| Instructor(s) | Dr. Soosan Beheshti [Coordinator] Office: ENG425 Phone: (416) 979-5000 x 554906 Email: soosan@torontomu.ca Office Hours: Mondays 11am-12pm | ||||||||||||||
| 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 | Rana Danesh, rana.danesh@torontomu.ca Lucas Krome, lucas.krome@torontomu.ca Eric Levy, eric.j.levy@torontomu.ca Shayan Sepahvand, shayan.sepahvand@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 | -Quizzes are scheduled on Weeks 4 and 11, approximately 50 minutes, during the first hour of the regular lecture hours: Quiz 1 on January 29 and Quiz 2 on March 26. -Midterm Exam is in Week 7, February 26, two and half hours, problem-solving, during the regular lecture hours (covers Weeks 1-6 of lecture notes). - Final Exam is scheduled during the Fall 2024 term undergraduate exam period (covers Weeks 1-13 with emphasis on Weeks 6, 8-13 of lecture notes). | ||||||||||||||
| Other Evaluation Information | Lab marks are based on attendance, successful completion of pre-lab problems, participation, and completion of experiment steps, lab interviews, and lab reports. Students will have the responsibility to achieve a working knowledge of the software packages that will be used in the lab. Students will work in groups of two or as assigned by their TA. Lab Attendance and demonstrating your work to the TA is mandatory. | ||||||||||||||
| Teaching Methods | - In person lectures are in DCC204 Wednesdays 3-6pm. - PDF version of the lecture notes will be posted before the lecture. The purpose of uploading the notes before the lecture is for the students to have a copy of the lecture in front of them during the lecture. For efficient learning of the topic, having the lecture notes are highly recommended. - All lab sessions are scheduled in person in ENG413. | ||||||||||||||
| Other Information | - 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. Please have the course code ELE639 in the title of your email and cc your TA for Lab related communications. - There are three lab projects. All partners shall contribute equally to the lab reports. All lab reports have to be uploaded to D2L via Assignment feature and in a pdf format before the start of the lab session when the report is due. - All assignment and lab/tutorial reports must have the standard cover page 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. - Practice Problems/Assignments: Assignment problems and solutions will be provided on D2L.The assignments will neither be collected nor graded; they are provided only as a study guide. You are strongly recommended to attempt to solve the problems on your own without looking at the solutions first. If you have any questions about an assignment problem or its solution, please consult the course instructor or the teaching assistant during their consulting hours. | ||||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
Week 1 | 3 | Information session, introduction, and general concepts of feedback and control. | |
Week 2 | 3 | Transfer functions, Block diagrams, Signal flow graphs, State Diagram | |
Week 3 | 3 | Mason's Gain (SFG gain formula), State Diagram (cont.), SFG and initial conditions, Modeling physical systems | |
Week 4 | 3 | Quiz1, Stability of LIT systems, Relative stability, Routh-Hurwitz criterion, Steady-state- error analysis | |
Weeks 5 &6 | 6 | Time domain analysis (transient response specifications), Transient response of 1st and 2nd order systems. Standard second order model. Higher order dynamics, pole-zero cancellation, dominant poles, reduced order models | |
Week 7 | 3 | Midterm | |
Week 8 | 3 | Root locus method of system analysis in Laplace domain | |
Week 9 | 3 | System frequency Response, Correlation of frequency and time domain, open and | |
Week 10 | 3 | Polar plots, Nyquist Criterion, Nyquist criterion in relation with Root loci | |
Week 11 | 3 | Quiz 2, Fundamental principles of PID controllers design, Ziegler-Nichols PID tuning formula | |
Week 12 | 3 | Controller design in the frequency domain: lead design & lag design controllers. | |
Week 13 | 3 | lag and lead-lag controllers. |
Week | L/T/A | Description |
|---|---|---|
2,3,4 | L/T | Lab1: Introduction to Simulink, Open-Loop vs. Closed-Loop, Transient Response and Stability |
5,6,7,8 | L/T | Lab 2: Open-Loop vs. Closed-Loop (second and higher order systems), Root Locus in Matlab, Modeling DC motor |
9,10,11,12 | L/T | Lab 3: Simulation & Real-Time Project: Control of a Servo Positioning System. PID controller. Creating the simulation and tuning the PID Controller for a DC Servo. Investigating the effect of nonlinearities on the system operation, Anti-Windup Control all simulation. |
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