Prof. M.E. Broucke | GB434A | LEC 01 | broucke at control dot utoronto dot ca |
Kamran Akbari Moornani | GB348 | TBD | kamran.akbarimoornani at mail.utoronto.ca |
Dian Gadjov | GB348 | TBD | dian.gadjov at mail.utoronto.ca |
Mohamed Hafez | GB348 | TUT 01, TUT 02 | Mohamed.Ashraf1495 at gmail.com |
Emily Vukovich | GB348 | TBD | emily.vukovich at mail.utoronto.ca |
Siqi Zhou | GB348 | TBD | siqi.zhou at mail.utoronto.ca |
Lecture Section | Day and Time | Location |
LEC 01 | Tue 12-13 | MC252 |
Thu 12-13 | MC252 | |
Fri 12-13 | MC252 |
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 Date |
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 | Computing e^At | ||
12 | Performance specifications on the transient response | ||
5 | 13 | Performance specifications on the transient response | 6.1, 6.4 |
14 | Stability of LTI systems: asymptotic stability | ||
15 | Stability of LTI systems: BIBO stability | ||
6 | 16 | Routh criterion, P control design | 4.1 - 4.7, 6.2 |
17 | Open-loop v.s. closed-loop | ||
18 | Open-loop v.s. closed-loop | ||
Reading Week | February 17 - 21 | ||
7 | 19 | Midterm, February 25, 6-8pm | |
20 | Control design problem | 6.5, 7.6, 9.1 - 9.3 | |
21 | Closed-loop stability | ||
8 | 22 | Closed-loop stability | |
23 | Unstable pole-zero cancellations | ||
24 | Steady-state error | ||
9 | 25 | Steady-state error | 8.1 - 8.5 |
26 | Principle of the argument | ||
27 | Principle of the argument | ||
10 | 28 | Nyquist stability criterion | 10.4, 10.8 |
29 | Nyquist stability criterion | ||
30 | Nyquist stability criterion | ||
11 | 31 | Nyquist stability criterion | |
32 | Frequency response and Bode plots | ||
33 | Bode plots | ||
12 | 34 | Bode plots | |
35 | Lag design | 11.3 | |
36 | Lead design | ||
13 | 37 | Pole placement | |
38 | Pole placement | ||
39 | Pole placement |
Section | TA | Day and Time | Location | Tutorial Dates |
TUT 01 | Mohamed Hafez | Tue 17-18 | GB304 | Starts January 14 |
TUT 02 | Mohamed Hafez | Mon 15-16 | SF2202 | Starts January 13 |
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 | Feb 4 | |
Homework 3 | Feb 21 | Submit by 5pm via email to your tutorial TA |
Homework 4 | Mar 3 | |
Homework 5 | Mar 20 | |
Homework 6 | Apr 3 |
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 1 | Lab 2 | Lab 3 |
PRA 01 | Siqi Zhou | Fri 9-12 | Feb 7 | Mar 13 | Mar 27 |
PRA 02 | Emily Vukovich | Fri 9-12 | Feb 14 | Mar 6 | Mar 20 |
PRA 03 | Dian Gadjov | Thu 9-12 | Feb 6 | Mar 12 | Mar 26 |
PRA 04 | Dian Gadjov | Thu 9-12 | Feb 13 | Mar 5 | Mar 19 |
PRA 05 | Kamran Moornani | Thu 15-18 | Feb 6 | Mar 12 | Mar 26 |
Labs | 20% | Includes preparation, lab work, and report |
Homework | 10% | |
Midterm | 45% | Tuesday, February 25, 6-8pm |
Final Exam | 25% | Monday, April 20, 6:30pm-10pm EST |