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 Section |
Day and Time |
Location |

LEC 01 | Mon 12-13 | GB220 |

Wed 12-13 | GB220 | |

Fri 14-15 | GB220 |

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 |

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 |

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 |

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 |

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 |

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 |