Teaching CDS 101:Principles of Feedback and ControlRichard M. Murray Hideo Mabuchi Michael DickinsonDoug MacMartin Eric Klavins Sean HumbertControl and Dynamical SystemsCalifornia Institute of Technology5 December 2002OutlineI. Course overviewII. Teaching mechanismsIII. Future plansIV. Discussion5 Dec 02 R. M. Murray, Caltech 2Course overviewCDS 101 is a new course on “Principles of Feedback and Control”y Aimed at a broad audience of scientists and engineersy Focused on teaching principles and computer tools (MATLAB based)y Format: à Monday: powerpoint lecture on concepts, with examples and experimentsà Friday: optional lectures by Caltech faculty on current applicationsCo-taught with CDS 110, a traditional engineering course on controly Monday lectures are shared; additional lectures on Wed for CDS 110010203040506093-94 95-96 97-98 99-00 01-02CDS 110aChE 105CDS 101CDS 110b051015202530354002-03ME/AeEE ChECDSEASBE/BioCSPhSS30 Sep 02 R. M. Murray, Caltech 3Summary: Introduction to Feedback and Control SenseComputeActuateControl =Sensing + Computation +ActuationFeedback Principlesy Robustness to Uncertaintyy Design of DynamicsMany examples of control and feedback in natural and engineered systems:BIOBIOESEESECS7-Dec-02 R. M. Murray, Caltech 4Fall 2002 Topic OverviewCourse Texty CDS 101: CDS Panel report, Astromy CDS 110: Astrom, Packard (?)Course Softwarey MATLAB/SIMULINK (heavy use)12/211/2511/1811/1111/410/2810/2110/1410/79/30DateFinal review (SH)DFT framework GarenRobustness + final10ThanksgivingPID AstromControl design II9Q fbk control (HM)Loop shapingControl design I8Keck/CELT (DGM)NyquistLoop stability7Bio S/A (MD)DGM on Wed?Freq response, xfer functions6Midterm review (SH)Controllability, state space feedbackControllability + midterm5Congestion Ctrl (EK)Matrix exp, e-values, linearizationLinear systems4Aerospace (UTRC?)Stability, global vs local, step/freq respStability and performance3Insect flt t→n(MD)ODEs, diff eqs, FSM + examplesSystem modeling2MATLAB tutorialFeedback, control, mud cardsIntroduction + administration1Friday lectureConceptsTopicWk5 Dec 02 R. M. Murray, Caltech 5CDS 101 Lecture TechniquesPowerpoint presentationsy Allows better presentation of main concepts, including pictures, graphics, simulations, videos, etcy Copies of slides are available at the beginning of each lecturey Presentations are available on the web, including moviesVideosy Substantial use of videos in the lectures; mainly tied to Caltech researchExperimentsy Physical systems are used to illustrate the main conceptsy Shows that the theory we are talking about makes a difference in the real worldy Relatively limited use this term; plan to increase for next term (ala Ph 1)5 Dec 02 R. M. Murray, Caltech 8CDS 101 Teaching FeaturesCDS Precoursey 2 day tutorial on modeling, ODEs, linear algebra the week before classes starty Designed to bring students up to speed on underlying mathy Attended by 25 students; mainly in biology/bioengineeringCourse web pagey All course information (lectures, reading, homework) available via course homepageCourse Instructional Staffy 4 co-instructors: course planning, optional lecturesy 5 TAs: Homework, office hours, mud cards, gradingLecture Videos and Remote Instructiony All lectures available in VHS and online to studentsStudent Feedback Mechanismsy Mud cards (lectures); time spent on HW; e-mail to TAs, prof; course surveys (3)Time spent on homework02468101214HW1 HW2 HW3 HW4 MT HW5 HW6 HW7 HW8Hours30 Sep 02 R. M. Murray, Caltech 9Instructional StaffLecturer: Richard Murray (CDS)y Overall course managementCo-Instructorsy Michael Dickinson (BE)y Eric Klavins (CS)y Hideo Mabuchi (Ph)y Doug MacMartin (CDS)Head TA: Sean Humbert (ME)y Coordinate course infrastructure + TAsTAsy Lars Cremean (ME)y Tim Chung (ME)y Zhipu Jin (EE)y Shreesh Mysore (CDS)Warning: objects in picture may be 10 years older than they appear.30 Sep 02 R. M. Murray, Caltech 10Mud CardsMud cardsy 3 x 5 cards distributed at each lecturey Describe “muddiest” part of the lecturey Turn in cards at end of classy Responses posted by 8 pm on day of lectureClass FAQ listy Searchable database of responses to mud cards and other questions from classWhat does closed loopmean? You used this term without defining it.CDS 101/110 Mud Cards051015202530354012345678910Week#responsesMon Wed HW5 Dec 02 R. M. Murray, Caltech 11Student SurveysBackground Surveyy Identify year, options, courses taken, topics that students are familiarMidterm Surveyy Evaluate teaching mechanisms + ask for comments on improvementsFinal Surveyy Check on familiarity with topics, updated teaching mechamisms, commentsCDS 101/110 midterm surveyMon lectureWed lectureFri lectureSun OHsReqreadingOpt readingMud cardsTA e-mailProf e-mailWeb siteStudentsOtherAvg score (bars)0.00.51.01.52.02.53.03.54.04.55.0051015202530354045Number of responses7-Dec-02 R. M. Murray, Caltech 12Summary and Next Steps CDS 101 version 1.0 is shippedy Very positive experience with first iteration of the classy Format seemed to work well and was well receivedy Major areas for improvement: slow down lectures, increased help with MATLABCDS 101 version 1.1 plansy Add remote instruction component (with UTRC)y Increased use of classroom experimentsy Continuous improvement on classroom processesDiscussiony What other ideas should we consider?y Are there tools for supporting the teaching methods we are using?y How do we transfer these ideas to other
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