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 Section |
Day and Time |
Location |

LEC 01 | Mon 13-14 | SF1101 |

Tue 14-15 | LM162 | |

Thu 13-14 | SF1101 |

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 |

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 |

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 |

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 |

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 |

Labs | 10% | Includes preparation, lab work, and report |

Homework | 5% | |

Midterm | 35% | Monday, February 26, 6-8pm, Exam Centre EX100 |

Final Exam | 50% | TBA |