ECE411S - Real-Time Computer Control - General Information

Last modified 1/11/10.

Instructor
M. Maggiore GB437 maggiore (at) control.utoronto.ca

Teaching Assistants
Eric Kopp eric.kopp (at) utoronto.ca
Farid Zare Seisan farid.zareseisan (at) utoronto.ca

Lectures
Day and Time Room
Mon 9-10 GB119
Wed 14-15 GB119
Thu 10-11 GB119

Midterm Exam
March 1, 6-8PM SF3202

Composition of Final Mark
Labs 10%
Midterm 30%
Homeworks 5%
Exam 55%

Course Notes
You can download the course notes from the Course Documents section in the University of Toronto webportal here. They are self-contained and serve as a textbook for this course.

Additional References
You may also consider consulting the following references:
  • B. Kuo, Digital Control Systems, Second Ed., Oxford Univ. Press
  • K.M. Moudgalya, Digital Control, Wiley

Course Outline
  • Discrete-time linear systems
    • difference equations
    • z-transforms
    • solution of difference equations using z-transforms
    • state equations and their solution
    • conversions between state-space and transfer function representations
    • effect of sampling
  • Sampled-data systems
    • sample and hold operations, and their system properties
    • discretization of continuous-time state models; the spectral mapping theorem
    • mapping continuous-time transfer function to their sampled-data counterparts
    • Discrete-time Fourier transform and frequency response
    • Frequency domain interpretation of sampling
  • State space control design in discrete time
    • stability of state space and transfer function models
    • controllability and stabilization
    • pathological sampling and preservation of controllability through sampling
    • observability and observers; output feedback stabilization
    • tracking and output regulation
  • Introduction to real-time scheduling
  • Frequency domain control design in discrete time
    • Introduction to control design using transfer functions
    • The Nyquist criterion for feedback stability
    • Bilinear transformations and Bode diagrams for discrete-time transfer functions
    • Stability margins
    • Lead/Lag design
  • Discretization of continuous-time controllers
    • step invariance method
    • discretization via Tustin's bilinear transformation
    • discretization error using bilinear transformation

Laboratories (BA3114)
You will perform two labs in this course. Labs are performed in groups of three students. You'll form lab groups at the first lab session.

You can download the lab files from the Course Documents section in the University of Toronto webportal here.

The first lab requires a preparation. Both labs require a report. Each student submits an individual preparation at the beginning of the lab. One week after the lab, each lab group submits a lab report.

There are no make-up labs. The TA will mark down the attendance.
Section Day and Time Lab 1 Lab 2
PRA 01 Wed 9-12 Mar 10 Mar 24
PRA 02 Fri 15-18 Mar 5 Mar 19
PRA 03 Thu 15-18 Mar 4 Mar 18
PRA04 Tue 9-12 Mar 9 Mar 23