| Instructor(s) | Dr. Owais Khan [Coordinator] Office: ENG328 Phone: (416) 979-5000 x 556096 Email: owaiskhan@torontomu.ca Office Hours: | ||||||||||||
| Calendar Description | Introductory course for Biomedical Engineers: system modeling, simulation, analysis and classical-controller designs of linear, time-invariant, continuous time systems. System dynamic properties in time and frequency domains, performance specifications and basic properties of feedback are investigated. Stability analysis is reinforced through Routh-Hurwitz criterion, Root-Locus method, Bode plots, and Nyquist criteria. Concept of Bio-Robotics is introduced, and exposure to basics of state-space representation and feedback. Key control concepts are experienced through laboratory experiments using modular servo-system with open architecture, fully integrated with MATLab and Simulink; use of simulation tools; and solving design problems. | ||||||||||||
| Prerequisites | BME 532, CEN 199 | ||||||||||||
| Antirequisites | ELE 639 | ||||||||||||
| 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 | TBA | ||||||||||||
| 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 in Week 7 during the Lecture time, two hours, problem solving, closed book (covers Week 1-6). Final exam during exam period, closed-book (covers Weeks 1-13). | ||||||||||||
| Other Evaluation Information | There are assignment problems for each chapter posted on the course D2L. The assignment will not be collected. However, students are expected to solve the assignment problems. | ||||||||||||
| Other Information | Lab marks are based on attendance, successful completion of pre-lab problems, participation, completion of experiment steps, lab reports and successful reply to your TA questions during submission. 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. | ||||||||||||
Week | Hours | Chapters / | Topic, description |
|---|---|---|---|
Week 1 | 3 | Chapter 1, 3 | Introduction: Information session, General concepts of feedback and control systems, Closed-loop control versus Open-loop control, Differential Equations and Laplace Transform Review. |
Week 2 | 3 | Chapter 2.2, 4.1-4.2 | System Modeling and Representation: Modeling of Electrical Networks, Transfer function representation, Block diagram rules and simplifications, Signal flow graphs Mason's Gain Formula. |
Week 3 | 3 | Chapter 7.1-7.5,7.8 | Linear System Time Response: Transient response analysis, First-order systems, Second-order systems, Higher-order systems and dominant poles. |
Week 4 | 3 | Chapter 5, 7.6 | Stability Analysis: BIBO stability definition, Characteristic polynomials, Poles and stability conditions of LTI systems, Routh-Hurwitz stability criterion, Steady-State error analysis of feedback systems. |
Week 5 | 3 | Chapter 9 | Root Locus Analysis: Closed-loop pole relation to the loop gain, Root locus graphical method of pole representation, Magnitude and angle laws, Root-locus plotting rules. |
Week 6 | 3 | Chapter 7.7, 11.5 | Root Locus Design: Static feedback design, Gain selection from root-locus, Dynamic compensation design, Effect of adding pole/zeros to root-locus, Lead/Lag networks Lead/Lag compensator design in time-domain. |
Winter Study Week | |||
Week 7 | 3 | Practice Problems | Midterm Test. |
Week 8 | 3 | Chapter 10.1-10.2 | Frequency Response Analysis: Frequency response, Frequency-domain representation, Bode Diagram, Relation between magnitude and phase, Cross over frequency Bandwidth. |
Week 9 | 3 | Chapter 10.4-10.11 | Frequency Response Analysis: Polar Plots Nyquist Diagram Nyquist stability criteria Relative stability, Stability margins, Gain margin and phase margins |
Week 10 | 3 | Chapter 11.1-11.5 | Frequency Response Design: Lead/Lag compensator and P PI PD and PID controller design in frequency-domain |
Week 11 | 3 | Chapter 8.1-8.11 | State-Space Analysis: State-space representation of systems, State diagrams and state variables, State-space equations from high-order differential equations, State transition matrix, Characteristic equation and eigenvalues. |
Week 12 | 3 | Chapter 8.12-8.19 | State-Space Design: Controllability and Observability of Linear Systems, State feedback control, Tracking objectives, Pole placement method, State feedback with integral control |
Week 13 | 3 | Practice Problems | Course Review: Review of Controller Design in Frequency Domain: Lead/Lag and PID Examples. Wrap up. |
Week | L/T/A | Description |
|---|---|---|
2-3 | Lab 1.1 | Lab # 1.1: Introduction to Simulink, Open-Loop Control vs. Closed-Loop Control |
4-5 | Lab 1.2 | Lab # 1.2: Transient Response Analysis and Stability of 2nd and 3rd Order Systems. |
6-7 | Lab 2.1 | Lab # 2.1: Transfer Function Modeling of Physical Systems and Control. |
8-9 | Lab 2.2 | Lab # 2.2: Introduction to Lead and Lag Compensators |
10-11 | Lab 3.1 | Lab # 3.1: Introduction to PI PD and PID Controllers |
12-13 | Lab 3.2 | Lab # 3.2: State Space Modeling of Physical Systems and Control. |
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.
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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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