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UCSB “Contraction Theory for Dynamical Systems”
ME 225FB, Spring 2024
Instructor: Francesco Bullo
This is the website for the UCSB course ME 225FB “Contraction Theory for Dynamical Systems”,
Spring 2024. This website's URL is
http://motion.me.ucsb.edu/ME225FB-Spring2024.
Course Description
The course provides a mathematical introduction to contraction theory for
dynamical systems. Contractivity is a robust and computationally-friendly
stability theory. Special emphasis is given to continuous-time differential
equations arising in the study of network multi-agent systems, neural
networks, gradient dynamical systems, monotone dynamics, and
semi-contracting systems. The course is intended primarily for graduate
students interested in nonlinear dynamical systems, control, computation
and optimization.
Prerequisites
Competency in linear algebra, nonlinear dynamical systems, and linear control systems.
Lecture Time and Place
Tue and Thu 12:30-1:45 in GIRV 2110
Course credit
Units: 3. Letter grade.
Textbook
The course will follow the text: https://fbullo.github.io/ctds
and the slides: https://fbullo.github.io/talks/2023-09-FBullo-ContractionTheory-Tutorial.pdf
Instructor
Professor Francesco Bullo
Department of Mechanical Engineering
Email: bullo-at-ucsb.edu
Website: https://fbullo.github.io
Office hours = Discussion times
Place: Professor Bullo's Zoom room (see your email)
Time: Tuesdays 4pm-6pm
Please be sure to turn on your video camera when you come to my zoom room,
as I will have mine on. I encourage you to use a background.
If you have any questions about the course, please send me email. I will
try to respond as quickly as possible. Additionally, I will share
questions that are particularly good (and their answers) with the rest of
the class by broadcasting my answer to the entire class.
If you come to office hours with questions about homework, please be
prepared to show attempts at solving the problem prepared before coming.
Grading
Class grade will be determined by:
In exceptional cases, I reserve the right to give extra points for
excellent performance on the final report and presentation. Please, do not
count on it as a way to avoid doing homework assignments.
Homework Self-Grading Scheme
Homework is due one week after the corresponding chapter is fully covered in class; precise deadlines will be announced in class.
Please write one exercise per page and write clearly for partial credit.
To turn in the homework, please scan solutions in a single PDF file
and email me the file by the deadline.
After the homework deadline, I will email you the solutions (after which
no late homework will be accepted).
I will ask you to please self-grade your homework and
email to me both: (1) the marked homework in PDF form, and (2) the grade.
Please self-grade within a week of receiving the solutions.
Each exercise in each homework assignment is worth 10 points, unless otherwise marked.
Final Report and Final Presentations
Instructions on the report and presentation will be discussed in class.
Here are some
instructions.
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