Faculty of Engineering and Applied Science
ENGR3100U / ENGR4100U: Modern Control Systems
COURSE OUTLINE – Winter 2010
1. Instructors:
1.1. Course Instructor:
Prof. Ruth Milman.
Office: U5-22
Tel: (905) 721-8668 ext 3297
E-mail: ruth.milman@uoit.ca
Office hours:
I have an open door policy – I am available to answer questions any time that I am in the office.
Generally I will be in on Mondays, Tuesdays and Thursdays this semester.
For a specific appointment, please email me at the above email to set a time.
1.2. Teaching Assistant (Tutorials)
Mr. Harris Chowdhry
Contact information will be posted on WebCT.
2. Course Objectives
This course will introduce the student to the fundamentals of modern control systems with an emphasis on
applications in electrical engineering. The general topics covered will include mathematical models of systems, open
and closed loop control systems, feedback control systems, time and frequency domain methods and stability
analysis.
3. Course Outcomes
Through this course, the students should be familiar with and develop an understanding of the following topics:
 Mathematical models of systems
 Differential equations and linear approximations of physical systems.
 State space and transfer function models of systems
 Time response of systems
 Frequency response of systems
 Routh Horowitz criterion and stability analysis
 Root Locus
 Bode Plots
 Nyquist Plots
By the conclusion of the course students are expected to be able to design
 PD & PID controllers
 Phase-Lead controllers
 Phase-Lag controllers
 Lead-Lag controllers
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4. Prerequisites
ENGR3110U: Signals and Systems
5. Course Organization
Three lectures hours (in two 1.5 hour lectures), three laboratory hours (bi-weekly) and two tutorial hours per week
for one semester.
6. Required Course Texts and Other Materials
Modern Control Engineering, Katsuhiko Ogata, 5th edition, Prentice Hall (2010)
The book is available in the bookstore. A copy will be on 3 hour research in the Library.
7. Reference Books and Information Sources
N/A
8. Course Evaluation
In-lecture attendance and/or pop-quizzes
5%
Tutorial Quizzes
10%
Laboratory Reports
10%
Midterm Tests (two worth 15% and 10%)
25%
Final Exam**
50%
Total
100%
** NOTE: In order to pass the course, you must pass the final exam.
8.1. Deferred Midterm Tests and Final Exams:
Please note the following:
 Medical certificates MUST be sent DIRECTLY from the Doctor’s Office or Hospital within 5 days by
mail or preferably by fax to the Academic Advisor of FEAS (fax number 905-721-3370 attn:
Academic Advisor).
 A fee for the deferral must be paid by the student if the Medical certificate is valid and arrives on
time.
 Failure to comply with the above will result in an F for the mid-term and/or the final exam.
 Any portion of term grades from quizzes or midterms (or any other term work) which were not
completed and that are considered eligible for consideration will be directly applied towards the final
exam. (i.e. Your final exam will be worth more.)
 Any deferred final exam will be either written or oral at the discretion of the instructor.
8.2 Other Information
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Cheating, plagiarism, or any other form of academic misconduct as outlined in Section 5.15 of the
Academic Calendar will be punished to the fullest extent.
If any changes must be made to the dates in this course outline, notification of changes will be made
in lecture as well as posted on WebCT.
In-Lecture Attendance, Pop-Quizzes and Survey Questions
5% of your grade is allotted to in-lecture pop-quizes and/or survey questions.
These questions will not be announced in advance, rather during random times in lectures the instructor will
announce that there is a pop-quiz or survey question to answer on your computer.
Questions will be out of 2 marks.
Questions that are not answered will receive a grade of zero.
Survey questions will receive an automatic grade of 2 simply for being answered.
Pop-quiz questions will receive a grade of 2 if they are answered correctly and 1 if they are incorrect.
This grade is fundamentally used as a tool to evaluate participation in the lectures.
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10. Tutorials
During tutorials the TAs will solve suggested problems from the text. The TAs will also answer limited questions
pertaining to the assignments prior to their due dates, and they will review these assignments following their final
submission dates. On specified weeks there will be a 15 minute quiz that will take place at the beginning of the tutorial
time.
The tutorials will cover topics from the prior week’s lectures and homework.
Tutorial Quizzes
Quiz #1:
week of Jan. 25th, 2010
Quiz #2 :
week of Feb. 8th, 2010
Quiz #3 :
week of March 8th, 2010
Quiz #4 :
week of March 22nd, 2010
(Tutorial quiz dates are subject to change. Any changes will be announced on WebCT and in class.)
 Tutorial quizzes will be held during tutorial times. In order to ensure that your quiz is available to you and is
graded you must ensure to write the quiz during your appropriate tutorial dates and times.
 If you do not write your quiz in the allotted time then it will be assigned a grade of zero.
 10% of your grade is allotted to quizzes. This mark will be determined by equally weighting all 4 quizzes.
11. Laboratories
Laboratories will take place every second week on an alternate week cycle. Labs will commence on the third week of
classes – on January 25th, 2010. The laboratory will be available to all students, for an introduction to the equipment,
regardless of lab section, in the second week of classes, the week of January 18th. During this introduction week, students
are encouraged to familiarize themselves with the lab equipment and software.
There are five labs that must be completed. These are:
1. Motor: Static relationship and parameter estimation
2. Dynamics Modeling
3. Qualitative properties of PI control
4. Speed Control
5. Position Control: PD position vs. PI speed control
w1- Jan. 25th
w1- Feb. 8th
w1- Mar. 1st
w1- Mar. 15th
w1- Mar. 29th
w2- Feb. 1st
w2- Feb. 22nd
w2- Mar. 8th
w2- Mar. 22nd
w2- Apr. 5th
Please note the following information about the labs:
 During the first laboratory there will be a sign up sheet for lab groups.
 You must maintain the same lab group throughout the course.
 Each student is individually responsible his/her own lab preparation.
 Lab preps will be marked in the beginning of each lab session.
 During labs students will work in groups of two.
 Participation marks will be awarded during the labs.
 Students are individually responsible for their own lab reports.
 All lab reports are due one week after the lab has been completed.
 10% of your grade is allotted to lab work and lab reports.
 Any consideration for missed labs during the term is at the sole discretion of the course instructor, as per
faculty rules and guidelines.
12. Midterm Tests:
Midterm #1: Monday February 22nd, 2010 11:10am -12:30 pm (in lecture)
Midterm #2: Monday March 29th, 2010
11:10am -12:30 pm (in lecture)
(Midterm dates are subject to change. Any changes will be announced on WebCT and in class.)
 Midterms will be written during the lecture times.
 No external aids will be allowed during the midterm tests.
 No calculators will be allowed during the midterm tests..
 25% of your grade is allotted to midterms.
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The midterm on which you receive the better grade will be worth 15%
The midterm on which you receive the poorer grade will be worth 10%
If you do not write your midterm then it will be assigned a grade of zero.
There will be no make up midterms – any deferrals for midterms which are accepted by your faculty’s
academic advisor will result in that portion of your grade being allotted to the final exam.
13. Final Exam:
PLEASE NOTE - In order to pass this course, you MUST pass the final exam.
 40% of your final grade is allotted to your final exam.
 Any deferred final exam will be either written or oral at the discretion of the instructor.
14. Computer Experience
WebCT will be used to provide course material and to submit assignments. A working knowledge of MATLAB will
be required for this course. As well, the QICii modelling module will be used for laboratories. The text book
publisher’s on-line assignment system may be used where appropriate for assignments and supplemental homework
exercises.
15. Course Content
Course content is based on the listed sections of the textbook. Not all parts of all sections will be
covered. You are responsible for those topics specifically covered in lectures.
15.1. Detailed Course Content
Week of:
Jan. 11th
Jan. 18th
Jan. 25th
Feb. 1st
Feb. 8th
Feb. 15th
Feb. 22nd
Mar. 1st
Mar. 8th
Mar. 15th
Mar. 22nd
Mar. 29th
Apr. 5th
Apr. 12th
Topics Covered
Introduction to Modern Control Systems
Mathematical modelling of real physical systems
Traditional modelling of control systems:
Differential equations, state space
Modelling of Systems:
Transfer functions and block diagrams
Time response characteristics of linear systems.
Performance of feedback systems
READING WEEK – NO CLASSES
Routh Horowitz stability criterion – the Routh array
Root Locus:
Looking at the effect of gain in a feedback system.
Bode Plots: Magnitude and Phase Response in the Frequency
Domain
The Nyquist Criterion
Design: PD and PID Controllers
Design: Phase-Lead Design Using Bode Diagrams and Root
Locus
Design: Phase-Lag Design Using Bode Diagrams and Root
Locus
REVIEW LECTURES
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15.2. Accreditation Units
(The following categories are defined by the Canadian Engineering Accreditation Board’s
Accreditation Criteria and Procedures report, available at http://ccpe.ca/e/files/report_ceab.pdf)
Mathematics:
Basic Science:
Engineering Science:
Engineering Design:
Complementary Studies:
Total:
0%
0%
80%
20%
0%
100%
16. Academic Integrity and Conduct
UOIT is committed to the fundamental values of preserving academic integrity as defined in UOIT policies and
contained in the UOIT Calendar. Students should familiarize themselves with UOIT’s policies and statements in this
area. Acts of academic dishonesty, including plagiarism, cheating, aiding others in cheating, and examination
impersonation, will be dealt with severely as they threaten the integrity of the academic system and are not
acceptable.
UOIT and faculty members reserve the right to use electronic means to detect and help prevent plagiarism. Students
agree that by taking this course all assignments are subject to submission for textual similarity review to
Turnitin.com. Assignments submitted to Turnitin.com will be included as source documents in Turnitin.com's
restricted access database solely for the purpose of detecting plagiarism in such documents for five academic years.
The faculty member may require students to submit their assignments electronically to Turnitin.com or the faculty
member may submit questionable text on behalf of a student. The terms that apply to UOIT's use of the Turnitin.com
service are described on the Turnitin.com website. (To read the entire policy, please go to:
http://www.uoit.ca/EN/main2/11246/13525/14057/14152/turnitin_policy.html.)
17. Accessibility
To insure that disability-related concerns are properly addressed during this course, students with documented
disabilities and who may require assistance to participate in this class are encouraged to speak with their Instructor as
soon as possible. Students who suspect they may have a disability that may effect their participation in this course are
advised to go to the Centre for Students with Disabilities (room B297) as soon as possible.
18. Approval
This course outline approved by (indicating approval of Faculty’s Curriculum Committee):
Mikael Eklund.
Date: TBD.