ECE311S Introduction to Control Systems (Last updated January 23, 2019)

Teaching Staff

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 Schedule

Lecture Section Day and Time Location
LEC 01 Mon 16-17 SS2102
  Tue 17-18 SS2102
  Thu 16-17 SS2102


Text

Modern Control Systems, by R. Dorf and R. Bishop. This text is not mandatory.

Course Outline

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  


Tutorial Schedule

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


Homework

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

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


Laboratories

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


Grading

Labs 10% Includes preparation, lab work, and report
Homework 5%  
Midterm 35% Monday, February 25, 6-8pm
Final Exam 50% TBA