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

Zachary Kroeze | GB348 | TUT 01 | zach.kroeze at gmail.com |

Alireza Mohammadi | GB348 | PRA 01, PRA 02 | alireza.mohammadi at mail.utoronto.ca |

Section |
Day and Time |
Location |
Start Date |

LEC 01 | Tue 4-5 | WB119 | |

Wed 4-5 | WB119 | ||

Fri 4-5 | WB119 | September 11 | |

TUT 01 | Wed 5-6 | WB119 | September 16 |

The following table shows the lecture topics. 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 |

1 | 1 | Introduction to control systems; State equations |

2 | 2 | TF to SS conversion; SS to TF conversion |

3 | Linearization | |

4 | Properties of e^At | |

3 | 5 | Solution of xdot = A x; Computing e^At |

6 | Computing e^At | |

7 | Modal decomposition; Phase portraits of second order systems | |

4 | 8 | Phase portraits of second order systems |

9 | Stability of LTI systems | |

10 | Stability of LTI systems | |

5 | 11 | Linear algebra review |

12 | Linear algebra review | |

13 | Linear algebra review | |

6 | 14 | Linear Algebra review |

15 | Controllability: introduction | |

16 | Controllability: main result | |

7 | 17 | Controllability: properties |

18 | Controllable decomposition | |

19 | Controllable canonical form | |

8 | 20 | Pole placement: single-input case |

21 | Pole placement: multi-input case | |

22 | PBH test; Stabilizability | |

9 | 23 | Stabilization example; Observability |

24 | Observability: main result | |

25 | Observable decomposition | |

10 | 26 | Observers; Stabilization by measurement feedback problem (SMFP) |

27 | Separation principle | |

28 | SMFP example | |

11 | 29 | Optimal control: introduction |

30 | Optimal control: dynamic programming principle | |

31 | Optimal control: derivation of controller | |

12 | 32 | Optimal control: examples |

33 | Optimal control: examples | |

34 | Output regulation | |

13 | 35 | Output regulation |

36 | Output regulation | |

37 | Output regulation | |

14 | 38 | Output regulation |

A selection of practice problems will be worked out in tutorial. Solutions will be posted roughly one week after the tutorial.

Problem Set |
Topics |
Solutions |

Problem set 1 | Modeling, state equations, computing e^At, modal decomposition, TF --> SS, linearization | Solution 1 |

Problem set 2 | Linear algebra | Solution 2 |

Problem set 3 | Controllability, pole placement | Solution 3 |

Problem set 4 | Multi-input pole placement, controllable decomposition, PBH test | Solution 4 |

Problem set 5 | Observability, observers, output feedback stabilization | Solution 5 |

Problem set 6 | Optimal control | Solution 6 |

Problem set 7 | Output regulation | Solution 7 |

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 "ECE557", box #15, basement
of Sandford Fleming. There are no make-up labs. If you miss a lab you cannot show up at a
different lab section.

Section |
Day and Time |
Lab 1 |
Lab 2 |
Lab 3 |
Lab 4 |

PRA 01 | Mon 12-15 | Sep 21 | Oct 5 | Oct 19 | Nov 9 |

PRA 02 | Thu 9-12 | Sept 24 | Oct 8 | Oct 29 | Nov 12 |

Lab |
Title |
Matlab and supporting files |

Lab 1 | Introduction to the Control Lab | |

Lab 2 | Pole placement and observer design for a cart | ReportFormatLab2.doc |

Lab 3 | Control design of an inverted pendulum on a cart using Simulink | ReportFormatLab3.pdf |

Lab 4 | Control of an inverted pendulum on a cart | ReportFormatLab4.pdf |

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

Homework | 5% | ||

Midterm 1 | 15% | October 14, 4-6pm | |

Midterm 2 | 20% | November 18, 4-6pm | |

Final Exam | 45% | December 16, 2-4:30pm |

- Control tutorials for MATLAB
- R.E. Kalman. On the General Theory of Control Systems , Proc. First International Congress of Automatic Control. 1960.
- Karime Pereida Perez from the Fall 2014 ECE557 class has her picture taken with Rudolph Kalman.