ECE311S Dynamic Systems and Control (Last updated November 11 2009, 21:41)
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Teaching Staff

Prof. M.E. Broucke GB434A LEC01, Course Coordinator broucke at control.utoronto.ca
Prof. B.A. Francis GB340 LEC02 francis at control.utoronto.ca
TBA RS420 TUT01, TUT03 TBA at utoronto.ca
TBA GB348 TUT02, TUT04 TBA at utoronto.ca
TBA GB348 PRA01,PRA02,PRA03,PRA04,PRA05 TBA at utoronto.ca
TBA GB348 PRA01,PRA02,PRA03,PRA04,PRA05 TBA at control.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

Modern Control Systems, 11th Edition, by R. Dorf and R. Bishop.

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 the text.

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 Controller structures: P, PI, PD, PID 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 and internal model principle 11.8
  35 Robust tracking problem: applications  
  36 Review  
13 37 Review  
  38 Review  
  39 Review  

Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 Cassel Wed 12-14 BA2145 Jan 14, Jan 28, Feb 11, Mar 4, Mar 18, Apr 1
TUT 02 Khan Tue 16-18 HA401 Jan 13, Jan 27, Feb 10, Mar 3, Mar 17, Mar 31
TUT 03 Cassel Thu 9-11 BA2145 Jan 22, Feb 5, Feb 26, Mar 12, Mar 26, Apr 9
TUT 04 Khan Tue 9-11 HA410 Jan 20, Feb 3, Feb 24, Mar 10, Mar 24, Apr 7

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

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 Goi, Roszak Mon 15-18 Feb 2 Mar 23
PRA 02 Goi, Roszak Wed 12-15 Feb 11 Mar 18
PRA 03 Goi, Roszak Wed 12-15 Feb 4 Mar 25
PRA 04 Goi, Roszak Tue 17-20 Mar 17 Mar 31
PRA 05 Goi, Roszak Thu 9-12 Feb 12 Mar 19

Grading

Labs 15% Includes preparation, lab work, and report  
Midterm 30% Midterm Solutions Midterm Information
Final Exam 55% TBA Final Exam Information