ECE311S Dynamic Systems and Control (Last updated April 15, 2012)

Teaching Staff

Prof. M.E. Broucke GB434A LEC 01, LEC 02, Course Coordinator broucke at control dot utoronto dot ca
Adam Sniderman GB348 TUT 01, TUT 02 adam.sniderman at utoronto dot ca
Ashton Roza GB348 TUT 04 ashton.roza at utoronto dot ca
Hu Hong GB348 PRA 01, PRA 05, PRA 06 hu.hong at utoronto dot ca
Sina Izadian GB348 PRA 01, PRA 05, PRA 06 sin.izd at gmail dot com
Dame Jankuloski GB348 PRA 02, PRA 03, PRA 04 dame.jankuloski at utoronto dot ca
Krishnaa Mehta GB348 PRA 02, PRA 03, PRA 04 babs.mehta at utoronto dot ca

Lecture Schedule

Lecture Section Day and Time Location
LEC 01 Tue 15-16 GB303
  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, 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, 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  

Tutorial Schedule

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

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 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

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 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.

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 Drop Box
PRA 01 Hong, Jankuloski Mon 15-18 Feb 13 Mar 19 Box 28
PRA 02 Hong, Izadian Wed 12-15 Feb 8 Mar 14 Box 30
PRA 03 Jankuloski, Mehta Wed 12-15 Feb 15 Mar 21 Box 30
PRA 04 Hong, Jankuloski Mon 15-18 Feb 6 Mar 12 Box 28
PRA 05 Izadian, Mehta Thu 9-12 Feb 9 Mar 15 Box 32
PRA 06 Izadian, Mehta Thu 9-12 Feb 16 Mar 22 Box 32

Grading

Labs 10% Includes preparation, lab work, and report  
Midterm 1 20% February 13, 7-9pm Midterm 1 Solutions
Midterm 2 20% March 23, 6-8pm Midterm 2 Solutions
Final Exam 50% April 23, 2-4:30pm Final Exam Information