ECE311S Dynamic Systems and Control (Last updated March 14, 2018)

Teaching Staff

Prof. M.E. Broucke GB434A LEC 01 broucke at control dot utoronto dot ca
Joshua Lee GB348 PRA 03, PRA 04 josh.lee at mail.utoronto.ca
Mohammad Salehizadeh GB348 PRA 01, PRA 02, PRA 05 msalehi at mie.utoronto.ca
Mario Vukosavljev GB348 TUT 01, TUT 02 mario.vukosavljev at mail.utoronto.ca


Lecture Schedule

Lecture Section Day and Time Location
LEC 01 Mon 13-14 SF1101
  Tue 14-15 LM162
  Thu 13-14 SF1101


Text and Course Notes

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


Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 Mario Vukosavljev Thu 12-13 WB342 Starts January 11
TUT 02 Mario Vukosavljev Fri 14-15 PB255 Starts January 12


Homework

There are six homeworks distributed on Blackboard roughly once every two weeks. The homework is to be turned in at the beginning of lecture on the specified date. No late homeworks are accepted. The homeworks are not marked for correctness, but your TA will check that all problems are (seriously) attempted for an overall mark of 1; if not, you get 0 on the entire homework.

Homework Number Due Date
Homework 1 Jan 22
Homework 2 Jan 29
Homework 3 - Time response part Feb 12
Homework 3 - Stability part Feb 26
Homework 4 Mar 5
Homework 5 Mar 19
Homework 6 Apr 9


Practice Problems

There is roughly one practice problem set per week. You are strongly urged to solve these problems by yourself. Practice problems are not graded.

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


Laboratories

There are three 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. The labs require a preparation and a report. Each student submits one preparation at the beginning of the lab. Each lab group submits a lab report one week after your scheduled lab. The lab report should be dropped in the boxes on the first floor 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 Modeling and Simulation using Matlab report_lab1.doc
Lab 2 Basic Cruise Control Design report_lab2.doc
Lab 3 Control Design Using Matlab lab3.mdl, report_lab3.doc

Section TA Day and Time Lab 1 Lab 2 Lab 3 Drop Box
PRA 01 Mohammad Salehizadeh Mon 9-12 Feb 5 Mar 12 Mar 26 Box TBA
PRA 02 Mohammad Salehizadeh Mon 9-12 Feb 12 Mar 5 Mar 19 Box TBA
PRA 03 Joshua Lee Thu 15-18 Feb 15 Mar 8 Mar 22 Box TBA
PRA 04 Joshua Lee Thu 15-18 Feb 8 Mar 1 Mar 15 Box TBA
PRA 05 Mohammad Salehizadeh Fri 15-18 Feb 9 Mar 2 Mar 16 Box TBA


Grading

Labs 10% Includes preparation, lab work, and report
Homework 5%  
Midterm 35% Monday, February 26, 6-8pm, Exam Centre EX100
Final Exam 50% TBA