Nyquist criterion Stability margins	FBS-2e 10.1-10.4 Mon. lecture slides Wed. lecture slides Fri. lecture slides	HomeWork 6 Due: 18 Nov, 5 pm HW6 Solutions
Week 8 14 Nov 16 Nov 18 Nov	PID Control Simple controllers for complex systems Integral action and anti-windup	FBS-2e 11.1-11.4 NO CLASS on Monday, Nov. 14. Wed. lecture slides Historical Review of Minorsky Paper on "3-term contro" Fri. lecture slides	HomeWork 7 Due: 30 Nov, 5 pm HW7 Solutions
Week 9 21 Nov 23 Nov Thanksgiving Holiday	Loop Shaping, I Sensitivity functions Feedback design via loop shaping	FBS-1e 12.1 FBS-2e 12.3-12.4 Mon. lecture slides \| H.W. Bode, Relations Between Attenuation and Phase in Feedback Amplifier Design, Bell Systems Journal, 1940 Wed. lecture slides	HomeWork 8 Due: 5 Dec, 5 pm HW8 Solutions
Week 10 28 Nov 30 Nov. 2 Dec	Loop Shaping II Fundamental limitations Loop Shaping Examples Final Exam Review	FBS-2e 12.6-12.7 Mon. lecture slides Wed. lecture slides Fri. Review slides	Final exam Due 5 pm on last day of Final Exam Period

Course Syllabus, Mechanics, and Grading

CDS 101/110 provides an introduction to feedback and control in physical, biological, engineering, and information sciences. The course will introduce students to the basic principles of feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and managing system uncertainty. Key themes include: linear system theory input/output response, closed loop behavior, linear versus nonlinear models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for science and engineering students who are interested in the principles and tools of feedback control, but not necessarily the engineering and analytical techniques for design and synthesis of control systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory) is helpful but not required. The basics of these topics will be reviewed during the course.

Course Text and References

The primary course text is

K. J. Astrom and Richard M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008

This book is available via the Caltech online bookstore or via download from the companion web site. Note that we will be using the second edition of this book, which is in a best-test preparation for publication. The reading assignments and problem numbers are based on this version of the book.

The following additional references may also be useful:

A. D. Lewis, A Mathematical Approach to Classical Control, 2003. Online access.
J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), Schaum's Outline of Feedback and Control Systems, 2nd Edition, 2013.
B. Friedland, Control System Design: An Introduction to State-Space Methods, McGraw-Hill, 1986.
G. F. Franklin, J. D. Powell, and A. Emami-Naeni, Feedback Control of Dynamic Systems, Addison-Wesley, 2002.

Grading

The final grade will be based on homework sets, a midterm exam, and a final exam:

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.

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).

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.

Collaboration Policy

Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor, but you cannot consult homework solutions from prior years and you must cite any use of material from outside references. All solutions that are handed in should be written up individually and should reflect your own understanding of the subject matter at the time of writing. MATLAB/Python scripts and plots are considered part of your writeup and should be done individually (you can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

Difference between revisions of "CDS110 2016"

Latest revision as of 11:29, 8 December 2016

Contents

Course Staff, Hours, Location

Announcements

Lecture Schedule

Course Syllabus, Mechanics, and Grading

Course Text and References

Grading

Collaboration Policy

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@@ Line 1: / Line 1: @@
-This is the course homepage for CDS 101/110, Fall 2016.
+This is the course homepage for Caltech's CDS 101/110, Fall 2016.
 == Course Staff, Hours, Location ==
+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.
 {| border=1 width=100%
@@ Line 17: / Line 18: @@
 | Richard Cheng
 | 205 Gates-Thomas
-| TBD
+| Thurs 7-9pm (Annenberg 107)
-| [mailto:georgiev@caltech.edu georgiev at caltech dot edu]
+| [mailto:georgiev@caltech.edu rcheng at caltech dot edu]
 | 626-395-????
 |-
 | '''Teach Asst.'''
 | Yoke Peng Leong
-| Annenberg
+| 230 Annenberg
-| TBD
+| Wed 5-6pm, Thurs - 7-8pm (Annenberg 107)
 | [mailto:ypleong@caltech.edu ypleong at caltech dot edu]
 | 626-395-????
@@ Line 35: / Line 36: @@
 | 626-395-3385
 |}
 == Announcements ==
+* '''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
+of the exam.
+* '''Nov. 18, 2016:''' Class will be held in Annenberg 105 (the normal class room), and NOT in Steele 102
+* ''' NO CLASS:''' on Monday, November 14.
+* '''NOTE:''' On October 7, November 11, the course lectures will take place in 102 STEELE building.
+* '''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.
+* '''MIDTERM WEEK:''' No office hour on Nov 2 and 3. Midterm review session is on Nov 2, 7pm at ANN 107.
+* '''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.
+* '''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.
+* '''HOMEWORK 7:''' Homework 7 is now due on November 30. Problem 4 is 11.7 instead of 10.7.
+* '''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.
-== Course Syllabus, Mechanics, and Grading ==
+== Lecture Schedule ==
-CDS 101/110 provides an introduction to feedback and control in physical,
-biological, engineering, and information sciences. The course will introduce students to the basic principles of
-feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and
-managing system uncertainty. Key themes include: linear system theory
-input/output response, closed loop behavior, linear versus nonlinear
-models, and local versus global behavior.
-CDS 101 is a 6 unit (2-0-4) class intended for science
-and engineering students who are interested in the principles and tools of feedback
-control, but not necessarily the engineering and analytical techniques for design and synthesis of control
-systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
-course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and
-ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)
-is helpful but not required. The basics of these topics will be reviewed during the course.
-=== Grading ===
-The final grade will be based on homework sets, a midterm exam, and a final exam:
-*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab.  Each student is allowed up to two extensions of no more than 2 days each over the course of the term.  Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean.  MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).
-* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).
-* ''Final exam (30%):''  The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).
-=== Collaboration Policy ===
-Collaboration on homework assignments is encouraged. You may consult
-outside reference materials, other students, the TA, or the
-instructor, but you cannot consult homework solutions from
-prior years and you must cite any use of material from outside
-references. All solutions that are handed in should be written up
-individually and should reflect your own understanding of the subject
-matter at the time of writing.  MATLAB/Python scripts and plots are
-considered part of your writeup and should be done individually (you
-can share ideas, but not code).
-No collaboration is allowed on the midterm or final exams.
-=== Course Text and References ===
-The primary course text is
-* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
-This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site].  Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).
-The following additional references may also be useful:
-* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
-* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.
-In addition to the books above, the textbooks below may also be useful.  They are available in the library (non-reserve), from other students, or you can order them online.
-* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
-* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
-=== Lecture Schedule ===
 The following is a '''tentative''' schedule for the class, based on previous years' experience.
@@ Line 108: / Line 63: @@
 |- valign=top
 | '''Week 1'''<br>
-Sep <br>  30 Sep* <br> 2 Oct
+Sept <br>  28 Sept <br> 30 Sept.
 | Introduction and Review
 * Introduction to feedback and control
 * Review of differential equation and linear algebra
 * Feedback principles and examples
-| FBS-1e 1.1-1.2, 1.4-1.5 <br> FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
+| FBS-2e, Sections 1.1-1.5 <br> ''Optional:'' FBS-2e, Sections 1.6-1.9; <br> FBS-2e 2.1-2.4
-* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
+* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week1_Lecture1.pdf  Mon lecture notes],
-* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
+* Wed. was a board Lecture,
-* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
+* [[Media:CDS110_Week1_Lecture3.pdf | Fri. Lecture Notes]]
-| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} <br> Due: 7 Oct, 2 pm
+| [[Media:CDS110_HW1-2016.pdf | HomeWork 1]] <br> Due: 7 Oct, 5 pm <br>
+[[Media:CDS110_Solution1_2016.pdf | HW1 Solutions]]
-{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 2'''<br>
-Oct <br> 7 Oct <br> 9 Oct*
+Oct <br> 5 Oct <br> 7 Oct
-| Modeling, Stability
+| Modeling and Stability
-* State space models
+* Feedback principles (''cont.''), Modeling
 * Phase portraits and stability
-* Introduction to MATLAB
+* Linearization around an equilibrium point
-| FBS-1e 2.1-2.2, 3.1 4.1-4.3 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3
+| FBS-2e 2.1-2.4, 3.1 <br> FBS-2e 3.1-3.2, 4.1, 5.1-5.3
-* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
+* [[Media:CDS110_Week2_Lecture1.pdf | Mon. lecture notes]]
-* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
+* [[Media:CDS110_Week2_Lecture2.pdf | Wed. lecture notes]]
-| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} <br> Due: 14 Oct, 2 pm
+* [http://robotics.caltech.edu/~jwb/courses/CDS110/CDS110_Week2_Lecture3.pdf  Fri. lecture notes]
+| [[Media:CDS110_HW2_2016.pdf |  HomeWork 2]] <br> Due: 14 Oct, 5 pm <br>
+[[Media:CDS110_HW2_2016_solns.pdf | HW2 Solutions]]
-{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 3'''<br>
-Oct* <br> 14 Oct* <br> 16 Oct*
+Oct <br> 12 Oct <br> 14 Oct
 | Linear Systems
 * Input/output response of LTI systems
 * Matrix exponential, convolution equation
-* Linearization around an equilibrium point
+* Introduction to MATLAB
-| FBS-1e  5.1-5.4 <br> FBS-2e 6.1-6.4
+| FBS-2e 6.1-6.3
-* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week3_Lecture1.pdf | Mon. lecture notes]]
-* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
+* [[Media:CDS110_Week3_Lecture2.pdf | Wed. lecture notes]]
-| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} <br> Due: 21 Oct, 2 pm
+* [[Media:CDS110_Week3_Lecture3.pdf | Fri. lecture notes]]
-* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
+| [[Media:CDS110_Homework3_2016.pdf| HomeWork 3]] <br> Due: Oct. 21, 5 pm <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]
+[[Media:CDS110_HW3_2016_solns.pdf | HW3 Solutions]]
-* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]
-{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 4'''<br>
-Oct <br> 21 Oct <br> 23 Oct*
+Oct <br> 19 Oct <br> 21 Oct
 | State Feedback
 * Reachability
 * State feedback and eigenvalue placement
-| FBS-1e 6.1-6.4 <br> FBS-2e 7.1-7.4
+| FBS-2e 7.1-7.4
-* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week4_Lecture1.pdf | Mon. lecture slides]]
-* MATLAB:  {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
+* [[Media:CDS110_Week4_Lecture2.pdf | Wed. lecture slides]]
-* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
+* [[Media:CDS110_Week4_Lecture3.pdf | Fri. lecture slides]]
-|  {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} <br> Due: 28 Oct, 2 pm
+| [[Media:CDS110_Homework4_2016.pdf| HomeWork 4]] <br> Due: Oct. 28, 5 pm <br> [[Media:CDS110_Solution4_2016.pdf | HW4 Solutions]]
-[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
+* [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
-* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
-* Python: {{cds110 fa15 python|bike_linmod.py}}
-{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 5'''<br>
-Oct <br> 28 Oct <br> 30 Oct
+Oct <br> 26 Oct <br> 28 Oct
 | State space control design
 * Trajectory generation, feedforward
@@ Line 175: / Line 127: @@
 * Midterm review
 | FBS-1e 7.1-7.3 <br> FBS-2e 8.1-8.3
-| Midterm exam <br> Due: 3 Nov, 5 pm
+* [[Media:CDS110_Week5_Lecture1.pdf | Mon. lecture notes]]
+* [[Media:CDS110_Week5_Lecture2.pdf | Wed. lecture notes]]
+* [[Media:CDS110_Week5_Lecture3.pdf | Fri. lecture notes]]
+| No Homework Handed out
-{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 6'''<br>
-Nov <br> 4 Nov <br> 6 Nov*
+Oct <br> 2 Nov <br> 4 Nov
-| Transfer Functions
+| Observability wrap up <br> Transfer Functions
 * Frequency domain modeling
 * Block diagram algebra
 * Bode plots
 | FBS-1e 8.1-8.4 <br> FBS-2e 9.1-9.4
-* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week6_Lecture1.pdf | Mon. lecture notes]]
-* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
+* [[Media:CDS110_Week6_Lecture2.pdf | Wed. lecture notes]]
-| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} <br> Due: 11 Nov, 2 pm
+| 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]]
-{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 7'''<br>
-Nov <br> 11 Nov <br> 13 Nov*
+Nov <br> 9 Nov <br> 11 Nov
 | Loop Analysis
-* Loop transfer function and the Nyquist criterion
+* Loop transfer function, Nyquist Plot, and Nyquist criterion
 * Stability margins
-| FBS-1e 9.1-9.3 <br> FBS-2e 10.1-10.3
+| FBS-2e 10.1-10.4
-* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week7_Lecture1.pdf | Mon. lecture slides]]
-* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}
+* [[Media:CDS110_Week7_Lecture2plus.pdf | Wed. lecture slides]]
-| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} <br> Due: 18 Nov, 2 pm
+* [[Media:CDS110_Week7_Lecture3.pdf | Fri. lecture slides]]
+| [[Media:CDS110_Homework6_2016.pdf| HomeWork 6]]<br> Due: 18 Nov, 5 pm<br>[[Media:CDS110_Solution6_2016.pdf | HW6 Solutions]]
-{{cds110 fa15 pdf |caltech/hw6-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 8'''<br>
-Nov <br> 18&nbsp;Nov* <br> 20 Nov
+Nov <br> 16 Nov <br> 18 Nov
 | PID Control
 * Simple controllers for complex systems
 * Integral action and anti-windup
-| FBS-1e 10.1-10.4 <br> FBS-2e 11.1-11.4
+| FBS-2e 11.1-11.4
-* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}
+* '''NO CLASS''' on Monday, Nov. 14.
-* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)
+* [[Media:CDS110_Week8_Lecture2.pdf | Wed. lecture slides]]
-* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)
+** [[Media:Minorsky_Paper.pdf | Historical Review of Minorsky Paper on "3-term contro"]]
-| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} <br> Due: 25 Nov, 2 pm
+* [[Media:CDS110_Week8_Lecture3.pdf | Fri. lecture slides]]
+| [[Media:CDS110_Homework7_2016.pdf | HomeWork 7]] <br> Due: 30 Nov, 5 pm<br>[[Media:CDS110_Solution7_2016.pdf | HW7 Solutions]]
-{{cds110 fa15 pdf |caltech/hw7-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 9'''<br>
-Nov <br> 25 Nov*
+Nov <br> 23 Nov <br> ''Thanksgiving Holiday''
 | Loop Shaping, I
 * Sensitivity functions
 * Feedback design via loop shaping
-| FBS-1e 11.1-11.3 <br> FBS-2e 12.1-12.4
+| FBS-1e 12.1 <br> FBS-2e 12.3-12.4
-* {{cds110 fa15 pdf |L9-1_loopsyn-23Nov15_h.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week9_Lecture1.pdf | Mon. lecture slides]]
-* {{cds110 fa15 pdf |L9-2_recitation-25Nov15.pdf | Wed recitation slides}}
+* [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]
-| {{cds110 fa15 pdf |hw8-fa15.pdf | HW 8}} <br> Due: 4 Dec, 2 pm
+* [[Media:CDS110_Week9_Lecture2.pdf | Wed. lecture slides]]
+| [[Media:CDS110_Homework8_2016.pdf | HomeWork 8]] <br> Due: 5 Dec, 5 pm<br>[[Media:CDS110_Solution8_2016.pdf | HW8 Solutions]]
-{{cds110 fa15 pdf |caltech/hw8-fa15_solns.pdf | Solutions}} (Caltech access only)
 |- valign=top
 | '''Week 10'''<br>
-Nov <br> 2 Dec <br> 4 Dec
+Nov <br> 30 Nov. <br> 2 Dec
 | Loop Shaping II
 * Fundamental limitations
-* Modeling uncertainty
+* Loop Shaping Examples
-* Performance/robustness tradeoffs
+* Final Exam Review
-| FBS-1e 11.4, 12.1-12.4 <br> FBS-2e 12.6-12.7, 13.1-13.3
+| FBS-2e 12.6-12.7
-* {{cds110 fa15 pdf |L10-1_limits-30Nov15_h.pdf | Mon lecture slides}}
+* [[Media:CDS110_Week10_Lecture1.pdf  | Mon. lecture slides]]
-* {{cds110 fa15 pdf |L10-2_pvtol-02Dec15_h.pdf | Wed lecture slides}}
+* [[Media:CDS110_Week10_Lecture2.pdf  | Wed. lecture slides]]
-* [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtol-nested.py Wed PVTOL example] (python)
+* [[Media:CDS110_Week10_Lecture3.pdf  | Fri. Review slides]]
-| Final exam <br> Due 11 Dec, 5 pm
+| Final exam <br> Due 5 pm on last day of Final Exam Period
-* Will be handed out in class on 4 Dec
 |}
+== Course Syllabus, Mechanics, and Grading ==
+CDS 101/110 provides an introduction to feedback and control in physical,
+biological, engineering, and information sciences. The course will introduce students to the basic principles of
+feedback and its use as a tool for altering the dynamics of systems, meeting systems specifications, and
+managing system uncertainty. Key themes include: linear system theory
+input/output response, closed loop behavior, linear versus nonlinear
+models, and local versus global behavior.
+CDS 101 is a 6 unit (2-0-4) class intended for science
+and engineering students who are interested in the principles and tools of feedback
+control, but not necessarily the engineering and analytical techniques for design and synthesis of control
+systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
+course in control for engineers and applied scientists. It assumes a working knowledge of linear algebra and
+ODEs as a prerequisite (e.g., as found in ACM 95). Familiarity with complex variables (Laplace transforms, residue theory)
+is helpful but not required. The basics of these topics will be reviewed during the course.
+=== Course Text and References ===
+The primary course text is
+* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
+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
+is in a ''best-test'' preparation for publication.  The reading assignments and problem numbers are based on this version of the book.
+The following additional references may also be useful:
+* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://home.deib.polimi.it/guariso/BAC/Texts/Lewis%20notes.pdf Online access].
+* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.
+* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
+* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
+=== Grading ===
+The final grade will be based on homework sets, a midterm exam, and a final exam:
+*''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.
+* ''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).
+* ''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.
+=== Collaboration Policy ===
+Collaboration on homework assignments is encouraged. You may consult
+outside reference materials, other students, the TA, or the
+instructor, but you cannot consult homework solutions from
+prior years and you must cite any use of material from outside
+references. All solutions that are handed in should be written up
+individually and should reflect your own understanding of the subject
+matter at the time of writing.  MATLAB/Python scripts and plots are
+considered part of your writeup and should be done individually (you
+can share ideas, but not code).
+No collaboration is allowed on the midterm or final exams.