Marked lab reports are in a box outside GB434A.

Extra TA office hours Tuesday, April 19, 1PM-3:30PM, GB348.

Prof. M.E. Broucke | GB434A | LEC 01 | broucke at control.utoronto.ca |

Mohamed Helwa | GB348 | TUT 01 | mkhelwa at control.utoronto.ca |

Krishnaa Mehta | GB302 | PRA 01, PRA 02, PRA 03 | babs dot mehta at utoronto.ca |

Connie Phan | UTIAS | PRA 01, PRA 02, PRA 03 | connie dot phan at utoronto.ca |

Section |
Day and Time |
Location |
Start Date |

LEC 01 | Mon 11-12 | BA1220 | |

Tue 9-10 | BA1220 | ||

Wed 12-13 | BA1220 | ||

TUT 01 | Fri 12-13 | HA403 | January 14 |

The following table shows the lecture topics and the corresponding readings in the course notes. Note that the lecture schedule may be updated as the semester progresses, so it's a good idea to check the webpage periodically.

Week |
Lecture |
Topics |
Sections of Course Notes |
Supplements |

1 | 1 | Introduction, mathematical models of systems | 1, 2.1 - 2.3 | |

2 | 2 | ODE's and state models | ||

3 | State models | |||

4 | Nonlinear systems and linearization | 2.5 - 2.6 | ||

3 | 5 | Laplace transform review | ||

6 | Laplace transform review | |||

7 | Transfer functions, TF <--> SS | 2.7, 3.1 | ||

4 | 8 | Block diagrams and interconnections | ||

9 | Time response: derivation in state space | |||

10 | Computing e^At | 3.2 - 3.4 | ||

5 | 11 | Second-order systems | ||

12 | Performance specifications | |||

13 | Logic notation | 3.5 - 3.6 | ||

6 | 14 | Lyapunov stability | ||

15 | BIBO stability | |||

16 | Open-loop vs closed-loop | 4.1 | ||

7 | 17 | Open-loop vs closed-loop | ||

18 | Open-loop vs closed-loop | |||

19 | Routh criterion, P control design | |||

Reading Week | ||||

8 | 20 | Steady-state error | 4.2 | Internal Model Principle |

21 | Principle of the argument | 4.3 | ||

22 | Principle of the argument | |||

9 | 23 | Nyquist stability | 4.4 | |

24 | Nyquist stability | |||

25 | Nyquist stability | |||

10 | 26 | Nyquist stability | ||

27 | Design examples | 4.5 | ||

28 | Design examples | |||

11 | 29 | Frequency response and Bode plots | 3.7, 4.6 | |

30 | Bode plots | |||

31 | Bode plots | |||

12 | 32 | Lag compensation | 5.1 - 5.2 | |

33 | Lead compensation | 5.3 | ||

34 | Design examples | |||

13 | 35 | Design examples | ||

36 | Introduction to pole placement | |||

37 | Applications of pole placement | |||

14 | 38 | Review |

Homework problems will be worked out in tutorial. Solutions will be posted roughly one week after the tutorial.

Problem Set |
Problems in Course Notes |
Topics |
Solutions |

Problem set 1 | Ch1: 1, 2, 3, 4, 5, Ch2: 1, 2 | Introduction, modeling, state equations | Solution 1 |

Problem set 2 | Ch2: 3, 5, 6, 8 | Linearization, Laplace transforms, solving ODEs | Solution 2 |

Problem set 3 | Ch2: 11, 12, 13, | Transfer functions, state equations | Solution 3 |

Problem set 4 | Ch3: 1, 2, 3, 4 | Solving e^At, time response | Solution 4 |

Problem set 5 | Step response of 2nd order underdamped systems | Solution 5 | |

Problem set 6 | Block diagram reduction, step response of 2nd order underdamped systems | Solution 6 | |

Problem set 7 | Ch3: 5, 6, 7, 11, 13 | Stability, Routh-Hurwitz criterion | Solution 7 |

Problem set 8 | Ch3: 5, 6, 7, 11, 13 | Stability, Review problems | Solution 8 |

Problem set 9 | Ch4: 1, 2, 3, 5 | Steady-state error | Solution 9 |

Problem set 10 | Ch4: 8, 9, 10, 11 | Nyquist stability | Solution 10 |

Problem set 11 | Ch4: 12, 13 | Bode plots, gain and phase margin | Solution 11 |

Problem set 12 | Pole placement | Solution 12 |

Labs take place in BA3114 and are performed in groups of two or
three students. The labs include a **preparation** and a **report**. Each student
submits one preparation at the beginning of the lab. The report is due one week after
your scheduled lab (one report per group), in a drop box labeled "ECE356", box #9, basement
of Sandford Fleming. 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 1 | Magnetic Ball Suspension System | report_lab1.doc |

Lab 2 | Basic Cruise Control Design | Experiment Familiarization , report_lab2.doc |

Lab 3 | Control Design Using Matlab | lab3.mdl, report_lab3.doc |

Section |
Day and Time |
Lab 1 |
Lab 2 |
Lab 3 |

PRA 01 | Tue 16-19 | Jan 25 | Mar 15 | Mar 29 |

PRA 02 | Tue 17-20 | Feb 1 | Mar 8 | Mar 22 |

PRA 03 | Fri 9-12 | Feb 4 | Mar 11 | Mar 25 |

Labs | 15% | Includes preparation, lab work, and report | |

Midterm | 35% | March 7, 7-9pm, SF3201 | Midterm Solution |

Final Exam | 50% | April 20, 2-4:30pm | Final Exam Information |