CONCORDIA UNIVERSITY
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
ELEC 372 FUNDAMENTALS OF CONTROL SYSTEMS
Winter 2016
Lecture Information
Lecturer: Dr. Amir G. Aghdam
Email: aghdam@ece.concordia.ca
Web: http://www.ece.concordia.ca/~aghdam/ELEC372/ELEC372_Winter2016.html
Lectures: Wednesdays and Fridays 11:45-13:00, H-603
Office and Office Hours
Room EV012.179
Wednesdays 14:00-15:30 and Fridays 10:00-11:30
Course Objectives
The objective of this course is to apply knowledge of mathematics and engineering to
analyze and design a control system to meet desired specifications. The student will
perform a systematic study of the servomechanism, including the development of the
transfer function, steady state and transient analysis. Methods for closed loop
compensation will also be studied.
Students should learn to analytically determine a control system’s functionality and
select appropriate tests to demonstrate system’s performance and finally design a
control system to meet a set of requirements.
Prerequisite
ELEC 364 Signals and Systems II
Laboratory
Labs will be held in H-832-6 and will start on the week of January 18. Schedules will
be posted at the entrance to lab. You must attend only the lab section you are
registered in; transfers are not allowed. Repeating students are NOT exempted from
the lab, even if they have obtained at least 50% of the lab marks.
A lab manual (required for the lab) must be purchased from Concordia Bookstore.
Please see http://users.encs.concordia.ca/~realtime/elec372/ for more information.
Homework and Quiz
The Homeworks grade of 3% can be secured by solving and handing in all the
homework assignments. Some of the homework problems will be solved in the
tutorials and/or their solutions will be provided at the copy center; the rest will show
up either directly or indirectly in quizzes, i.e. the quiz questions will be exactly the
same as or very similar to one of the supplementary problems. Therefore, it is to your
benefit to do all the problems. There will be 5 quizzes, which will be taken during the
first 15 minutes of the tutorials. For details see the course schedule. Each homework
will be assigned on Friday and will be collected the following Monday in the tutorial.
Late homeworks will not be accepted.
Verification of analytical solutions by scientific software such as MATLAB for some
homework problems is recommended. Using such software tools, if learned early in
the semester, will be very helpful.
Graduate Attributes for ELEC 372
The courses in the engineering programs include the development of a set of graduate
attributes. One of the attributes relevant to this course is use of engineering tools, and
will be evaluated throughout the semester. The definition of this attribute by the
Canadian Engineering Accreditation Board (CEAB) is:
“An ability to create, select, apply, adapt, and extend appropriate techniques,
resources, and modern engineering tools to a range of engineering activities, from
simple to complex, with an understanding of the associated limitations.”
Exams
There will be one midterm in addition to the final comprehensive examination. There
will be no make-up exams.
All exams will be closed book. However the students are permitted to bring in with
them one 8.5*11 inch sheet of paper, written on both sides. Anything may be written
on this paper. Students may photocopy things and tape/glue them to their crib sheet.
However the taping/gluing must be on all 4 corners so that the attachment is not a
"flap" that can be lifted up and more written underneath. The surface area available is
only for the one 8.5*11 inch piece of paper. Only ENCS-approved calculators are
allowed.
Grading
The final mark will be calculated as follows:
HW: 3%, Quiz: 12%, Lab: 15%, Midterm: 20%, Final: 50% OR
HW: 3%, Quiz: 12%, Lab: 15%, Final: 70% OR
HW: 3%, Best of 4 Quizzes: 9.6%, Lab: 15%, Midterm: 2.4%, Final: 70%
WHICHEVER IS BETTER.
Textbook
R1: Modern Control Systems by Richard C. Dorf and Robert H. Bishop, 12th Edition,
Prentice Hall, 2011.
Other References
R2: Feedback Control of Dynamic Systems by Gene F. Franklin, J. David Powell and
Abbas Emami-Naeini, 6th Edition, Prentice Hall, 2010.
R3: Automatic Control Systems by Farid Golnaraghi and Benjamin C. Kuo, 9th
Edition, John Wiley & Sons, Inc., 2010.
R4: Modern Control Engineering by Katsuhiko Ogata, 4th Edition, Prentice Hall,
2002.
R5: Feedback Control Systems by Charles L. Philips and Royce D. Harbor, Prentice
Hall,
R6: Control Systems Engineering by Norman S. Nise, 6th Edition, John Wiley & Sons,
Inc., 2011.
R7: Signals and Systems by Alan V. Oppenheim, Alan S. Willsky and S. Hamid
Nawab, 2nd Edition, Prentice-Hall, 1997
Course Schedule
i)
Based on eighth, ninth, and tenth editions of the main textbook R1
DATE
Lecture Notes #1
Week of Jan. 4
Lecture Notes #2
Week of Jan. 11
Lecture Notes #3
Week of Jan 18
Lecture Notes #4
Week of Jan 25
Lecture Notes #5
Week of Feb. 1
Lecture Notes #6
Week of Feb. 8
Week of Feb. 15
Week of Feb. 22
Lecture Notes #7
Week of Feb. 29
Lecture Notes #8
Week of Mar. 7
Lecture Notes #9
Week of Mar. 14
Lecture Notes #10
Week of Mar. 21
Lecture Notes #11
Week of Mar. 28
Lecture Notes #12
Week of Apr. 4
TOPIC
Introduction to Control Systems and Mathematical Foundation
R1: Ch. 1, R7: 1.6.3-1.6.6, R1: 2.4
Linearization and Block Diagrams
R1: 2.6, R2: 3.2.1 (and lecture notes)
Mathematical Modeling of Systems
R1: 2.2, 2.5
Time Domain Analysis: 1st Order Systems
R4: 5.2
Time Domain Analysis: 2nd Order Systems and Model Reduction
R1: 5.3 (and lecture notes)
Steady-State Error; Routh-Hurwitz Criterion
R1: 5.7, 12.11, 5.8, 5.9, R1: 6.2, 6.3, R5: 6.1 (and lecture notes)
Review on Wednesday February 17
Midterm on Friday February 19 (during the lecture time)
Midterm Break
Root Locus Technique
R1: 7.1-7.3
Root Locus Technique
R1: 7.5, 10.5
Root Locus Technique; Frequency Domain Representation
R1: 10.7, 8.2-8.5
Frequency Domain Analysis: Nyquist Criterion
R1: 9.2-9.4
Design of Control Systems: Lead Compensators
R1: 10.3, 10.4, 10.6
Design of Control Systems: Lag Compensators
R1: 10.8
Final Exam
Assignments
HW 1 (Due: Jan. 11)
HW 2 (Due: Jan. 18)
Quiz 1 on Jan. 18
HW 3 (Due: Jan. 25)
HW 4 (Due: Feb. 1)
Quiz 2 on Feb. 1
HW 5 (Due: Feb. 8)
HW 6 (Due: Feb. 15)
Quiz 3 on Feb. 15
No Homework
HW 7 (Due: Mar. 7)
No Homework
Quiz 4 on Mar. 14
HW 8 (Due: Mar. 21)
HW 9 (Due: Mar. 28)
HW 10 (Due: Apr. 11)
Quiz 5 on Apr. 11
HW 11 (Due: Apr. 11)
ii) Based on eleventh and twelfth editions of the main textbook R1
DATE
Lecture Notes #1
Week of Jan. 4
Lecture Notes #2
Week of Jan. 11
Lecture Notes #3
Week of Jan 18
Lecture Notes #4
Week of Jan 25
Lecture Notes #5
Week of Feb. 1
Lecture Notes #6
Week of Feb. 8
Week of Feb. 15
Week of Feb. 22
Lecture Notes #7
Week of Feb. 29
Lecture Notes #8
Week of Mar. 7
Lecture Notes #9
Week of Mar. 14
Lecture Notes #10
Week of Mar. 21
Lecture Notes #11
Week of Mar. 28
Lecture Notes #12
Week of Apr. 4
TOPIC
Introduction to Control Systems and Mathematical Foundation
R1: Ch. 1, R7: 1.6.3-1.6.6, R1: 2.4
Linearization and Block Diagrams
R1: 2.6, R2: 3.2.1 (and lecture notes)
Mathematical Modeling of Systems
R1: 2.2, 2.5
Time Domain Analysis: 1st Order Systems
R4: 5.2
Time Domain Analysis: 2nd Order Systems and Model Reduction
R1: 5.3 (and lecture notes)
Steady-State Error; Routh-Hurwitz Criterion
R1: 5.6, 12.7, 5.7, R1: 6.2, 6.3, R5: 6.1 (and lecture notes)
Review on Wednesday February 17
Midterm on Friday February 19 (during the lecture time)
Midterm Break
Root Locus Technique
R1: 7.1-7.3
Root Locus Technique
R1: 7.4, 10.5
Root Locus Technique; Frequency Domain Representation
R1: 10.7, 8.2-8.4
Frequency Domain Analysis: Nyquist Criterion
R1: 9.2-9.4
Design of Control Systems: Lead Compensators
R1: 10.3, 10.4, 10.6
Design of Control Systems: Lag Compensators
R1: 10.8
Final Exam
Assignments
HW 1 (Due: Jan. 11)
HW 2 (Due: Jan. 18)
Quiz 1 on Jan. 18
HW 3 (Due: Jan. 25)
HW 4 (Due: Feb. 1)
Quiz 2 on Feb. 1
HW 5 (Due: Feb. 8)
HW 6 (Due: Feb. 15)
Quiz 3 on Feb. 15
No Homework
HW 7 (Due: Mar. 7)
No Homework
Quiz 4 on Mar. 14
HW 8 (Due: Mar. 21)
HW 9 (Due: Mar. 28)
HW 10 (Due: Apr. 11)
Quiz 5 on Apr. 11
HW 11 (Due: Apr. 11)