ECE410f

University of Toronto
Department of Electrical and Computer Engineering

ECE410F CONTROL SYSTEMS
Fall 2003
(The information on this webpage is subject to revision.)

This is a course on the design of multivariable control systems, using "modern control" methods. An emphasis on the design of controllers which are applicable to modern industrial systems will be made. The lab also introduces real-time computer control.

Examples of multivariable systems occur in virtually all aspects of industry and society, e.g.

traffic light control
nuclear reactor control
aircraft control
jet engine control
satellite attitude control
load and frequency control
distillation column control, .......

For example, in Toronto, all of the traffic lights are controlled, using a multivariable "decentralized controller" ; in this case the 'plant' has many hundreds of inputs and outputs all of which are to be controlled and not just one input/output, as was considered in ECE311S. The prerequisite is ECE311S, which deals with single input/single output control systems. This is an exciting course. Have fun!

NOTES: as of Nov 27,2003

NOTE1:
The assigments and labs are to submitted into the labelled boxes just opposite GB344.

NOTE2:
The tutorials begin on the week of Oct 6, 2003 (There are
a total of 4 tutorials (each 2 hrs long) for each student.)
There is a special tutorial for TUT2 who cannot meet on Mon Oct 13
due to the holiday; this tutorial is on Tues Oct 14, 1-3pm in WB119.

NOTE3:
The mid term test is scheduled for Mon Oct 27/03 at 6:00 - 7:00
in room CG250 (Canadiana Gallery).

NoTE4:
There is a new revised Lab manual for 2003 which is an improvement
compared to the previous version. The new manual is called Lab_revised_2003.pdf, init1.m_revised_2003, control1.mdl_revised_2003
which you should download. (See Lab Section for downloading.)

NOTE5:
The mid term test covers all material of the course up to and
including 'pole-assigment'. A one page aid-sheet is allowed.

NOTE6:
There is a mechanical error in the solution for Ass #2, ques2
w.r.t. calculating the eigenvector for eigenvalue = -1; the
correct eigenvector is = [-2 0 1]',and not [0 1 0'] which gives
for the final system: A=diag(1 -1 -2), B=[1 0 0]', C=[0 -2 3].

The labs begin the week of Oct 13, 2003. (There are a total of 3 labs: lab#0, lab#1, lab#2 .) Only lab#1 and lab#2 require reports by the lab party to be submitted.

There will be a total of 6 homework assigments of which only one assigment will be graded. Solutions to the assigments will be provided one week after the assigment is due. Assigments are due two weeks after they are handed out.

  • General Information
  • Miscellany
  • Textbook
  • Course Outline
  • Composition of Final Mark
  • Homework
  • Tutorial
  • Labs
  • Test
  • Exam

    GENERAL INFORMATION

     Professor 
    E.J. Davison 	GB344		ted@control		office hours: after lectures
                                                        + email for appt

    Teaching Assistants 

    Maziar Khatir         GB348 mkhatir@control.utoronto.ca                
Jimmy So              GB348 sojimmy@control.utoronto.ca
Ruth Milman           GB348 milman@control.utoronto.ca
Bartek Roszak         GB348 bartek@control.utoronto.ca
    Lectures 

    Mon  1:00-2:00   MC102	
Wed  1:00-2:00   MC254
    First lecture begins Sept 8, 2003.

    Tutorials
     Tut 1/01   Fri  4-6   BA1240 + BA2145  (alternate) starts Sept 12 (even)    
 Tut 1/02   Mon  4-6   BA2155 + BA2165  (alternate) starts Sept 15 (odd)
    Labs
     Lab 1/01   Fri  9-12  BA3114  (alternate) starts Sept  12 (even) 
 Lab 1/02  Thur   4-7  BA3114  (alternate) starts Sept  11 (even) 
 Lab 1/03  Thur  12-3  BA3114  (alternate) starts Sept  18 (odd)   
 Lab 1/04  Thur   4-7  BA3114  (alternate) starts Sept  18 (odd) 
     




    

    MISCELLANY
    


    Java applets for signals, systems, and control.
Scilab, control freeware.
VisSim: Commercial control software.
dSPACE control engineering firm.
United Technology Research Center.

    



    

    TEXTBOOK
    



    
No textbook is required ... lecture notes will be made available
    
If you would like to have some text-books for a reference, the 
following texts have some component of the course material,but
there is no text-book which contains all of the course material:
    

    
 D'Souza A.F., "Design of Control Systems", Prentice Hall, 1988 
    

    
 Shahian B., Hassul M., "Control System Design using Matlab", 
   Prentice Hall, 1993 
    

    
 Petkov, Christov, Konstantinov, "Computational Methods for Linear 
   Control Systems", Prentice Hall, 1991 
    

    


    


    COURSE OUTLINE
    


    Topic							

State space modelling
   Multivariable control
   Modelling of industrial and other systems
   
Properties of state space systems
   Solution of state space systems
   Controllability and observability
   Minimal realization of systems
   Transmission zeros
   
Controller sysnthesis
   Pole assigment problem
   Optimization using calculus of variations
   Optimal controller construction
   Observer construction
   Servomechanism control  problem
   Kalman filter problem
   
Application areas
   Industrial systems
   Adaptive control



    


    

    COMPOSITION OF FINAL MARK
    


    Homework         5%
Lab             15%
Test        	25%  
Exam            55%	

    

    


HANDOUTS 
    
Download handout1  
      
Download rsp example 


    

    HOMEWORK
    
A number of homework problems will be assigned, typically one every two weeks.
These assigments are due at the end of each two week period.
Other problem sets (+ solutions) will be given out for practice.

    



    

    TUTORIAL
    

    

There is a tutorial scheduled for each student once every two weeks.
The tutorial typically will cover problems associated with the homework
assigments, or lectures.


    

    LABS
    

    
While the lectures treat analog control, the labs are complementary,
emphasizing digital control. ( The goal is to introduce you
to real-time digital control).

The lab manual containing the experiments etc. are given in
Lab_revised_2003,init1.m_revised_2003,control1.mdl_revised_2003 and 
Report_template_2003 below.
There are three experiments lab#0, lab#1, lab#2 of which only lab#1, 
and lab#2 experiments are to be submitted for grading. 


    
Lab_revised_2003  
init1.m_revised_2003 
control1.mdl_revised_2003 
Report1_template_2003 
Report2_template_2003 


    

The labs take place in BA3114.
    Preferably three people/party.

    In lab#0,you will observe and learn about the lab systems/equipment
    and no report is required.

    Reports for lab #1 and #2 are to be prepared and submitted to the
    "ECE410 Lab Box" located just opposite GB344. 
    

    TEST
    

    Test (1 hour long):is on Mon Oct 27/03 at 6:00 - 7:00pm  
    
at room CG 250 (Canadian Gallery) 

    

    
A one page single-sided aid sheet and non-programmable calculator
are permitted.

    

    

    EXAM
    
The exam will be held on (to be given):
    
A single Aid Sheet and non-programmable calculator is permitted.


    

Last updated Aug 31, 2003