ECE311S

University of Toronto
Department of Electrical and Computer Engineering

ECE311S DYNAMIC SYSTEMS AND CONTROL
Spring 2001
(The information on this webpage is subject to revision.)

NOTE: SEE NOTE BELOW CLARIFYING EXAM COVERAGE!

This is a core course on control engineering for third-year Electrical and Computer Engineering students.

Control systems are what make machines, in the broadest sense of the term, function as intended. Without control systems there could be no manufacturing, no vehicles, no computers, no regulated environment---in short, no technology.

Some typical example applications of control systems:

-> traffic light control
-> building temperature control
-> nuclear reactor control (Candu)
-> chemical process control, e.g. distillation column control
-> auto manufacturing
-> auto engine emmission control
-> auto brake control
-> gas turbine engine control
-> aircraft control stability/tracking (auto-pilot)
-> auto cruise control
-> oil tanker ship control
-> power system control
-> load and frequency power distribution control
-> synchronous machine exciter control
-> hot and cold rolling mill control
-> Ph control of treatment plants
-> control of investment/banking/pricing/stock options etc.
-> elevator control
-> large flexible space structure control
-> satellite stabilization control
-> satellite shape control
-> satellite attitude control
-> satellite station keeping control
-> satellite orbit transfer control
-> control of beer/wine manufacturing processes
-> control of drug manufacturing processes
-> biological control
-> human respiratory control
-> human temperature control


The list of existing and future applications in the field of control
and automation is basically endless!!



*****************************************************************

Current Section of Text-Book Just Finished

Section 1.4
Section 2.1, 2.2, 2.3, 2.4, 3.1.2, 3.2.1
Section 2.5, 2.6, 2.6.1, 3.1.2, 3.2.2
Section 3.4, 3.6.2, 4.2.1, 4.2.2, 4.2.3, 4.2.4, 4.3, 4.3.1,
Section 4.3.2, 4.4, 4.4.3, 5.1
Section 5.2, 5.3, 5.4, 5.5, 5.6, 5.7, 5.8
Section 6.1, 6.2, 6.3, 6.4


NOTE: THE ASSIGMENT #6 SOLUTION PREVIOUSLY POSTED CONTAINED ERRORS
-- A CORRECTED SOLUTION TO ASSIGMENT #6 IS GIVEN IN THE ASSIGMENT
SOLUTION SECTION OF THE WEB.

NOTE: THE GRADED LABS and ASSIGNMENT ARE NOW AVAILABLE FOR PICKUP
JUST OUTSIDE GB344.

NOTE: EXAM COVERAGE

The exam includes material given in the posted COURSE OUTLINE
(see below) with the following exceptions:
-> exclude section 6.3 (complete Nyquist criterion)
-> exclude section 2.6.2
-> include section 6.7 (to the extent as covered in lectures).
NB: The standard "linearization procedure" of section 2.6.1
which is also covered in section 2.5, is of course still
included in the exam coverage.

NOTE:TA PEYMAN GOHARI WILL BE AVAILABLE ON THE MON TUTORIAL April 2
AT 1:00-3:00pm WB219 TO ANSWER ANY QUESTIONS RE THE GRADING OF THE
MID TERM TEST. HE ALSO WILL BE AVAILABLE ON MON April 9 AT
1:00-3:00pm IN HA410.


NOTE: RE PROBLEM SET#3 ... THERE HAVE BEEN INDICATIONS THAT THIS
IS TAKING LONGER THAN EXPECTED. THIS IS TO INDICATE THAT THERE WILL
BE NO PENALTY IMPOSED IF YOU SUBMIT THE ASSIGMENT AFTER THE DUE
DATE (BUT WE MUST HAVE THE ASSIGMENT IN BY NOON MONDAY APRIL 9
,2001). ALSO IF YOU CANNOT SOLVE THE PROBLEM USING THE SPECIFIED
CONSTRAINT, SUBSTITUTE AN ALTERNATE CONSTRAINT TO DEMONSTRATE
YOUR DESIGN PROCEDURE.


NOTE :PLEASE SEE NEW CHANGE RE PROBLEM SET SUBMISSION BELOW
AND TIME DUE FOR LAB REPORTS

NOTE: Re students who are taking lab #3-1 on Feb 14, you may
temporarily skip doing the preparation, until you have covered
the required material in class. In this case, the lab report
is due on March 6,2001 in the box opposite room GB344.

Lab reports for all other groups are due one week after their lab
is completed, also in the box opposite GB344.

NOTE: CHANGE OF TIME FOR LAB #4-2.
Lab #4-2 is presently scheduled for Wed March 14, at 3pm-6pm;
however, since the mid-term is scheduled also for Wed March 14 at
6pm-7pm, ( --> it would be impossible to arrive at the mid
term in proper time), the decision has been made to shift the lab
#4-2 to the new time: Wed April 4,2001 at 3pm - 6pm.

NOTE: FOR THOSE STUDENTS WHO HAVE NOT YET COMPLETED THE LAB,
THERE WILL BE AN EXTRA LAB SCHEDULED ON TUES APRIL 3, 2001
AT 12:00 - 3:00pm.

NOTE: THERE WILL BE AN AID SHEET POSTED RE HINTS ON SOLVING
ASSIGMENT #3 SHORTLY. IN ORDER TO ALLOW MORE TIME ON THE
SOLUTION, THE DATE OF SUBMISSION FOR THE ASSIGMENT HAS BEEN
MOVED TO WED APRIL 4, 2001 NOON-HOUR . (TO BE SUBMITTED IN
THE BOX OPPOSITE ROOM GB344.)

HINTS FOR ASSIGMENT #3

NOTE: INFORMATION RE THE MID-TERM TEST
The mid-term test will cover material covered in chapters
1,2,3,4 of the text-book, i.e. up to but not including the
root-locus part of the course. See information below for
details re place and time of the mid-term test.

  • General Information
  • Miscellany
  • Textbook
  • Course Outline
  • Composition of Final Mark
  • Marks List
  • Homework
  • Tutorials
  • Lab
  • Midterm Test
  • Exam

    GENERAL INFORMATION

     Professors 
    L0102   E.J. Davison   GB344      ted@control   (coordinator)
L0101	P. Lehn	       SF1021J    lehn@ecf	
L0103   M. Maggiore    GB345      maggiore @control

    Teaching Assistants 

    Rashid Kohan      kohan@control 
Ruth Milman       milman@control
Charles Lidstone  lidstone@control  
Suneil Sastri     sastri@control 
Rong Su           surong@control
Gohari-Moghadam,Peyman   gohari@control  
Steve Postma      postma@control
Atsuhiko Sakurai  sakura@control
    Lectures 

         L0101(PL)           L0102(EJD)          L0103(MM) 
   

Mon      -----               -----              -----
Tue      4-5  GB244          -----              2-3  GB244 
Wed      1-2  GB221          -----              ----- 
Thur     -----               11-1  WB116        4-5  GB220  
Fri      2-3  GB119          1-2   SF1013       9-10 GB244
    Labs 

    
PRA 01   Thu  9-12 GB341 even ,Jan 11,(alternate) 
PRA 02   Wed  9-12 GB341 odd , Jan 10,(alternate) 
PRA 03   Wed  9-12 GB341 even, Jan 17,(alternate) 
PRA 04   Wed  3-6  GB341 odd , Jan 10,(alternate)
    Tutorials 

    
TUT 01  Mon 1-3  WB219  odd, Jan 8,  (alternate)
TUT 02  Mon 1-3  HA410  even,Jan 15, (alternate)  
TUT 03  Mon 1-3  HA410  odd ,Jan 8,  (alternate) 
TUT 04  Mon 9-11 WB342  even,Jan 15, (alternate) 
TUT 05  Tue 9-11 WB219  odd ,Jan 9,  (alternate)
TUT 06  Wed 3-5  WB342  even,Jan 17, (alternate)


    NOTE: SEE BELOW TO FIND WHEN LABS & TUTORIALS ACTUALLY BEGIN

    MISCELLANY

     
    Control tutorials for MATLAB.
Java applets for signals, systems, and control.
Scilab, control freeware.
VisSim: Commercial control software.

    TEXTBOOK

    Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, Feedback Control of Dynamic Systems, Addison Wesley, 1994,3rd Edition .

    COURSE OUTLINE

     
    Topic				Ref in Text

Intro to control engineering   Chapter 1

Mathematical models of systems
   Differential eqn's           Sect 2.1
   State equations              Sect 2.2
   Linearization                Sect 2.6
   Construction of models       Sect 2.3, 2.4, 2.5
   Transfer functions           Sect 3.1.2 
   Block diagrams               Sect 3.2 

Feedback control system characteristics
   Time response of systems     Sect 3.3
   Time domain specifications   Sect 3.4, 3.5
   Numerical simulation         Sect 3.6
   Closed loop systems          Sect 4.1
   3-term control               Sect 4.2
   Steady-state tracking        Sect 4.3
   Disturbances                 Sect 4.1
   Stability                    Sect 4.4
   Routh-Hurwitz criterion      Sect 4.4.3

Root-locus method
   Main concept                 Sect 5.1
   The procedure                Sect 5.2
   Examples                     Sect 5.3
   Applications                 Sect 5.4, 5.5
   Controller design            Sect 5.6, 5.7, 5.8

Frequency response methods
   Frequency response           Sect 6.1, 6.2
   Nyquist plot                 Sect 6.3
   Stability margins            Sect 6.4

    COMPOSITION OF FINAL MARK

     
    Problem         5%
Lab            15%  
Midterm test   25%   
Exam           55%

    NOTES RE EXAM:

     An aid sheet and non-programmable calculator are permitted.

    Aid Sheet The aid sheet can be an 8.5'' x 11'' sheet of paper, both sides. It must be written by hand (you can't photocopy and reduce all the lecture notes and paste them onto a single sheet of paper!) and you cannot use a magnifying glass to read it. The purpose of the aid sheet is so that you don't have to memorize formulas. Preparing your aid sheet is a good way to study, forcing you to organize the material. Do not include tables of Laplace transforms; you'll be given the transforms you need except for step, ramp, sinusoid, which I hope you know.

    NOTES RE MID-TERM:

     An aid sheet and non-programmable calculator are permitted.


    ************************************************************************

    The mid-term test will be one hour long, in which you will
    be allowed to take in a 1 page aid sheet (see details re
    aid sheet specifications above).


    THE SCHEDULED TIME FOR THE MID-TERM TEST IS:

    Wed., March 14, 2001, at 6:00 - 7:00pm
    at the following locations:
    Sec 101 (Lehn) SF1013
    Sec 102 (Davison) HA403
    Sec 103 (Maggiore)SF3201, SF3202



    Download soln to midterm

    ************************************************************************

    LABS WILL BEGIN THE WEEK OF FEB 12 ,2001 AS FOLLOWS
    :
    In order to have reasonable size lab groups,
    each of the existing lab groups will be broken
    into three sub-groups as follows:

    LAB GROUPS:

    PRA01_1 -- top 1/3 of PRA01, i.e.------- from Abad to Maciszewski
    PRA01_2 -- mid ------------------- from Mahshid to Nguyen D.
    PRA01_3 -- bot -------------------- from Nguyen N. to Selorio

    PRA02_1 -- top 1/3 of PRA02, i.e.------- from Chan to Siddique R.
    PRA02_2 -- mid ------------------- from Siddique S. to Varga
    PRA02_3 -- bot -------------------- from Villahermosa to Zhao

    PRA03_1 -- top 1/3 of PRA03, i.e.------- from Barakat to Fung F.
    PRA03_2 -- mid ------------------- from Fung L. to Kwong
    PRA03_3 -- bot -------------------- from Lam to Wong

    PRA04_1 -- top 1/3 of PRA04 ,i.e.------- from Bozinovic to Lee
    PRA04_2 -- mid ------------------- from Leung C. to Sankaran
    PRA04_3 -- bot -------------------- from Sen to Zhang


    These groups will meet for the one lab at the following times:

    Wed Feb 14 9-12 -- PRA03_1
    Wed Feb 28 9-12 -- PRA02_1
    Wed Feb 28 3-6 -- PRA04_1
    Thur Mar 1 9-12 -- PRA01_1

    Wed Mar 7 9-12 -- PRA03_2
    Wed Mar 14 9-12 -- PRA02_2
    Wed Mar 14 3-6 -- PRA04_2 -> changed to Wed Apr 4 3-6
    Thur Mar 15 9-12 -- PRA01_2

    Wed Mar 21 9-12 -- PRA03_3
    Wed Mar 28 9-12 -- PRA02_3
    Wed Mar 28 3-6 -- PRA04_3
    Thur Mar 29 9-12 -- PRA01_3


    ALL LABS ARE HELD IN ROOM GB341.

    HOMEWORK

    NOTE: IMPORTANT NOTICE RE PROBLEM SET SUBMISSION!

    Homework problems will in general not be graded,
    and there is no need to submit completed problem sets.
    However there will be one specified problem set to be
    graded, and handed in. This particular problem set will
    be announced. Thus as of Jan22/2001, there is no need to
    submit problem sets, as was previously the case.

    There is a box on the 3rd floor , 35 St George St.
    just opposite room GB344, into which you can deposit
    your completed single homework assigment.


    HOMEWORK PROBLEMS


    #1 Assigment: Problems 2.7, 2.14, 2.24
    #2 Assigment: Problems 2.28,3.21(b),3.29
    #3 Assigment: This assigment will be distributed in class
    and is to completed and handed in for grading.
    #4 Assigment: Problems 3.2(f),3.4(c),3.6(a),3.7(d),3.22[fig3.39(a)]
    (in the case of 3.22, use any method to solve)
    #5 Assigment: Problems 4.23(a), 4.24, 4.43(b), 4.46
    #6 Assigment: Problems 5.2(e), 5.2(f), 5.4(d) 5.5(f), 5.9
    (Note: ignore matlab exercise part of problem)
    #7 Assigment: Problems 5.14, 5.25, 5.39a, 5.45
    #8 Assigment: Problems 6.3a, 6.3e, 6.11b, 6.30


    HOMEWORK SOLUTIONS
    NOTE: Solutions 1,2,4 which appeared earlier have been
    'upgraded'; you should download the latest version
    (Feb 13/01).

    NOTE: A CORRECTED SOLUTION FOR ASSIGMENT #6 IS GIVEN BELOW.

    Download soln for #1 Problem

    Download soln for #2 Problem

    Download soln for #4 Problem

    Download soln for #5 Problem

    Download corrected soln for #6 Problem

    Download soln for #7 Problem

    Download soln for #8 Problem

    TUTORIALS

    There will be three TA's assigned in each of the tutorial periods, and they are there to help you in understanding lecture material, in helping with homework problems etc.

    TUTORIALS WILL BEGIN THE WEEK OF JAN 15,2001 AS FOLLOWS:

    Mon Jan 15, 9-11, TUT04, WB342, starts
    Mon Jan 15, 1-3 , TUT02, HA410, starts
    Wed Jan 17, 3-5 , TUT06, WB342, starts
    Mon Jan 22, 1-3 , TUT01, WB219, starts
    Mon Jan 22, 1-3 , TUT03, HA410, starts
    Tue Jan 23, 9-11, TUT05, WB219, starts
    thence, repeats every alternate week
    until April 11,2001.

    (In determining alternate weeks, delete
    Reading Week Feb19-Feb23 from your calendar.)

    LAB

    There is one lab, which takes place in GB341. Labs will be done in parties of three, with one report per party. Each student must do the preparation and bring it to the lab for checking.

    Download lab sheets at least one week before your lab period begins.

    Lab Report A formal report is not required. Your report should include: The items developed in the preparation, the experimental results, and discussion. A typed report is not necessary, but do write neatly. The report is due one week after you complete the lab, and may be submitted in the homework box opposite GB344.

    An Example of a $125 million(US) error- Delta3A Oct 1998 launch.



    A photo of the rocket approx 3 minutes into the launch:

    Click for Photo

    A photo of the rocket approx 5 minutes into the launch. In this case, the multivariable controller which was designed to control the vehicle had a fundamental flaw, and as a result, the slow oscillatory modes of vibration association with the liquid motion of the fluid, grew in magnitude, thereby causing instability to result!

    Click for Photo

    Last updated Feb 15, 2001