Difference between pages "ME115 2016" and "CDS110 2016"
m (→From Planar Rigid Body Kinematics to Spherical Kinematics) 
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−  This is the homepage for  +  This is the course homepage for CDS 101/110, Fall 2016. 
−  +  
== Course Staff, Hours, Location ==  == Course Staff, Hours, Location ==  
{ border=1 width=100%  { border=1 width=100%  
    
−   '''Position'''  '''Name'''  '''Office'''  '''Office Hours'''  '''Email'''  '''Phone'''  +   '''Position'''  '''Name'''  '''Office'''  '''Office Hours''' (changing weekly)  '''Email'''  '''Phone''' 
    
 '''Instructor'''   '''Instructor'''  
 Joel Burdick   Joel Burdick  
 245 GatesThomas   245 GatesThomas  
−    +   ''send mail for an appointment'' 
 [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]   [mailto:jwb@robotics.caltech.edu jwb at robotics dot caltech dot edu]  
 6263954139   6263954139  
    
 '''Teach Asst.'''   '''Teach Asst.'''  
−    +   Richard Cheng 
 205 GatesThomas   205 GatesThomas  
 TBD   TBD  
−   [mailto:  +   [mailto:georgiev@caltech.edu georgiev at caltech dot edu] 
 626395????   626395????  
    
 '''Teach Asst.'''   '''Teach Asst.'''  
+   Yoke Peng Leong  
+   Annenberg  
 TBD   TBD  
−  +   [mailto:ypleong@caltech.edu ypleong at caltech dot edu]  
−  +  
−   [mailto:  +  
 626395????   626395????  
    
Line 37:  Line 37:  
−  +  == Announcements ==  
−  +  
−  +  
−  +  
−  == Course  +  == Course Syllabus, Mechanics, and Grading == 
−  The  +  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.  
=== Grading ===  === 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.  
−  +  
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−  +  
−  +  
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−  +  
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−  +  
−  +  
−  +  
−  +  
−  +  
−  +  In addition to the books above, the textbooks below may also be useful. They are available in the library (nonreserve), from other students, or you can order them online.  
−  +  
−  +  
−  +  * 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.  
−  +  
−  +  
−  +  
−  +  
−  +  
−  +  == Lecture Schedule ==  
−  +  
−  +  
−  +  
−  +  
−  +  
−  +  The following is a '''tentative''' schedule for the class, based on previous years' experience.  
−  +  
−  +  
−  +  
−  +  
−  +  
+  { class="mwcollapsible wikitable" width=100% border=1 cellpadding=5  
    
−    +   '''Date''' 
−    +   '''Topic''' 
+   '''Reading'''  
+   '''Homework'''  
+   valign=top  
+   valign=top  
+   '''Week 1'''<br>  
+  26 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  
+   FBS1e 1.11.2, 1.41.5 <br> FBS2e 1.11.5 (skim), ''2.12.4''  
+  * {{cds110 fa15 pdf bgsurvey.pdf  Background survey}}  
+  * {{cds110 fa15 pdf L11_intro28Sep15_h.pdf  Mon lecture notes}},  
+  * [[Media:ReviewLAODEs.pdf  Wed review session notes]] (PDF)  
+   {{cds110 fa15 pdf hw1fa15.pdf  HW 1}} <br> Due: 7 Oct, 2 pm  
−  +  {{cds110 fa15 pdf caltech/hw1fa15_solns.pdf  Solutions}} (Caltech access only)  
−    +   valign=top 
−    +   '''Week 2'''<br> 
−   ''  +  3 Oct <br> 5 Oct <br> 7 Oct* 
−  +   Modeling, Stability  
−    +  * State space models 
−  +  * Phase portraits and stability  
−  +  * Introduction to MATLAB  
−  +   FBS1e 2.12.2, 3.1 4.14.3 <br> FBS2e 3.13.2, 4.1, 5.15.3  
−    +  * {{cds110 fa15 pdf L21_modeling05Oct15_h.pdf  Mon lecture notes}} 
−  +  * {{cds110 fa15 pdf L22_stability07Oct15_h.pdf  Wed lecture notes}}  
−     +   {{cds110 fa15 pdf hw2fa15.pdf  HW 2}} <br> Due: 14 Oct, 2 pm 
−    +  
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−    +  
−    +  {{cds110 fa15 pdf caltech/hw2fa15_solns.pdf  Solutions}} (Caltech access only) 
−    +   valign=top 
−    +   '''Week 3'''<br> 
+  10 Oct* <br> 12 Oct* <br> 14 Oct*  
+   Linear Systems  
+  * Input/output response of LTI systems  
+  * Matrix exponential, convolution equation  
+  * Linearization around an equilibrium point  
+   FBS1e 5.15.4 <br> FBS2e 6.16.4  
+  * {{cds110 fa15 pdf L31_linsys12Oct15.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L33_recitation.pdf  Fri recitation slides}}  
+   {{cds110 fa15 pdf hw3fa15.pdfHW 3}} <br> Due: 21 Oct, 2 pm  
+  * Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]  
+  * 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]  
+  * SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]  
−  +  {{cds110 fa15 pdf caltech/hw3fa15_solns.pdf  Solutions}} (Caltech access only)  
−    +   valign=top 
−    +   '''Week 4'''<br> 
−    +  17 Oct <br> 19 Oct <br> 21 Oct* 
−    +   State Feedback 
−    +  * Reachability 
−    +  * State feedback and eigenvalue placement 
+   FBS1e 6.16.4 <br> FBS2e 7.17.4  
+  * {{cds110 fa15 pdf L41_statefbk19Oct15_h.pdf  Mon lecture slides}}  
+  * MATLAB: {{cds110 fa15 matlabL4_1_statefbk.m}}, {{cds110 fa15 matlab predprey.m}}, {{cds110 fa15 matlab predprey_rh.m}}  
+  * Python: {{cds110 fa15 pythonL4_1_statefbk.py}}, {{cds110 fa15 pythonpredprey.py}}  
+   {{cds110 fa15 pdf hw4fa15.pdfHW 4}} <br> Due: 28 Oct, 2 pm  
−  +  [http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]  
−  +  * MATLAB: {{cds110 fa15 matlabbike_linmod.m}}  
−  +  * Python: {{cds110 fa15 pythonbike_linmod.py}}  
−  +  
−    +  
−    +  
−  +  
−  +  
−  +  
−  +  
−    +  {{cds110 fa15 pdf caltech/hw4fa15_solns.pdf  Solutions}} (Caltech access only) 
−    +   valign=top 
−    +   '''Week 5'''<br> 
+  24 Oct <br> 26 Oct <br> 28 Oct  
+   State space control design  
+  * Trajectory generation, feedforward  
+  * Integral feedback  
+  * State estimation (if time)  
+  * Midterm review  
+   FBS1e 7.17.3 <br> FBS2e 8.18.3  
+   Midterm exam <br> Due: 3 Nov, 5 pm  
−  +  {{cds110 fa15 pdf caltech/midtermfa15_solns.pdf  Solutions}} (Caltech access only)  
−    +   valign=top 
−    +   '''Week 6'''<br> 
−    +  1 Oct <br> 2 Nov <br> 4 Nov* 
−     +   Transfer Functions 
−     +  * Frequency domain modeling 
−  +  * Block diagram algebra  
+  * Bode plots  
+   FBS1e 8.18.4 <br> FBS2e 9.19.4  
+  * {{cds110 fa15 pdf L61_xferfcns02Nov15_h.pdf  Mon lecture slides}}  
+  * [[Media:Recitation_nov_6.pdf  Fri review session notes]] (PDF)  
+   {{cds110 fa15 pdf hw5fa15.pdf  HW 5}} <br> Due: 11 Nov, 2 pm  
−    +  {{cds110 fa15 pdf caltech/hw5fa15_solns.pdf  Solutions}} (Caltech access only) 
−    +   valign=top 
−    +   '''Week 7'''<br> 
−    +  7 Nov <br> 9 Nov <br> 11 Nov* 
−     +   Loop Analysis 
+  * Loop transfer function and the Nyquist criterion  
+  * Stability margins  
+   FBS1e 9.19.3 <br> FBS2e 10.110.3  
+  * {{cds110 fa15 pdf L71_loopanal09Nov15_h.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L73_delay+nyquist.pdf  Fri recitation notes}}  
+   {{cds110 fa15 pdf hw6fa15.pdf  HW 6}} <br> Due: 18 Nov, 2 pm  
−    +  {{cds110 fa15 pdf caltech/hw6fa15_solns.pdf  Solutions}} (Caltech access only) 
−    +   valign=top 
−    +   '''Week 8'''<br> 
−   [http://www.cds.caltech.edu/~murray/  +  14 Nov <br> 16 Nov* <br> 18 Nov 
−     +   PID Control 
+  * Simple controllers for complex systems  
+  * Integral action and antiwindup  
+   FBS1e 10.110.4 <br> FBS2e 11.111.4  
+  * {{cds110 fa15 pdf L81_pid16Nov15_h.pdf  Mon lecture slides}}  
+  * [[Media:Recitation_110_nov_17.pdf  Wed lecture slides]] (PDF)  
+  * [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/minsegpid.py Fri PID example] (python)  
+   {{cds110 fa15 pdf hw7fa15.pdf  HW 7}} <br> Due: 25 Nov, 2 pm  
−    +  {{cds110 fa15 pdf caltech/hw7fa15_solns.pdf  Solutions}} (Caltech access only) 
−  +   valign=top  
−  +   '''Week 9'''<br>  
−  +  21 Nov <br> 23 Nov <br> ''Thanksgiving Holiday''  
−  +   Loop Shaping, I  
−  +  * Sensitivity functions  
−  +  * Feedback design via loop shaping  
−  +   FBS1e 11.111.3 <br> FBS2e 12.112.4  
−  +  * {{cds110 fa15 pdf L91_loopsyn23Nov15_h.pdf  Mon lecture slides}}  
−  +  * {{cds110 fa15 pdf L92_recitation25Nov15.pdf  Wed recitation slides}}  
−  +   {{cds110 fa15 pdf hw8fa15.pdf  HW 8}} <br> Due: 4 Dec, 2 pm  
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+  {{cds110 fa15 pdf caltech/hw8fa15_solns.pdf  Solutions}} (Caltech access only)  
+   valign=top  
+   '''Week 10'''<br>  
+  28 Nov <br> 30 Nov. <br> 2 Dec  
+   Loop Shaping II  
+  * Fundamental limitations  
+  * Modeling uncertainty  
+  * Performance/robustness tradeoffs  
+   FBS1e 11.4, 12.112.4 <br> FBS2e 12.612.7, 13.113.3  
+  * {{cds110 fa15 pdf L101_limits30Nov15_h.pdf  Mon lecture slides}}  
+  * {{cds110 fa15 pdf L102_pvtol02Dec15_h.pdf  Wed lecture slides}}  
+  * [http://www.cds.caltech.edu/~murray/courses/cds110/fa15/pvtolnested.py Wed PVTOL example] (python)  
+   Final exam <br> Due 5 pm on last day of Final Exam Period  
+  * To be posted online  
}  } 
Revision as of 08:46, 26 September 2016
This is the course homepage for CDS 101/110, Fall 2016.
Contents
Course Staff, Hours, Location
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  TBD  georgiev at caltech dot edu  626395???? 
Teach Asst.  Yoke Peng Leong  Annenberg  TBD  ypleong at caltech dot edu  626395???? 
Administrative  Sonya Lincoln  250 GatesThomas  7:30amnoon; 1:00pm4:30pm  lincolns at caltech dot edu  6263953385 
Announcements
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.
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, 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 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. 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 (nonreserve), from other students, or you can order them online.
 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.
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

FBS1e 1.11.2, 1.41.5 FBS2e 1.11.5 (skim), 2.12.4 
Template:Cds110 fa15 pdf Due: 7 Oct, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 2 3 Oct 
Modeling, Stability

FBS1e 2.12.2, 3.1 4.14.3 FBS2e 3.13.2, 4.1, 5.15.3 
Template:Cds110 fa15 pdf Due: 14 Oct, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 3 10 Oct* 
Linear Systems

FBS1e 5.15.4 FBS2e 6.16.4 
Template:Cds110 fa15 pdf Due: 21 Oct, 2 pm
Template:Cds110 fa15 pdf (Caltech access only) 
Week 4 17 Oct 
State Feedback

FBS1e 6.16.4 FBS2e 7.17.4 
Template:Cds110 fa15 pdf Due: 28 Oct, 2 pm
Template:Cds110 fa15 pdf (Caltech access only) 
Week 5 24 Oct 
State space control design

FBS1e 7.17.3 FBS2e 8.18.3 
Midterm exam Due: 3 Nov, 5 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 6 1 Oct 
Transfer Functions

FBS1e 8.18.4 FBS2e 9.19.4 
Template:Cds110 fa15 pdf Due: 11 Nov, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 7 7 Nov 
Loop Analysis

FBS1e 9.19.3 FBS2e 10.110.3 
Template:Cds110 fa15 pdf Due: 18 Nov, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 8 14 Nov 
PID Control

FBS1e 10.110.4 FBS2e 11.111.4

Template:Cds110 fa15 pdf Due: 25 Nov, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 9 21 Nov 
Loop Shaping, I

FBS1e 11.111.3 FBS2e 12.112.4 
Template:Cds110 fa15 pdf Due: 4 Dec, 2 pm Template:Cds110 fa15 pdf (Caltech access only) 
Week 10 28 Nov 
Loop Shaping II

FBS1e 11.4, 12.112.4 FBS2e 12.612.7, 13.113.3 
Final exam Due 5 pm on last day of Final Exam Period
