CALIFORNIA INSTITUTE OF TECHNOLOGYControl and Dynamical SystemsCDS 101 - Principles of Feedback and ControlCDS 110 - Introductory Control TheoryChE 105 - Process ControlFall 2002Instructor Teaching AssistantsR. Murray, 109 Steele Sean Humbert (head TA; [email protected])[email protected] Tim Chung (timothyc@its), Lars Cremean (lars@cds),Zhipu Jin (jzp@cds), Shreesh Mysore (shreesh@its)Co-instructors Office hours: Sundays, 5–7 pm, 110 SteeleM. Dickinson (BE/Bio)E. Klavins (CS) LecturesH. Mabuchi (Ph/CDS) M2-3, W1-3; 102 SteeleD. MacMartin (CDS) F2-3, 102 Steele (optional)CDS 101 vs CDS110a/ChE 105 CDS 101 is a 6 unit (2-0-4) class intended for advanced studentsin science and engineering who are interested in the principles and tools of feedback control, but not theanalytical techniques for design and synthesis of control systems.CDS 110a/Che 105 is a 9 unit class (3-0-6) that provide a traditional first course in control for engineersand applied scientists. It assumes a stronger mathematical background, including working knowledge oflinear algebra and ODEs. Familiarity with complex variables (Laplace transforms, residue theory) is helpfulbut not required.Lectures The main course lectures are on Mondays from 2–3 pm and Wednesdays from 1–3 pm in 102Steele. CDS 101 students are not required to attend the Wednesday lectures, although they are welcometo do so. In addition, optional lectures will be held on Fridays from 2–3 pm in 102 Steele on supplementaltopics. The schedule for these optional lectures is given below.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 Mondays by 5 pm to the box outside of 102Steele. Late homework will not be accepted without prior permission from the instructor.• Midterm exam: 20%A midterm exam will be handed out at the beginning of midterms week (30 Oct) and due at the endof the midterm examination period (5 Nov). The midterm exam will be open book and computers willbe 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).Homework policy Collaboration on homework assignments is encouraged. You may consult outsidereference materials, other students, the TA, or the instructor. All solutions that are handed in should reflectyour understanding of the subject matter at the time of writing. MATLAB scripts and plots are consideredpart of your writeup and should be done individually.Course Text and References There is no required text for CDS 101 or CDS 110/ChE 105. You mayfind the following texts useful:• 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.• N. E. Leonard and W. S. Levine, Using Matlab to Analyze and Design Control Systems, Benjamin/Cum-mings, 1992.• B. C. Kuo, Automatic Control Systems, Prentice-Hall, 1995.These have been put on reserve in the Sherman Fairchild Library. Additional online references may be foundon the course homepage.Office and library hours The TAs will hold office hours on Sundays from 5–7 pm in 110 Steele. Inaddition the CDS library will be open from 2–7 pm on Sunday afternoons for students interested in gettingtogether to discuss problems. The supplemental textbooks for the course will be available in the libraryduring the library hours.All students must show up for office hours at least once in the first three weeks of thecourse (even if you just stop in and introduce yourself to the TAs).Class homepage Information on the class is available via the class homepage:http://www.cds.caltech.edu/~murray/cds101http://www.cds.caltech.edu/~murray/cds110All course handouts and other administrative data about the course are available via the class homepage.Software Computer exercises will be assigned as part of the regular homeworks. The exercises are designedto be done in MATLAB, using the Control Toolbox and SIMULINK. Caltech has a site license for thissoftware and it may be obtained from ITS:http://www.its.caltech.edu/its/services/sitelicensing/sitewide/matlab.shtmlAn online tutorial is available athttp://www.engin.umich.edu/group/ctm/basic/basic.htmlCourse outlineWeek Date Topic Friday lecture (optional)1 30 Sep Course administration MATLAB tutorial (Humbert)Introduction to feedback and control2 7 Oct Dynamics and modeling Insect flight control (Dickinson)3 14 Oct Stability and performance Aerospace control applications (TBD)4 21 Oct State space control systems Internet congestion control (Klavins)5 28 Oct Controllability Midterm review (Humbert)6 4Nov Transfer functions Biological sensors andactuators (Dickinson)7 11 Nov Loop analysis of feedback systems Quantum feedback control (Mabuchi)8 18 Nov State space and PID feedback Mirror control of Keckand CELT (MacMartin)9 25 Nov Frequency domain control design Thanksgiving10 2Dec Uncertainty analysis Final review
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