| 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 | Shahab Ghorbani, B.Sc., M.A.Sc. Ph.D. (shahab.ghorbani@torontomu.ca) Sina Soleymanpour, B.Sc., M.A.Sc. Ph.D. Candidate (sina.soleymanpour@torontomu.ca) Ali Nazari, B.Sc., M.A.Sc. Ph.D. Candidate (ali.nazari@torontomu.ca) | ||||||||||||||
| 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 | Mid-term test: Week 7, Wednesday, February 28, 2024 (Date to be confirmed). It will be conducted online, as a take-home test, with individual versions, problem-solving questions, to be uploaded to D2L using Assignments feature. It covers Weeks 1 to 6. The final exam will be scheduled during the exam period, three hours duration. The exam is comprehensive, but with emphasis on the design aspects of the course, and is closed-book. | ||||||||||||||
| Other Evaluation Information | Please note that the three labs are of different weights: 7%, 9% and 9%, respectively. Course evaluation includes both individual effort (midterm, final exam, D2L quizzes) and group work (lab reports, group activities). In order for a student to pass a course with "Theory and Laboratory" components, in addition to earning a minimum overall course mark of 50%, 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. | ||||||||||||||
| Teaching Methods | ELE639 lecture will be delivered in person. Classes are: Mondays (12:10 - 1:00 pm) in DSQ23, and Wednesdays (8:10 - 10:00 am) in DSQ10. All lab sessions are scheduled in person in ENG413. | ||||||||||||||
| 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 Toronto Metropolitan University (TMU) Senate website: http://torontomu.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. 2. In accordance with the Policy on TMU Student E-mail Accounts (Policy 157), TMU requires that any electronic communication by students to TMU faculty or staff be sent from their official TMU email account. 3. There are three projects to be completed in the lab - two computer simulation projects (SIMULINK & Matlab) 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 is the feedback control design of the DC servo motor system in the Control Systems Lab (ENG413). In simulation projects, students will work with unique data sets that are frequently modified. Labs 1 & 2 are to be completed in pairs. Lab 3 is to be completed in groups of four. Simulation projects (Lab 1 & 2, and Part A of Lab 3) are expected to be completed mostly outside the lab. For the real-time experiment in the Controls Lab (Part B of Lab 3), students have to take measurements on the servo that is only accessible during scheduled lab hours in ENG413. 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' grading styles. 5. All of the required course-specific written reports will be assessed not only on their technical/academic merit, but also on the communication skills exhibited through these reports. 6. All assignment and lab/tutorial reports must have the standard cover page which must be signed by the student(s) prior to submission of the work. Submissions without the cover page will not be accepted. Cover pages for each ELE639 lab experiment can be downloaded from the course D2L shell. Students can also use a Standard Assignment/Lab Cover Page found on the departmental web site. | ||||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
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. Masons Gain. |
Week 4 | 3 | Chapter 4, 5 | Step response specifications. Time domain analysis. Steady state errors. |
Week 5 | 3 | Chapters 6, 7 | 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 8, 9 | 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 | Review. Midterm Test. |
Week 8 | 3 | Chapter 10 | Root locus method of system analysis, Proportional Control design from Root Locus plot - choosing gain. |
Week 9 | 3 | Chapter 10 | Root locus method of system analysis continued. PID Controller design from Root Locus plot - choosing gain and time constants. |
Week 10 | 3 | Chapter 11, 12 | Stability in frequency domain: gain and phase margins. Polar plots. 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 12, 13 | 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 13 | Controller design in frequency domain: lag and lead-lag controllers. |
Week 13 | 3 | Review | Course wrap-up, review, Q & A, review of past exams. What next? Overview of contemporary trends in control. |
Week | L/T/A | Description |
|---|---|---|
2, 3 | Lab 1 | Simulation Project: Stability of Control Systems under Proportional, PI and PD Control. Two 1.5-hours sessions + extra time outside the lab as required. |
4, 5, 6, 7 | Lab 2 | Simulation Project: Performance of Control Systems under P Control, PD Control and PI Control. |
8,9,10,11 | Lab 3 | Simulation & Real-Time Project: Control of a Servo Positioning System. |
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
Refer to the Departmental FAQ page for furhter information on common questions.
You can submit an Academic Consideration Request when an extenuating circumstance has occurred that has significantly impacted your ability to fulfill an academic requirement. You may always visit the Senate website and select the blue radio button on the top right hand side entitled: Academic Consideration Request (ACR) to submit this request.
For Extenuating Circumstances, Policy 167: Academic Consideration allows for a once per semester ACR request without supporting documentation if the absence is less than 3 days in duration and is not for a final exam/final assessment. Absences more than 3 days in duration and those that involve a final exam/final assessment, require documentation. Students must notify their instructor once a request for academic consideration is submitted. See Senate Policy 167: Academic Consideration.
If a student is requesting accommodation due to a religious, Aboriginal and/or spiritual observance, they must submit their request via the online Academic Consideration Request (ACR) system within the first two weeks of the class or, for a final examination, within two weeks of the posting of the examination schedule. If the required absence occurs within the first two weeks of classes, or the dates are not known well in advance as they are linked to other conditions, these requests should be submitted with as much lead time as possible in advance of the required absence.
Academic Accommodation Support (AAS) is the university's disability services office. AAS works directly with incoming and returning students looking for help with their academic accommodations. AAS works with any student who requires academic accommodation regardless of program or course load.
Academic Accommodations (for students with disabilities) and Academic Consideration (for students faced with extenuating circumstances that can include short-term health issues) are governed by two different university policies. Learn more about Academic Accommodations versus Academic Consideration and how to access each.
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