CALIFORNIA INSTITUTE OF TECHNOLOGYControl and Dynamical SystemsCDS 101 - Analysis and Design of Feedback SystemsCDS 110 - Introduction to Control TheoryFall 2004Instructor Teaching AssistantsR. Murray, 109 Steele Steve Waydo (head TA; cds101-tas@cds),[email protected] Domitilla Del Vecchio, Asa Hopkins, Haomiao Huang,Office hours: Fri, 3–4 pm or by appt Hao Jiang, Mortada Mehyar, Kevin TangCo-instructors LecturesAnand Asthagiri (ChE) CDS 101: M2-3, F2-3; 74 JorgensenTim Colonius (ME) CDS 110: M2-3, W2-3; 74 JorgensenAli Hajimiri (EE)Steven Low (CS/EE) TA office hours: Sun, 7–9 pm, 110 SteeleHideo Mabuchi (Ph/CS)Steven Low (CS/EE) Recitations (CDS 110 only): Schedule to be announcedCourse Overview CDS 101/110 provides an introduction to feedback and control in physical, biological,engineering, and information sciences. Basic principles of feedback and its use as a tool for altering thedynamics of systems and managing uncertainty. Key themes throughout the course will include input/outputresponse, modeling and model reduction, linear versus nonlinear models, and local versus global behavior.CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science and engineering who areinterested in the principles and tools of feedback control, but not the analytical techniques for design andsynthesis of control systems. CDS 110 is a 9 unit class (3-0-6) that provides a traditional first course incontrol for engineers and applied scientists. It assumes a stronger mathematical background, includingworking knowledge of linear algebra and ODEs. Familiarity with complex variables (Laplace transforms,residue theory) is helpful but not required.Class homepage Information on the class is available via the class homepage: http://www.cds.caltech.edu/~murray/cds101. All course handouts and other administrative data about the course are available viathe class homepage.Lectures, Recitation Sections and Office Hours The main course lectures are on MWF from 2–3pm in 74 Jorgansen. CDS 101 students are not required to attend the Wednesday lectures, although theyare welcome to do so. The Friday lectures are optional for CDS 110 students and will provide supplementalmaterial on applications of control. In addition to the main lectures, a series of problem solving (recitaiton)sessions are run by the course teaching assistants. These recitation sessions are broken up according to areas.All CDS 110 students are required to attend at least one problem solving session per week. The recitationsession schedule will be determined in the first week of classes and will be posted on the course web page.The TAs will hold office hours on Sundays from 7–9 pm in 110 Steele.All students must show up for office hours at least once in the first three weeks ofthe course (even if you just stop in and introduce yourself to the TAs).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 109Steele. 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 (27 Oct) and due at the endof the midterm examination period (2 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 (3 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 bewritten up individually and should reflect your own understanding of the subject matter at the time ofwriting. MATLAB scripts and plots are considered part of your writeup and should be done individually.Software Computer exercises will be assigned as part of the regular homeworks. The exercises aredesigned to be done in MATLAB, using the Control Toolbox and SIMULINK. Caltech has a site license forthis software and it may be obtained from ITS (Caltech students only):http://software.caltech.eduAn online tutorial is available athttp://www.engin.umich.edu/group/ctm/basic/basic.htmlCourse Text and References All required reading for the class will be avialable online, via the coursehomepage. The primary course text is• K. J.˚Astr¨om and R. M. Murray, Analysis and Design of Feedback Systems, Preprint, 2004.Two additional texts are available online and can be used to supplement the course reading material:• K. J.˚Astr¨om, Control System Design, Preprint, 2002.• A. D. Lewis, A Mathematical Approach to Classical Control, 2003.You may also find 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.Course outlineWeek Monday/Wednesday Friday1 Intro to feedback and control MATLAB tutorial (Waydo)2 Dynamics and modeling Review of linear algebra, ODEs (Waydo)3 Stability and performance Stability of fluid systems (Colonius)4 Linear control systems Congestion control of networks (Low)5 Controllability and observability Midterm review (Waydo)6 Transfer functions Piloted flight (McRuer)7 Loop analysis of feedback systems Stability in electronic circuits (Hajimiri)8 Frequency domain design Molecular feedback mechanisms (Asthagiri)9 Limits on performance Thanksgiving10 Uncertainty analysis Final review
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