Difference between revisions of "CDS 212 Fall 2010"
(24 intermediate revisions by 2 users not shown)  
Line 5:  Line 5:  
 valign=top   valign=top  
 width=50%    width=50%   
−  '''  +  '''Instructor''' 
−  * John Doyle, doyle@cds.caltech.edu  +  * [http://cdsweb1.cds.caltech.edu/~doyle2/wiki/index.php?title=Main_Page John Doyle], doyle@cds.caltech.edu 
* Lectures: Tu/Th, 2:304 pm, 314 Annenberg  * Lectures: Tu/Th, 2:304 pm, 314 Annenberg  
 width=50%    width=50%   
'''Teaching Assistants'''  '''Teaching Assistants'''  
−  * Somayeh Sojoudi, sojoudi@cds.caltech.edu  +  *[http://www.cds.caltech.edu/~sojoudi Somayeh Sojoudi], sojoudi@cds.caltech.edu 
* Richard Murray, murray@cds.caltech.edu  * Richard Murray, murray@cds.caltech.edu  
}  }  
Line 18:  Line 18:  
===Announcements ===  ===Announcements ===  
−  * 7 Oct 2010: [http://www.cds.caltech.edu/~sojoudi/Chap4.pdf Slides] for lecture 4 (DFTCh 4) are now posted  +  * 16 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/LinearNotes.pdf Slides] for lecture 15 are now posted. 
+  * 11 Nov 2010: Notes from lecture 14: [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf 1], [http://www.cds.caltech.edu/~sojoudi/MITBoydintro.pdf 2], [http://www.cds.caltech.edu/~sojoudi/MuNotes.pdf 3], [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf 4], [http://www.cds.caltech.edu/~sojoudi/Nov11Overview.pdf 5].  
+  * 9 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/DetCondUpperBound.pdf Slides] for lecture 13 (PDCh 8) are now posted.  
+  * 4 Nov 2010: [http://www.cds.caltech.edu/~sojoudi/ModelRed.pdf Slides] form Prof. Keith Glover's Lecture and the [http://www.cds.caltech.edu/~sojoudi/TutorialModelred.pdf tutorial paper] on Hankel norm approximations are now posted.  
+  * 2 Nov 2010: A reference for lectures 9 and 10: [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf Linear Matrix Inequalities in System and Control Theory, Stephen Boyd.]  
+  * 7 Oct 2010: [http://www.cds.caltech.edu/~sojoudi/Chap4.pdf Slides] for lecture 4 (DFTCh 4) are now posted.  
* 4 Oct 2010: Office Hours: Wed 45pm, 314 Annenberg  * 4 Oct 2010: Office Hours: Wed 45pm, 314 Annenberg  
−  * 29 Sep 2010: [http://www.cds.caltech.edu/~sojoudi/2.1_BioBodeDetails.pdf Slides] for lecture 1 are now posted  +  * 29 Sep 2010: [http://www.cds.caltech.edu/~sojoudi/2.1_BioBodeDetails.pdf Slides] for lecture 1 are now posted. 
=== Textbook ===  === Textbook ===  
Line 30:  Line 35:  
 J. Doyle, B. Francis and A. Tannenbaum, ''Feedback Control Theory'', Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.   J. Doyle, B. Francis and A. Tannenbaum, ''Feedback Control Theory'', Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html.  
 valign=top   valign=top  
−   align=right  [  +   align=right  [DP] 
−   F. Paganini  +   G. Dullerud and F. Paganini, ''A Course in Robust Control Theory'', Springer, 2000. 
}  }  
Line 78:  Line 83:  
 style="borderbottom:3px solid gray;"  4   style="borderbottom:3px solid gray;"  4  
 style="borderbottom:3px solid gray;"  19 Oct <br> 21 Oct+   style="borderbottom:3px solid gray;"  19 Oct <br> 21 Oct+  
−   style="borderbottom:3px solid gray;"  Fundamental limits  +   style="borderbottom:3px solid gray;"  
−   style="borderbottom:3px solid gray;"  {{DFT}} Ch 6 <br> ({{FBS}} 11.4, 12.4)  +  *Fundamental limits 
+  *Realization theory, controllability, observability  
+   style="borderbottom:3px solid gray;"  {{DFT}} Ch 6 <br> ({{FBS}} 11.4, 12.4),<br> DP Ch 2, 4  
 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 4, Fall 2010HW 4]]   style="borderbottom:3px solid gray;"  [[CDS 212, Homework 4, Fall 2010HW 4]]  
 style="borderbottom:3px solid gray;"    style="borderbottom:3px solid gray;"   
Line 85:  Line 92:  
 5   5  
 26 Oct+ <br> 28 Oct*   26 Oct+ <br> 28 Oct*  
−    +   
−  
* Lyapunov equation and stability conditions  * Lyapunov equation and stability conditions  
−    +  * LMIs 
+   style="borderbottom:3px solid gray;"  DP Ch 4 <br> [http://www.stanford.edu/~boyd/lmibook/lmibook.pdf LMIs] Ch 2  
+  
 [[CDS 212, Homework 5, Fall 2010HW 5]]   [[CDS 212, Homework 5, Fall 2010HW 5]]  
    
Line 94:  Line 102:  
 style="borderbottom:3px solid gray;"  6   style="borderbottom:3px solid gray;"  6  
 style="borderbottom:3px solid gray;"  2 Nov* <br> 4 Nov*   style="borderbottom:3px solid gray;"  2 Nov* <br> 4 Nov*  
−   style="borderbottom:3px solid gray;"   +   style="borderbottom:3px solid gray;"  
−  
* KYP lemma  * KYP lemma  
+  * Model reduction  
+   style="borderbottom:3px solid gray;"  DP Ch 4,7 <br> [http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V4X3VTSW0Y2&_user=10&_coverDate=06%2F03%2F1996&_rdoc=1&_fmt=high&_orig=search&_origin=search&_sort=d&_docanchor=&view=c&_acct=C000050221&_version=1&_urlVersion=0&_userid=10&md5=7cadd4d3ff3995a6e887e15c1a57b578&searchtype=a KYP]  
 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 6, Fall 2010HW 6]]   style="borderbottom:3px solid gray;"  [[CDS 212, Homework 6, Fall 2010HW 6]]  
−    +   style="borderbottom:3px solid gray;"  
* Keith Glover  * Keith Glover  
** Model reduction  ** Model reduction  
Line 105:  Line 114:  
 7   7  
 9 Nov <br> 11 Nov   9 Nov <br> 11 Nov  
−    +   
−  *  +  * Uncertain systems 
−  *  +  * MIMO robust control, Convex optimization 
−    +   DP Ch 8 <br> [http://www.cds.caltech.edu/~sojoudi/SpinSatellite.pdf MIMO] <br> [http://www.cds.caltech.edu/~sojoudi/MITBoydCvxOpt.pdf CvxOpt1]<br>[http://www.cds.caltech.edu/~sojoudi/MITBoydintro.pdf CvxOpt2] 
 [[CDS 212, Homework 7, Fall 2010HW 7]]   [[CDS 212, Homework 7, Fall 2010HW 7]]  
 valign=top   valign=top  
 8   8  
 16 Nov+ <br> 18 Nov   16 Nov+ <br> 18 Nov  
−   rowspan=2 style="borderbottom:3px solid gray;"   +   rowspan=2 style="borderbottom:3px solid gray;"  
−  *  +  * Stability of nonlinear systems 
−  
* Sumofsquares  * Sumofsquares  
−   rowspan=2 style="borderbottom:3px solid gray;"   +   rowspan=2 style="borderbottom:3px solid gray;"  {{FBS}} Ch 4<br>[http://www.cds.caltech.edu/~utopcu/VerInCtrl/lecture4.pdf SOS] 
 rowspan=2 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 8, Fall 2010HW 8]]   rowspan=2 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 8, Fall 2010HW 8]]  
    
Line 130:  Line 138:  
 30 Nov <br> 2 Dec   30 Nov <br> 2 Dec  
 Links with nformation theory and statistical mechanics   Links with nformation theory and statistical mechanics  
−    +   rowspan=2 style="borderbottom:3px solid gray;"  
−    +   rowspan=2 style="borderbottom:3px solid gray;"  [[CDS 212, Homework 9, Fall 2010HW 9]] 
    
* IPAM: applications of optimization  * IPAM: applications of optimization  
Line 138:  Line 146:  
=== Grading ===  === Grading ===  
The ﬁnal grade will be based on homework and a ﬁnal exam:  The ﬁnal grade will be based on homework and a ﬁnal exam:  
−  * Homework (75%)  There will be 9 oneweek problem sets, due in  +  * Homework (75%)  There will be 9 oneweek problem sets, due each Thursday by 5pm in the TA's mailbox on the third floor of Annenberg. Each student may hand in at most one homework late (no more than 5 days). 
* Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).  * Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).  
Latest revision as of 03:46, 3 April 2014
Feedback Control Theory  
Instructor

Teaching Assistants

Course Description
Introduction to modern feedback control theory with emphasis on the role of feedback in overall system analysis and design. Examples drawn from throughout engineering and science. Open versus closed loop control. Statespace methods, time and frequency domain, stability and stabilization, realization theory. Timevarying and nonlinear models. Uncertainty and robustness.
Announcements
 16 Nov 2010: Slides for lecture 15 are now posted.
 11 Nov 2010: Notes from lecture 14: 1, 2, 3, 4, 5.
 9 Nov 2010: Slides for lecture 13 (PDCh 8) are now posted.
 4 Nov 2010: Slides form Prof. Keith Glover's Lecture and the tutorial paper on Hankel norm approximations are now posted.
 2 Nov 2010: A reference for lectures 9 and 10: Linear Matrix Inequalities in System and Control Theory, Stephen Boyd.
 7 Oct 2010: Slides for lecture 4 (DFTCh 4) are now posted.
 4 Oct 2010: Office Hours: Wed 45pm, 314 Annenberg
 29 Sep 2010: Slides for lecture 1 are now posted.
Textbook
The two primary texts for the course (available via the online bookstore) are
[DFT]  J. Doyle, B. Francis and A. Tannenbaum, Feedback Control Theory, Dover, 2009 (originally published by Macmillan, 1992). Available online at http://www.control.utoronto.ca/people/profs/francis/dft.html. 
[DP]  G. Dullerud and F. Paganini, A Course in Robust Control Theory, Springer, 2000. 
The following additional texts may be useful for some students:
[FBS]  K. J. Astrom and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Available online at http://www.cds.caltech.edu/~murray/amwiki. 
Lecture Schedule
Week  Date  Trunk  Reading  Homework  Branch 
1  28 Sep 30 Sep 
Norms for signals and systems  DFT Ch 1, 2 DP Ch 3 
HW 1  
2  5 Oct+ 7 Oct 
Feedback, stability and performance  DFT Ch 3 (FBS 9.19.3) (FBS 11.111.2) 
HW 2 

3  12 Oct+ 14 Oct+ 
Uncertainty and robustness  DFT Ch 4 (FBS 12.1‑12.3) 
HW 3 

4  19 Oct 21 Oct+ 

DFT Ch 6 (FBS 11.4, 12.4), DP Ch 2, 4 
HW 4  
5  26 Oct+ 28 Oct* 

DP Ch 4 LMIs Ch 2 
HW 5  
6  2 Nov* 4 Nov* 

DP Ch 4,7 KYP 
HW 6 

7  9 Nov 11 Nov 

DP Ch 8 MIMO CvxOpt1 CvxOpt2 
HW 7  
8  16 Nov+ 18 Nov 

FBS Ch 4 SOS 
HW 8 

9  23 Nov+ 
 
10  30 Nov 2 Dec 
Links with nformation theory and statistical mechanics  HW 9 

Grading
The ﬁnal grade will be based on homework and a ﬁnal exam:
 Homework (75%)  There will be 9 oneweek problem sets, due each Thursday by 5pm in the TA's mailbox on the third floor of Annenberg. Each student may hand in at most one homework late (no more than 5 days).
 Final exam (25%)  The ﬁnal will be handed out the last day of class and is due back at the end of ﬁnals week. Open book, time limit to be decided (likely N hours over a 48N hour period).
The lowest homework score you receive will be dropped in computing your homework average. In addition, if your score on the ﬁnal is higher than the weighted average of your homework and ﬁnal, your ﬁnal will be used to determine your course grade.
Collaboration Policy
Collaboration on homework assignments is encouraged. You may consult outside reference materials, other students, the TA, or the instructor. Use of solutions from previous years in the course is not allowed. All solutions that are handed should reﬂect your understanding of the subject matter at the time of writing.
No collaboration is allowed on the ﬁnal exam.
Additional References (Optional)
Date  Reading 
28 Sep  AldersonDoyletsmca (Paper),Glycolysis (Paper), SuppInfo, 1NetCmplxIntro (Slides) 
5 Oct  layering (Slides) 
19 Oct  BioMetabModeling (Slides),Glycolysis (Paper),Figures,Chap6 (Slides) 