Prof. M.E. Broucke | GB434A | LEC 01 | broucke at control dot utoronto dot ca |
Dian Gadjov | GB348 | PRA03, PRA04 | dian.gadjov at mail.utoronto.ca |
Andrew Romano | GB348 | TUT 01, TUT 02 | andrew.romano at mail.utoronto.ca |
Siqi Zhou | GB348 | PRA01, PRA02, PRA05 | siqi.zhou at mail.utoronto.ca |
Lecture Section | Day and Time | Location |
LEC 01 | Mon 16-17 | SS2102 |
Tue 17-18 | SS2102 | |
Thu 16-17 | SS2102 |
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 | ODE's and state equations | ||
3 | State equations and examples | ||
2 | 4 | Nonlinear systems and linearization | 3.1 - 3.3, linearization.pdf |
5 | Laplace transform review | ||
6 | Laplace transform review | ||
3 | 7 | Transfer functions, TF <--> SS | 2.4 - 2.5, 3.6 |
8 | Block diagrams and interconnections | ||
9 | Time response: derivation in state space | ||
4 | 10 | Computing e^At | 3.7, 5.1 - 5.3 |
11 | Second-order systems | ||
12 | Performance specifications | ||
5 | 13 | Stability of LTI systems: asymptotic stability | 6.1, 6.4 |
14 | Stability of LTI systems: BIBO stability | ||
15 | Open-loop v.s. closed-loop | ||
6 | 16 | Open-loop v.s. closed-loop | 4.1 - 4.7, 6.2 |
17 | Routh criterion, P control design | ||
18 | Steady-state error | ||
Reading Week | February 18 - 22 | ||
7 | 19 | Steady-state error and system type | 6.5, 7.6, 9.1 - 9.3 |
20 | Principle of the argument | ||
21 | Principle of the argument | ||
8 | 22 | Nyquist stability criterion | |
23 | Nyquist stability criterion | ||
24 | Nyquist stability criterion | ||
9 | 25 | Nyquist stability criterion | 8.1 - 8.5 |
26 | Design Examples | Midterm, February 25, 6-8pm | |
27 | Design Examples | ||
10 | 28 | Frequency response and Bode plots | 10.4, 10.8 |
29 | Bode plots | ||
30 | Bode plots | ||
11 | 31 | Lag design | |
32 | Lead design | ||
33 | Design Examples | ||
12 | 34 | Design Examples | |
35 | Pole placement | 11.3 | |
36 | Pole placement | ||
13 | 37 | Pole placement | |
38 | Design Examples | ||
39 | Design Examples |
Section | TA | Day and Time | Location | Tutorial Dates |
TUT 01 | Andrew Romano | Mon 9-10 | MY315 | Starts January 14 |
TUT 02 | Andrew Romano | Thu 12-13 | MY315 | Starts January 17 |
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 21 | |
Homework 2 | Jan 28 | |
Homework 3 | Feb 21 | Submit by 5pm via email to your tutorial TA |
Homework 4 | Mar 4 | |
Homework 5 | Mar 18 | |
Homework 6 | Apr 1 |
Tutorial problems are not graded, but it is recommended to solve them before the tutorial.
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 four 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.
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 0 | Introduction to Matlab | report_lab1.docx |
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 0 | Lab 1 | Lab 2 | Lab 3 |
PRA 01 | Siqi Zhou | Wed 9-12 | Jan 23 | Feb 6 | Mar 13 | Mar 27 |
PRA 02 | Siqi Zhou | Wed 9-12 | Jan 30 | Feb 13 | Mar 6 | Mar 20 |
PRA 03 | Dian Gadjov | Tue 9-12 | Jan 22 | Feb 5 | Mar 12 | Mar 26 |
PRA 04 | Dian Gadjov | Tue 9-12 | Jan 29 | Feb 12 | Mar 5 | Mar 19 |
PRA 05 | Siqi Zhou | Fri 12-15 | Jan 25 | Feb 8 | Mar 15 | Mar 29 |
Labs | 10% | Includes preparation, lab work, and report |
Homework | 5% | |
Midterm | 35% | Monday, February 25, 6-8pm |
Final Exam | 50% | TBA |