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, P control design |
|
| |
18 |
Steady-state error |
|
| |
|
Reading Week |
|
| 7 |
19 |
Steady-state error and system type |
6.5, 7.6, 9.1 - 9.3 |
| |
20 |
Principle of the argument |
|
| |
21 |
Principle of the argument |
|
| 8 |
22 |
Nyquist stability criterion |
|
| |
23 |
Nyquist stability criterion |
|
| |
24 |
Nyquist stability criterion |
|
| 9 |
25 |
Nyquist stability criterion |
8.1 - 8.5 |
| |
26 |
Frequency response and Bode plots |
|
| |
27 |
Bode plots |
|
| 10 |
28 |
Bode plots |
10.4, 10.8 |
| |
29 |
Lag design |
|
| |
30 |
Lead design |
|
| 11 |
31 |
Pole placement |
11.3 |
| |
32 |
Exact tracking problem |
|
| |
33 |
Exact tracking problem |
|
| 12 |
34 |
Asymptotic tracking problem |
|
| |
35 |
Robust tracking problem |
|
| |
36 |
Internal model principle |
11.8 |
| 13 |
37 |
Design Examples |
|
| |
38 |
Design Examples |
|
| |
39 |
Design Examples |
|
There are no tutorials in the first week of class.
| Section |
TA |
Day and Time |
Location |
Tutorial Dates |
| TUT 01
| Adam Sniderman
| Wed 12-14
| GB304
| Jan 25, Feb 8, Feb 29, Mar 14, Mar 28, Apr 11
|
| TUT 02
| Adam Sniderman
| Tue 16-18
| BA3012
| Jan 24, Feb 7, Feb 28, Mar 13, Mar 27, Apr 10
|
| TUT 03
| Ashton Roza
| Thu 9-11
| GB412
| Cancelled |
| TUT 04
| Ashton Roza
| Tue 9-11
| BA2185
| Jan 17, Jan 31, Feb 14, Feb 28, Mar 13, Mar 27, Apr 10
|
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 |
posted |
| Problem set 2 |
Linearization, Laplace transforms, solving ODEs |
1, 2.8, 2.9, 3.4, 3.8, 5.1 |
Solution 2 |
posted |
| Problem set 3 |
Transfer functions, state equations |
1, 3, 7 |
Solution 3 |
posted |
| Problem set 4 |
Solving e^At, time response, step response of 2nd order underdamped systems |
1, 2, 3, 4 |
Solution 4 |
posted |
| Problem set 5 |
Block diagram reduction, step response of 2nd order underdamped systems |
1, 3, 4 |
Solution 5 |
posted |
| Problem set 6 |
Stability, Routh-Hurwitz criterion |
1, 4, 5, 6 |
Solution 6 |
posted |
| Reading Week |
|
|
|
|
| Problem set 7 |
Steady-state error |
1, 2, 3, 8 |
Solution 7 |
posted |
| Problem set 8 |
Nyquist stability |
1(a), 1(c), 1(d), 2(a), 2(b) |
Solution 8 |
posted |
| Problem set 9 |
Bode plots, gain and phase margin |
1(c), 2, 3 |
Solution 9 |
posted |
| Problem set 10 |
Pole placement |
1, 2 |
Solution 10 |
posted |
| Problem set 11 |
Robust regulator design |
1(a), 1(b) |
Solution 11 |
posted |
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 boxes on the first floor of
Sandford Fleming near SF 1020-1021.
There are no make-up labs. If you miss a lab you cannot show up at a different lab section.