Difference between revisions of "CDS110 2016"
(→Course Staff, Hours, Location) 
(→Lecture Schedule) 

(59 intermediate revisions by 3 users not shown)  
Line 18:  Line 18:  
 Richard Cheng   Richard Cheng  
 205 GatesThomas   205 GatesThomas  
−    +   Thurs 79pm (Annenberg 107) 
 [mailto:georgiev@caltech.edu rcheng at caltech dot edu]   [mailto:georgiev@caltech.edu rcheng at caltech dot edu]  
 626395????   626395????  
Line 25:  Line 25:  
 Yoke Peng Leong   Yoke Peng Leong  
 230 Annenberg   230 Annenberg  
−    +   Wed 56pm, Thurs  78pm (Annenberg 107) 
 [mailto:ypleong@caltech.edu ypleong at caltech dot edu]   [mailto:ypleong@caltech.edu ypleong at caltech dot edu]  
 626395????   626395????  
Line 38:  Line 38:  
== Announcements ==  == Announcements ==  
−  * '''NOTE:''' On October 7, November 11  +  * '''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 8pm9pm. Location: ANN 107.  
== Lecture Schedule ==  == Lecture Schedule ==  
Line 63:  Line 73:  
* [[Media:CDS110_Week1_Lecture3.pdf  Fri. Lecture Notes]]  * [[Media:CDS110_Week1_Lecture3.pdf  Fri. Lecture Notes]]  
 [[Media:CDS110_HW12016.pdf  HomeWork 1]] <br> Due: 7 Oct, 5 pm <br>   [[Media:CDS110_HW12016.pdf  HomeWork 1]] <br> Due: 7 Oct, 5 pm <br>  
−  [[  +  [[Media:CDS110_Solution1_2016.pdf  HW1 Solutions]] 
 valign=top   valign=top  
Line 71:  Line 81:  
* Feedback principles (''cont.''), Modeling  * Feedback principles (''cont.''), Modeling  
* Phase portraits and stability  * Phase portraits and stability  
−  *  +  * Linearization around an equilibrium point 
 FBS2e 2.12.4, 3.1 <br> FBS2e 3.13.2, 4.1, 5.15.3   FBS2e 2.12.4, 3.1 <br> FBS2e 3.13.2, 4.1, 5.15.3  
* [[Media:CDS110_Week2_Lecture1.pdf  Mon. lecture notes]]  * [[Media:CDS110_Week2_Lecture1.pdf  Mon. lecture notes]]  
* [[Media:CDS110_Week2_Lecture2.pdf  Wed. lecture notes]]  * [[Media:CDS110_Week2_Lecture2.pdf  Wed. lecture notes]]  
−  * [  +  * [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.pdf  HomeWork 2]] <br> Due: 14 Oct, 5 pm <br>  
−  [[Media:CDS110_HW2_2016_solns.pdf   +  [[Media:CDS110_HW2_2016_solns.pdf  HW2 Solutions]] 
 valign=top   valign=top  
Line 85:  Line 95:  
* Input/output response of LTI systems  * Input/output response of LTI systems  
* Matrix exponential, convolution equation  * Matrix exponential, convolution equation  
−  *  +  * Introduction to MATLAB 
−    +   FBS2e 6.16.3 
−  *  +  * [[Media:CDS110_Week3_Lecture1.pdf  Mon. lecture notes]] 
−  *  +  * [[Media:CDS110_Week3_Lecture2.pdf  Wed. lecture notes]] 
−    +  * [[Media:CDS110_Week3_Lecture3.pdf  Fri. lecture notes]] 
−  +   [[Media:CDS110_Homework3_2016.pdf HomeWork 3]] <br> Due: Oct. 21, 5 pm <br>  
−  +  [[Media:CDS110_HW3_2016_solns.pdf  HW3 Solutions]]  
−  +  
−  
 valign=top   valign=top  
 '''Week 4'''<br>   '''Week 4'''<br>  
Line 101:  Line 110:  
* Reachability  * Reachability  
* State feedback and eigenvalue placement  * State feedback and eigenvalue placement  
−    +   FBS2e 7.17.4 
−  *  +  * [[Media:CDS110_Week4_Lecture1.pdf  Mon. lecture slides]] 
−  *  +  * [[Media:CDS110_Week4_Lecture2.pdf  Wed. lecture slides]] 
−  *  +  * [[Media:CDS110_Week4_Lecture3.pdf  Fri. lecture slides]] 
−    +   [[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] 
−  +  
−  +  
−  
 valign=top   valign=top  
 '''Week 5'''<br>   '''Week 5'''<br>  
Line 121:  Line 127:  
* Midterm review  * Midterm review  
 FBS1e 7.17.3 <br> FBS2e 8.18.3   FBS1e 7.17.3 <br> FBS2e 8.18.3  
−    +  * [[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  
+  
−  
 valign=top   valign=top  
 '''Week 6'''<br>   '''Week 6'''<br>  
−  +  31 Oct <br> 2 Nov <br> 4 Nov  
−   Transfer Functions  +   Observability wrap up <br> Transfer Functions 
* Frequency domain modeling  * Frequency domain modeling  
* Block diagram algebra  * Block diagram algebra  
* Bode plots  * Bode plots  
 FBS1e 8.18.4 <br> FBS2e 9.19.4   FBS1e 8.18.4 <br> FBS2e 9.19.4  
−  *  +  * [[Media:CDS110_Week6_Lecture1.pdf  Mon. lecture notes]] 
−  * [[Media:  +  * [[Media:CDS110_Week6_Lecture2.pdf  Wed. lecture notes]] 
−    +   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]] 
−  
 valign=top   valign=top  
 '''Week 7'''<br>   '''Week 7'''<br>  
7 Nov <br> 9 Nov <br> 11 Nov  7 Nov <br> 9 Nov <br> 11 Nov  
 Loop Analysis   Loop Analysis  
−  * Loop transfer function and  +  * Loop transfer function, Nyquist Plot, and Nyquist criterion 
* Stability margins  * Stability margins  
−    +   FBS2e 10.110.4 
−  *  +  * [[Media:CDS110_Week7_Lecture1.pdf  Mon. lecture slides]] 
−  *  +  * [[Media:CDS110_Week7_Lecture2plus.pdf  Wed. lecture slides]] 
−    +  * [[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]]  
+  
−  
 valign=top   valign=top  
 '''Week 8'''<br>   '''Week 8'''<br>  
Line 155:  Line 164:  
* Simple controllers for complex systems  * Simple controllers for complex systems  
* Integral action and antiwindup  * Integral action and antiwindup  
−    +   FBS2e 11.111.4 
−  *  +  * '''NO CLASS''' on Monday, Nov. 14. 
−  * [[Media:  +  * [[Media:CDS110_Week8_Lecture2.pdf  Wed. lecture slides]] 
−  * [  +  ** [[Media:Minorsky_Paper.pdf  Historical Review of Minorsky Paper on "3term contro"]] 
−    +  * [[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]]  
−  
 valign=top   valign=top  
 '''Week 9'''<br>   '''Week 9'''<br>  
Line 168:  Line 177:  
* Sensitivity functions  * Sensitivity functions  
* Feedback design via loop shaping  * Feedback design via loop shaping  
−   FBS1e  +   FBS1e 12.1 <br> FBS2e 12.312.4 
−  *  +  * [[Media:CDS110_Week9_Lecture1.pdf  Mon. lecture 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] 
−    +  * [[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]]  
−  
 valign=top   valign=top  
 '''Week 10'''<br>   '''Week 10'''<br>  
Line 179:  Line 188:  
 Loop Shaping II   Loop Shaping II  
* Fundamental limitations  * Fundamental limitations  
−  *  +  * Loop Shaping Examples 
−  *  +  * Final Exam Review 
−    +   FBS2e 12.612.7 
−  *  +  * [[Media:CDS110_Week10_Lecture1.pdf  Mon. lecture slides]] 
−  *  +  * [[Media:CDS110_Week10_Lecture2.pdf  Wed. lecture slides]] 
−  * [  +  * [[Media:CDS110_Week10_Lecture3.pdf  Fri. Review slides]] 
 Final exam <br> Due 5 pm on last day of Final Exam Period   Final exam <br> Due 5 pm on last day of Final Exam Period  
−  
}  }  
Latest revision as of 11:29, 8 December 2016
This is the course homepage for Caltech's CDS 101/110, Fall 2016.
Contents
Course Staff, Hours, Location
The course meets MWF 23 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)  Phone  
Instructor  Joel Burdick  245 GatesThomas  send mail for an appointment  jwb at robotics dot caltech dot edu  6263954139 
Teach Asst.  Richard Cheng  205 GatesThomas  Thurs 79pm (Annenberg 107)  rcheng at caltech dot edu  626395???? 
Teach Asst.  Yoke Peng Leong  230 Annenberg  Wed 56pm, Thurs  78pm (Annenberg 107)  ypleong at caltech dot edu  626395???? 
Administrative  Sonya Lincoln  250 GatesThomas  7:30amnoon; 1:00pm4:30pm  lincolns at caltech dot edu  6263953385 
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 8pm9pm. 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 
Introduction and Review

FBS2e, Sections 1.11.5 Optional: FBS2e, Sections 1.61.9; FBS2e 2.12.4

HomeWork 1 Due: 7 Oct, 5 pm 
Week 2 3 Oct 
Modeling and Stability

FBS2e 2.12.4, 3.1 FBS2e 3.13.2, 4.1, 5.15.3 
HomeWork 2 Due: 14 Oct, 5 pm 
Week 3 10 Oct 
Linear Systems

FBS2e 6.16.3  HomeWork 3 Due: Oct. 21, 5 pm

Week 4 17 Oct 
State Feedback

FBS2e 7.17.4  HomeWork 4 Due: Oct. 28, 5 pm HW4 Solutions 
Week 5 24 Oct 
State space control design

FBS1e 7.17.3 FBS2e 8.18.3 
No Homework Handed out

Week 6 31 Oct 
Observability wrap up Transfer Functions

FBS1e 8.18.4 FBS2e 9.19.4 
Midterm exam; Due: 4 Nov, 5 pm HomeWork 5 Due: 11 Nov, 5 pm HW5 Solutions 
Week 7 7 Nov 
Loop Analysis

FBS2e 10.110.4  HomeWork 6 Due: 18 Nov, 5 pm HW6 Solutions

Week 8 14 Nov 
PID Control

FBS2e 11.111.4

HomeWork 7 Due: 30 Nov, 5 pm HW7 Solutions 
Week 9 21 Nov 
Loop Shaping, I

FBS1e 12.1 FBS2e 12.312.4 
HomeWork 8 Due: 5 Dec, 5 pm HW8 Solutions 
Week 10 28 Nov 
Loop Shaping II

FBS2e 12.612.7  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 (204) 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 (309) 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 besttest 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 StateSpace Methods, McGrawHill, 1986.
 G. F. Franklin, J. D. Powell, and A. EmamiNaeni, Feedback Control of Dynamic Systems, AddisonWesley, 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 GatesThomas). 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.