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ECE 410 is an introduction to control systems, emphasizing linear time-invariant plants and frequency-domain tools. Both continuous-time and discrete-time systems are considered. The course is roughly divided into two parts: first analysis and then design. The analysis portion covers: representation of linear systems, time-domain response, stability criteria, root locus plots, Bode plots, the Nyquist criterion. Emphasis is placed upon those aspects not covered in prerequisite courses, e.g. Bode plots for unstable systems, and the step response of non-minimum phase systems. Typical performance specifications such as phase margin and loop gain are discussed. The last half of the course introduces controller design using root locus, Nyquist and Bode plots. Topics include performance measures in the frequency domain, design for performance, loop-shaping, models of plant uncertainty, design for robust performance despite plant uncertainty, and sampling. Examples of real-world designs are presented, and include satellite attitude regulation, magnetic levitation, process control, electronic circuits, and robotic manipulator control.
Richard C. Dorf and Robert H. Bishop, Modern Control Systems, 8th edition, Addison-Wesley Publishing, 1998.
Some class notes will be distributed. These are somewhat limited in scope, but do include all overheads used in the lectures, solutions to all the homework problems. Previous midterm and final exams may be downloaded below. You are strongly encouraged to purchase the text.
Download Bode Plot Tutorial (postscript).
Download Satelite Example Matlab Scripts.
The Systems Control Laboratory is in GB 347. There are four labs in the course, emphasizing digital (computer) control. The first three are a sequence of servomotor control labs. (This sequence continues into the ECE 411 labs, which include the computer control of an inverted pendulum and a real helicopter.) The last ECE 410 lab is a Matlab design project.
Homework is assigned at every lecture, but it is not graded. Problems are reviewed in tutorial, if desired. Solutions to most problems will be distributed. ``If you do the homework alone, you will do very well on the exams.''
There are a total of 6 tutorials that meet every other week, for two
hours. Solutions to homework problems, previous exam/quiz/final
questions, and examples will be discussed. During
the first tutorial, important material from ECE310/ECE311 will be
reviewed. NOTE: Quizes are given during tutorials.
Marking Scheme, Quizes & The Final Exam...
Two quizes are given during the semester in tutorial. (See the course handout for the quiz schedule.) Each quiz is worth 15% of your final grade. Each quiz is closed-book, no notes, and consists of two problems. You will be given the final 50 minutes of the two-hour tutorial to complete the quiz.
Your performance on each of the four labs will comprise 5% of your final grade (giving a total of 20% for labs). For the first three labs, the grade will be determined entirely during the lab session by the TA. You are required to maintain a lab notebook, which will be checked by the TA during each lab. The main factors in the lab grade are the pre-lab (done in your lab notebook), demonstrations to the TA, and how well the TAs questions are answered. Lab reports are not submitted for the first 3 labs.
The fourth lab is a Matlab design project, requiring a report to be submitted by teams of up to 2 persons. The report will be worth 5% of your final grade, and is due on the last day of class.
Finally, the final exam will be worth 50% of the final mark, and will cover all material from the lectures, tutorials, homeworks, and labs. The final is type C: One sheet of notes is allowed. To summarize:
Previous midterms, quizes finals are available here. Note: In the past, only one midterm exam was given. It was longer than the quizes are. However, the midterm questions have the same level of difficulty as the quiz questions, and are good practice.
