|Instructor(s)||Gosha Zywno [Coordinator]|
Phone: (416) 979-5000 x 6105
Office Hours: Tue 2:30 - 4:30 PM, Thu 3:30 - 5:00 PM
|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|
|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).
3.0 hours of lecture per week for 13 weeks
|Teaching Assistants||Somayeh Norouzi Ghazbi B.Sc., M.A.Sc., Ph.D. Candidate, Email: email@example.com|
Ali Mehrkish, B.Sc., M.A.Sc., Ph.D. Candidate, Email: firstname.lastname@example.org
Brandon Mac, B.Sc., M.A.Sc. Candidate, Email: email@example.com
Lei Gao, B.Sc., M.A.Sc. Ph.D., Post-Doctoral Fellow, Email: firstname.lastname@example.org
Mostafa Mohammad Hossein Fallah, B.Sc., M.A.Sc., Ph.D. Candidate, Email: email@example.com
Note: 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. Please refer to the "Course Evaluation" section for details on the Theory and Laboratory components.
|Examinations||One mid-term test will be scheduled (date TBA): 90 minutes, problem-solving type, closed book. |
The final exam will be scheduled during exam period: three hours, problem-solving type, closed book. 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 weight: 7%, 9% and 9%, respectively. |
Course evaluation includes both individual effort (term test, final exam and quizzes) and group work (lab reports, homework).
Course activities are part of the ongoing and semester-long evaluation: there are graded activities in every week of classes.
The graded Course Activities include individual in-class assessments (iClicker quizzes), and design-type homework assignments.
|Other Information||1. All students shall adhere to the rules of Academic Integrity, and shall acquaint themselves with the Student Code of Academic Conduct. Any suspected breach of Academic Integrity such as cheating or plagiarism, will be investigated with the participation of the Academic Integrity Officer. |
2. 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. In the simulation projects students will work with non-repeating data sets that are updated each year - the project will be completed in pairs. Please note that the simulation projects can be completed outside the lab.
The real-time control experiment will be completed in groups of three. Please note that this experiment can only be completed in the lab, and that no extra lab access hours are available.
3. All partners shall contribute equally to the lab reports. When submitting a lab report, students will be interviewed by lab instructors with questions relevant to the completed project. As well, partners will be asked to describe their contributions. Any student found not to have adequately contributed to the project, will be asked to re-do the project on their own.
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 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 answering questions using iClickers, working on a problem in small groups, completing take-home assignments, etc., for which they will be earning Course Activity Points. All students are expected to purchase iClickers, or download an equivalent app for a tablet/mobile, and to use them during class quizzes.
Course Activities are worth 8% of the final grade. Activities will take place every week. There are no make-up arrangements for the missed Course Activities.
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 and Simulink. Models: transfer functions and block diagrams. Laplace Transform review (ELE532)
System stability Routh Array Routh-Hurwitz Criterion
Week 2 and 3
Models: block diagrams vs. signal flow graphs. Mason's Gain.
Step response specifications. Time domain analysis. Steady state errors.
Time domain analysis - transient response of 1st and 2nd order systems. Standard second order model. Higher order dynamics dominant poles reduced order models.
System control in time domain - classical three mode controller - characteristics of P PD PI and PID control. PID Controller tuning Top-down design of simple controller (PD PI lead).
Week 7 and 8
Root locus method of system analysis Proportional Control design from Root Locus plot - choosing gain. PID Controller design from Root Locus plot - choosing gain and time constants.
Week 9 and 10
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 second order system.
Week 11 and 12
Correlation between frequency response and time domain response as a basis of frequency response design. Controller design in frequency domain: lead lag and lead-lag controllers.
What next? Overview of contemporary trends in control. Course wrap-up review questions and answers review of past exams.
2 - 3
Lab 1 - ENG413
Stability of Control Systems under Proportional PI and PD Control. Two (2) sessions + extra time outside the lab as required. Introduction to simulink. Individual data sets assigned to lab partners. Simulations to analyze system stability under P PD and PI Control. Note that TAs have to sign off on the grading sheet that the simulation diagram is working before a group can continue.
4 - 7
Lab 2 - ENG413
Tracking and Performance of Control Systems under P Control PD Control and PI control. Four (4) sessions + extra time outside the lab as required. Individual data sets assigned to lab partners. Simulink simulation to analyze the system response under P PI PD and PID Control. Note that TAs have to sign off on the grading sheet that the simulation diagram is working before the group can continue.
8 - 11
Lab 3 - ENG413
Real-Time Control of a Servo Positioning System. Four (4) sessions in the lab only. Introduction to Real-Time Control Interface setting up data collection protocols tuning the PID Controller. Investigation the real-time effect of nonlinearities on the system operation - Anti-Windup control.
Lab Wrap-up: Lab 3 Reports due Lab 3 Interviews scheduled.
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.
Ryerson'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.ryerson.ca/senate/policies/pol60.pdf) and to the Academic Integrity Office website (https://www.ryerson.ca/academicintegrity/).