ECE311S Dynamic Systems and Control (Last updated April 8, 2015)

Teaching Staff

Prof. M.E. Broucke GB434A LEC 01 broucke at control dot utoronto dot ca
Zach Kroeze GB348 TUT 02 zach.kroeze at gmail dot com
Shutha Pulendran   PRA 01-04 shutha.pulendran at gmail dot com
Melkior Ornik GB348 TUT 01 melkior.ornik at scg dot utoronto dot ca
Mario Vukosavljev GB348 PRA 01-04 vukosavljevmario1 at gmail dot com


Lecture Schedule

Lecture Section Day and Time Location
LEC 01 Mon 12-13 GB220
  Wed 12-13 GB220
  Fri 14-15 GB220


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 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 Midterm 1, February 13, 6-8pm
    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 Design Examples  
  27 Design Examples  
10 28 Frequency response and Bode plots 10.4, 10.8
  29 Bode plots  
  30 Bode plots  
11 31 Lag design  
  32 Lead design  
  33 Design Examples Midterm 2, March 27, 6-8pm
12 34 Design Examples  
  35 Pole placement 11.3
  36 Pole placement  
13 37 Pole placement  
  38 Design Examples  
  39 Design Examples  


Tutorial Schedule

Section TA Day and Time Location Tutorial Dates
TUT 01 Melkior Ornik Tue 15-16 BA2145 Starts January 13
TUT 02 Zach Kroeze Fri 17-18 BA2145 Starts January 9


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 23
Homework 2 Jan 30
Homework 3 - Time response part Feb 11
Homework 3 - Stability part Feb 23
Homework 4 Mar 6
Homework 5 Mar 20
Homework 6 Apr 6


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. I'll post solutions here shortly after the TA presents the solutions in tutorial.

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
Problem set 11 Robust Tracking Problem Solution 11


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. 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.

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 Modelling and Simulation using Matlab report_lab1.doc
Lab 2 Basic Cruise Control Design Experiment Familiarization , 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 Shutha Pulendran, Mario Vukosavljev Thu 12-15 Feb 12 Mar 5 Mar 19 Box 24
PRA 02 Shutha Pulendran, Mario Vukosavljev Thu 12-15 Feb 5 Feb 26 Mar 12 Box 25
PRA 03 Shutha Pulendran, Mario Vukosavljev Thu 15-18 Feb 12 Mar 5 Mar 19 Box 26
PRA 04 Shutha Pulendran, Mario Vukosavljev Thu 15-18 Feb 5 Feb 26 Mar 12 Box 27


Grading

Labs 10% Includes preparation, lab work, and report
Homework 5%  
Midterm 1 15% February 13, 6-8pm, Exam Centre, EX300
Midterm 2 20% March 27, 6-8pm, Sandford Fleming, SF3202
Final Exam 50% April 14, 2-4:30pm, A-L: HA401, M-Z: HA410