Instructor(s) | Dr. Gosha Zywno [Coordinator] Office: ENG463 Phone: (416) 979-5000 x 556105 Email: gzywno@torontomu.ca Office Hours: Tuesdays, 4:30 - 6:00 pm, Wednesdays, 4:30 - 6:00 pm (Virtual) | Calendar Description | Introductory course in control theory: system modeling, simulation, analysis and controller design. Description of linear, time-invariant, continuous time systems, differential equations, transfer function representation, block diagrams and signal flows. System dynamic properties in time and frequency domains, performance specifications. Basic properties of feedback. Stability analysis: Routh-Hurwitz criterion, Root Locus method, Bode gain and phase margins, Nyquist criterion. Classical controller design in time and frequency domain: lead, lag, lead-lag compensation, rate feedback, PID controller. Laboratory work consists of experiments with a DSP-based, computer-controlled servomotor positioning system, and MATLAB and Simulink assignments, reinforcing analytical concepts and design procedures. | ||||||||||||
Prerequisites | ELE 532 and CEN 199 | ||||||||||||||
Antirequisites | None | ||||||||||||||
Corerequisites | None | ||||||||||||||
Compulsory Text(s): |
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Reference Text(s): |
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Learning Objectives (Indicators) | At the end of this course, the successful student will be able to:
NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB). | ||||||||||||||
Course Organization | 3.0 hours of lecture per week for 13 weeks | ||||||||||||||
Teaching Assistants | 1. Shahab Ghorbani (shahab.ghorbani@ryerson.ca), Ph.D. Candidate 2. Sina Solyemanpour (sina.soleymanpour@ryerson.ca), Ph.D. Candidate 3. Rana Danesh (rana.danesh@ryerson.ca), Ph.D. Candidate | ||||||||||||||
Course Evaluation |
Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section above for details on the Theory and Laboratory components (if applicable). | ||||||||||||||
Examinations | Midterm Exam will be scheduled in Week 7, online, as a take-home, open book exam. There will be multiple versions, covering problem-solving and theory (covers Weeks 1-6 of lecture notes). The final exam will be scheduled during the exam period, format TBA: multiple versions, three hours duration, problem-solving type. The exam is comprehensive, but with emphasis on the design aspects of the course. | ||||||||||||||
Other Evaluation Information | Please note that the three labs are of different weights: 7%, 9% and 9%, respectively. Also note that in Winter 2023, due to health considerations, we continue to try to mitigate the in-person contact within the lab. As a result, in-person Lab Interviews are continued to be replaced with short D2L Lab Quizzes, and the requirement to check the pre-lab with the TA is continued to be suspended. The D2L Lab Quizzes are scheduled for January 30, March 6, and April 3, 2023. Course evaluation includes both individual effort (midterm, final exam, D2L quizzes) and group work (lab reports, homework). | ||||||||||||||
Teaching Methods | In Winter 2023, all lectures are conducted in person. Counseling hours are virtual, using Zoom sessions. Midterm Test will be conducted online, as a take-home test, with multiple versions of problem-solving questions, to be uploaded to D2L using Assignments feature. The final exam format is TBA. It will be of three hours duration, problem-solving type, closed book with a standard formula sheet. The exam is comprehensive, but with emphasis on the design aspects of the course. Course Activities will be in form of D2L Quizzes and Homework. All labs are scheduled to be conducted in person, in ENG413, under the supervision of TAs. All Lab Reports will have to be uploaded to D2L using Assignments feature. | ||||||||||||||
Other Information | 1. All students shall adhere to the rules of Academic Integrity, and shall acquaint themselves with the Student Code of Academic Conduct and all other relevant policies all relevant university policies found on Ryerson Senate website: http://ryerson.ca/senate/course-outline-policies. Any suspected breach of Academic Integrity such as cheating or plagiarism will be investigated with the participation of the Academic Integrity Officer. Please check the course D2L website for more information on current policies, including COVID-19 considerations. 2. In accordance with the Policy on Ryerson Student E-mail Accounts (Policy 157), Ryerson requires that any electronic communication by students to Ryerson faculty or staff be sent from their official Ryerson email account. 3. There are three projects to be completed in the lab. The first two are computer simulation projects (SIMULINK & Matlab) and the third is a combination of a nonlinear simulation (SIMULINK “virtual” servo) and a real-time control experiment with a servomotor. The first two lab projects (simulations) focus on the stability and performance analysis on the PID Controller, and the third project focuses on feedback control by tuning the PID Controller used both in the “virtual” servo and in real-time DC servo motor system in the Control Systems Lab (ENG413). In simulation projects students will work with non-repeating data sets that are frequently modified, to be completed in pairs. For the Servo Project, students will work in groups of four. All partners shall contribute equally to the lab reports. All lab reports have to be uploaded to D2L via “Assignment” feature before the start of the lab session when the report is due. 4. Please note that the lab report marks may be adjusted at the end of the course to equalize differences between sections and different Teaching Assistants' marking styles. 5. All students registered in ELE639 are expected to participate throughout the course in Course Activities that will support their understanding of the course material. They will include completing quizzes on D2L and home assignments, for which they will be earning Course Activity Points. Course Activities are worth 13% of the final grade. Activities will take place every week. These are low stakes, frequent activities, and there are no make-up arrangements for the missed ones. |
Week | Hours | Chapters / | Topic, description |
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Week 1 | 3 | Chapter 1 | Goals for the course and course logistics. Review of terminology, objectives, and control system analysis/design procedures. General concepts of feedback and control - open vs. closed loop systems. Introduction to Matlab & Simulink. Models: transfer functions & block diagrams. Laplace Transform review (ELE532). |
Week 2 | 3 | Chapter 2 | System stability, Routh Array, Routh-Hurwitz Criterion. |
Week 3 | 3 | Chapter 3 | Models: block diagrams vs. signal flow graphs. Mason’s Gain. |
Week 4 | 3 | Chapter 4 | Step response specifications. Time domain analysis. Steady state errors. |
Week 5 | 3 | Chapters 5 | Time domain analysis - transient response of 1st and 2nd order systems. Standard second order model. Higher order dynamics, dominant poles, reduced order models. |
Week 6 | 3 | Chapters 6 | System control in time domain - classical three mode controller - characteristics of P, PD, PI and PID control. PID Controller tuning. Top-down design of a simple controller (PD, PI, lead). |
Week 7 | 3 | Review | Midterm Test. Review. |
Week 8 | 3 | Root locus method of system analysis, Proportional Control design from Root Locus plot - choosing gain. | |
Week 9 | 3 | Chapter 7 | Root locus method of system analysis continued. PID Controller design from Root Locus plot - choosing gain and time constants. |
Week 10 | 3 | Chapter 8 | Stability in frequency domain: gain and phase margins. Polar plots and Nyquist criterion. Frequency response of a closed loop system. Closed loop second order model in frequency domain. Phase margin of a second order system. |
Week 11 | 3 | Chapter 9 | Correlation between frequency response and time domain response as a basis of frequency response design. Controller design in frequency domain: lead controllers. |
Week 12 | 3 | Chapter 10 | Controller design in frequency domain: lag and lead-lag controllers. |
Week 13 | 3 | Review Examples | Review of course materials for final exam, Questions and answers regarding the final exam. |
Week | L/T/A | Description |
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2-3 | Lab 1 | Lab Project 1: Stability of Control Systems under Proportional, PI, PD and PID Control. |
4-7 | Lab 2 | Lab Project 2: Performance of Control Systems under P, PI, PD, and PID Control. |
8-11 | Lab 3 | Lab Project 3: Feedback Control of a Real-time DSP-based DC Servo Motor. |
Students are reminded that they are required to adhere to all relevant university policies found in their online course shell in D2L and/or on the Senate website
When possible, students are required to inform their instructors of any situation which arises during the semester which may have an adverse effect upon their academic performance, and must request any consideration and accommodation according to the relevant policies as far in advance as possible. Failure to do so may jeopardize any academic appeals.
Online exam(s) within this course may use a virtual proctoring system. Please note that your completion of any such virtually proctored exam may be recorded via the virtual platform and subsequently reviewed by your instructor. The virtual proctoring system provides recording of flags where possible indications of suspicious behaviour are identified only. Recordings will be held for a limited period of time in order to ensure academic integrity is maintained and then will be deleted.
Access to a computer that can support remote recording is your responsibility as a student. The computer should have the latest operating system, at a minimum Windows (10, 8, 7) or Mac (OS X 10.10 or higher) and web browser Google Chrome or Mozilla Firefox. You will need to ensure that you can complete the exam using a reliable computer with a webcam and microphone available, as well as a typical high-speed internet connection. Please note that you will be required to show your Toronto Metropolitan University OneCard prior to beginning to write the exam. In cases where you do not have a Toronto Metropolitan University OneCard, government issued ID is permitted.
Information will be provided prior to the exam date by your instructor who may provide an opportunity to test your set-up or provide additional information about online proctoring. Since videos of you and your environment will be recorded while writing the exam, please consider preparing the background (room / walls) so that personal details are not visible, or move to a room that you are comfortable showing on camera.
Toronto Metropolitan University's Policy 60 (the Academic Integrity policy) applies to all students at the University. Forms of academic misconduct include plagiarism, cheating, supplying false information to the University, and other acts. The most common form of academic misconduct is plagiarism - a serious academic offence, with potentially severe penalties and other consequences. It is expected, therefore, that all examinations and work submitted for evaluation and course credit will be the product of each student's individual effort (or an authorized group of students). Submitting the same work for credit to more than one course, without instructor approval, can also be considered a form of plagiarism.
Suspicions of academic misconduct may be referred to the Academic Integrity Office (AIO). Students who are found to have committed academic misconduct will have a Disciplinary Notation (DN) placed on their academic record (not on their transcript) and will normally be assigned one or more of the following penalties:
The unauthorized use of intellectual property of others, including your professor, for distribution, sale, or profit is expressly prohibited, in accordance with Policy 60 (Sections 2.8 and 2.10). Intellectual property includes, but is not limited to:
For more detailed information on these issues, please refer to the Academic Integrity policy(https://www.torontomu.ca/senate/policies/pol60.pdf) and to the Academic Integrity Office website (https://www.torontomu.ca/academicintegrity).
Toronto Metropolitan University acknowledges that students have diverse learning styles and a variety of academic needs. If you have a diagnosed disability that impacts your academic experience, connect with Academic Accommodation Support (AAS). Visit the AAS website or contact aasadmin@torontomu.ca for more information.
Note: All communication with AAS is voluntary and confidential, and will not appear on your transcript.