ECE311S Dynamic Systems and Control (Last updated February 3 2010, 12:25)

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Teaching Staff

Prof. M.E. Broucke GB434A LEC 01, Course Coordinator broucke at control.utoronto.ca
Prof. B.A. Francis GB340 LEC 02 francis at control.utoronto.ca
Mohamed Helwa GB348 TUT 02, TUT 04 mohamedkhairy1984 at hotmail.com
Tyson John GB348 TUT 01, TUT 03 tyson.john at utoronto.ca
Simon Lam GB348 PRA 02, PRA 03, PRA 04 simon at control.utoronto.ca
Marcus Ganness GB348 PRA 01, PRA 05, PRA 06 marcus_ganness at hotmail.com
Hu Hong GB348 PRA 01, PRA 05, PRA 06 hu.hong at utoronto.ca
Fouzia Khan GB348 PRA 02, PRA 03, PRA 04 fouzia.khan at utoronto.ca


Lecture Schedule

Lecture Section Day and Time Location
LEC 01 Tue 15-16 GB119
  Wed 15-16 GB119
  Fri 15-16 GB244
LEC 02 Mon 14-15 GB119
  Thu 14-15 GB119
  Fri 13-14 GB119


Text and Course Notes

Modern Control Systems, 11th Edition, by R. Dorf and R. Bishop. This text is not mandatory.
ECE311S Dynamic Systems and Control, January 2010, by Prof. Bruce A. Francis.

Course Outline

The following table shows the lecture topics and the corresponding sections of the text. This schedule will be updated as the semester progresses, so it's a good idea to check the webpage periodically. In the lectures the major concepts will be developed: you should know how each concept is derived, why it is important, and how it is used in problem solving. The text supplements the lectures by showing numerous examples and real applications. As such, the text is not meant as a primary source of concept learning, and attendance at lectures is essential. Note that topics will be covered which do not appear in either the text or the course notes.

Week Lecture Topics Sections of Text
1 1 Introduction: what is a control system 1.1 - 1.3, 1.8
  2 ODE's and state equations  
  3 State equations and examples  
2 4 Nonlinear systems and linearization 3.1 - 3.3, linearization.pdf
  5 Laplace transform review  
  6 Laplace transform review  
3 7 Transfer functions, TF <--> SS 2.4 - 2.5, 3.6
  8 Block diagrams and interconnections  
  9 Time response: derivation in state space  
4 10 Computing e^At 3.7, 5.1 - 5.3
  11 Second-order systems  
  12 Performance specifications
5 13 Stability of LTI systems: asymptotic stability 6.1, 6.4
  14 Stability of LTI systems: BIBO stability  
  15 Open-loop v.s. closed-loop  
6 16 Open-loop v.s. closed-loop 4.1 - 4.7, 6.2
  17 Routh criterion  
  18 Routh criterion, P control design  
    Reading Week  
7 19 Steady-state error and system type 6.5, 7.6, 9.1 - 9.3
  20 Nyquist stability criterion  
  21 Nyquist stability criterion  
8 22 Nyquist stability criterion 8.1 - 8.5
  23 Frequency response and Bode plots  
  24 Bode plots  
9 25 Bode plots 10.4, 10.8
  26 Lag design  
  27 Lead design  
10 28 Applications: power systems and analog electronics 11.3
  29 Pole placement: basics  
  30 Pole placement: applications  
11 31 Exact tracking problem  
  32 Exact tracking problem  
  33 Asymptotic tracking problem  
12 34 Robust tracking problem 11.8
  35 Internal model principle  
  36 Robust tracking problem: applications  
13 37 Review  
  38 Review  
  39 Review  


Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 John Wed 12-14 BA2195 Jan 13, Jan 27, Feb 10, Mar 3, Mar 17, Mar 31
TUT 02 Helwa Tue 16-18 WB219 Jan 12, Jan 26, Feb 9, Mar 2, Mar 16, Mar 30
TUT 03 John Thu 9-11 GB412 Jan 21, Feb 4, Feb 25, Mar 11, Mar 25, Apr 8
TUT 04 Helwa Tue 9-11 BA2185 Jan 19, Feb 2, Feb 23, Mar 9, Mar 23, Apr 6


Problem Sets

There is one problem set per week. You are strongly urged to solve the problems by yourself. Solutions will be posted roughly one week after tutorial.

Problem Set Topics Problems Solved in Tutorial Solutions Date Solution Posted
Problem set 1 Modeling, state equations 1, 3 Solution 1 Jan 22
Problem set 2 Linearization, Laplace transforms, solving ODEs 1, 2.8, 2.9, 3.4, 3.8, 5.1 Solution 2 Jan 22
Problem set 3 Transfer functions, state equations 1, 3, 7 Solution 3 Feb 5
Problem set 4 Solving e^At, time response, step response of 2nd order underdamped systems 1, 2, 3, 4 Solution 4 new Feb 5
Problem set 5 Block diagram reduction, step response of 2nd order underdamped systems 1, 3, 4 Solution 5 Feb 26
Problem set 6 Stability, Routh-Hurwitz criterion 1, 4, 5, 6 Solution 6 Feb 26
Reading Week        
Problem set 7 Steady-state error 1, 2, 3, 8 Solution 7 Mar 12
Problem set 8 Nyquist stability 1(a), 1(c), 1(d), 2(a), 2(b) Solution 8 Mar 12
Problem set 9 Bode plots, gain and phase margin 1(c), 2, 3 Solution 9 Mar 26
Problem set 10 Pole placement 1, 2, 3 Solution 10 Mar 26
Problem set 11 Robust regulator design 1(a), 2(a), 2(b) Solution 11 Apr 1


Laboratories

There are two labs and they are performed in groups of two or three students. If you don't already have lab partners among students in your lab session, the TAs will help you to form a group. Both labs require a preparation and a report. The preparation is submitted at the beginning of the lab. If you already have lab partners, your group can submit one preparation. The report is due one week after your scheduled lab and it should be dropped in the box labelled "ECE311", box 10, basement of Sandford Fleming.

There are no make-up labs. If you miss a lab you cannot show up at a different lab section.

Lab Title Matlab and supporting files
Lab 1 Basic Cruise Control Design Experiment Familiarization , report_lab1.doc
Lab 2 Control Design Using Matlab lab2.mdl, report_lab2.doc

Section TA Day and Time Lab 1 Lab 2
PRA 01 Hong, Ganness Mon 15-18 Feb 22 Mar 22
PRA 02 Lam, Khan Wed 12-15 Feb 10 Mar 17
PRA 03 Lam, Khan Wed 12-15 Feb 24 Mar 24
PRA 04 Lam, Khan Mon 15-18 Feb 8 Mar 15
PRA 05 Hong, Ganness Thu 9-12 Feb 11 Mar 18
PRA 06 Hong, Ganness Thu 9-12 Feb 25 Mar 25


Grading

Labs 15% Includes preparation, lab work, and report  
Midterm 1 20% February 8, 6-8pm Midterm Information new
Midterm 2 20% March 15, 6-8pm Midterm Information
Final Exam 45% TBA Final Exam Information