Department of Electrical and Computer Engineering
ECE 460 (1 1/2) CONTROL THEORY AND SYSTEMS II
Syllabus:
Sampling in Control Systems. The ztransform and response
between sampling instants. Analysis of sampled data systems and
stability testing. Statespace analysis and design of continuous
and discrete systems. Controllability, observability and zero input
stability analysis. Pole placement techniques.
(Prerequisite: 360)
Click here for the Course Outline document.
Classes:
Mondays and Thursdays, 8:30 9:50 am, COR A225.
Classes will be online at least until January 21, 2020.
Students registered in this course will receive the ZOOM link by email.
To avoid waiting in the waiting room, join using your Netlink id as described here.
Click here to find Student resources for online learning.
Demos:
Demo 1: Thursday, March 3, 8:30am in ELW A359.
Problem for Demo #1:
Design a digital compensator for an open loop
system G(s)=K/[s(s+a)] with a=3.4, K=120.52, T=0.05495 so that Kv=15 and phase margin > 45 deg.
For copies of the slides in pdf format, Click here.
Demo 2: Monday, April 4, 8:30am in ELW A359.
Problem for Demo #2:
Consider a continuous system {A,b,c} where:
A=[0, 13.71; 0, 3.4], b'=[0, 9.01] and c=[1, 0].
Sampling time, T=0.05495 (same as in demo #1).
 1. Design a digital state feedback controller so that
the output follows the reference signal at steady state and
the step responce has a damping ratio of 0.8 and a settling time of 0.6 sec.
 2. Design a digital integral error feedback controller so that
the output follows the reference signal at steady state and
the step responce has a damping ratio of 0.8 and a settling time of 0.6 sec.
For copies of the Demo2 Slides in pdf format, Click here.
For copies of the matlab code, Click here.
Midterm:
Monday, February 28, 8:30 9:40 am, COR A225.
Two pages (a page is one side of a sheet) of notes and copies of tables (2.1 and 2.2) are recommended.
For the solution in pdf format, Click here.
Final Exam:
Tuesday, April 26, 7:00pm  10:00pm, ECS 124.
Four pages (a page is one side of a sheet) of notes and copies of tables (2.1 and 2.2) recommended.
For old Exams, Click here.
For old exams go to the ESS webcite.
Office hours before exam:
Thuesday, April 9, 10:4511:45; Wednesday, April 10, 2:303:30pm.
Review for Final Exam:
Monday, April 25, 2:30pm 4:20pm, ECS 104.
Office Hours:

Days  : Mondays and Thursdays


Time  : 1:00pm  2:00pm


Location  : On line

 Assignement problems (from section B of the textbook) will be posted here.
 Completed assignments should be submitted using UVic's Brightspace site by 6pm the date they are due.
Watch an example of assignment submission.
 Solutions to the assignments will be posted here.
Assignment #1 (REVISED:Due Tuesday, Jan 25)
Problem: Consider the unity negative feedback system with
G(s)=20*K/[s(s+1)(s+20)].
1. Sketch the root locus.
2. Find Kv.
3. Sketch Bode and Nyquist plots.
4. Find K so that zeta=sqrt(2)/2 for the closed loop system.
5. Find phase and gain margins for this K.
6. Sketch the step and ramp responces of the closed loop system for this K.
7. Discuss the connection between Kv, zeta, margins and the responce of the closed loop system.
For the solution in pdf format, Click here.
Assignment #2 (Due Tuesday, February 1) :
Questions B27, B212, B217 from the textbook.
For the solution in pdf format, Click here.
Assignment #3 (Due Friday, February 8) :
 Problem 1: Sample the two signals
x1(t)=sin(2*pi*3*t) and x2(t)=sin(2*pi*0.3*t)
with sampling period T=0.2.
Sketch the spectrum of the continuous signal, the spectrum of the
sampled one and the reconstructed signal
obtained by ideal lowpass filtering of the sampled signal.
Confirm your results with Matlab. For a .m file, Click here.

Questions B34, B36, B37, B315, B319 from the textbook.
For the solution in pdf format, Click here.
Assignment #4 (Due Tuesday, February 15) :
Questions B320, B44, B48, B412 from the textbook.
For the solution in pdf format, Click here.
Assignment #5 (Due: Friday, March 4)
Study Examples 7.26 and 7.27 form K. Ogata, "Modern Control Engineering"
and Example 412 from K. Ogata, "Discrete Time Control Systems".
The .m files ex_4_12.m, lead_c.m, lag_c.m and ex_4_12.out are helpful for this.
Solve questions B410 (Use PI control) and B415 from the textbook.
The .m files ass_5.m, lead_c.m, lag_c.m, and ass_5.out are helpful for compensator design B415.
For the solution of B410 and B415 in pdf format, Click here.
Assignment #6 (Due Wednesday, March 16) :
Questions B54, B55, B58 (except the dagonal form) and B515 from the textbook.
For the solution in pdf format, Click here.
Assignment #7 (Due Friday, March 25) :
Questions B518, B522, B61, B63 and B65 from the textbook.
For the solution in pdf format, Click here.
Assignment #8 (Due Thursday, March 31):
Questions B611, B612 from the textbook.
Determine the feedback gain matrix for the model of B611 so that
the closed loop system has settling time of 2sec and overshoot of 18% (T=0.1).
For the solution of Ass #8 in pdf format, Click here.
Assignment #9 (Due Thursday, April 7) :
Question B617 from the textbook (Compare Fig. 624 with figure in slide B68).
Design a full order prediction observer with deadbeat response for the system of Question B613 in the textbook.
For the solution of Ass #9 in pdf format, Click here.
Copies of the lecture slides (in pdf format) are available here for downloading.
Course Lecture Notes
Unless otherwise noted, all course materials supplied to students in this course have been prepared by the instructor and are intended for use in this course only. These materials are NOT to be recirculated digitally, whether by email or by uploading or copying to websites, or to others not enrolled in this course. Violation of this policy may in some cases constitute a breach of academic integrity as defined in the UVic Calendar.
1. Required

Title  : Discrete Time Control Systems, 2^{nd} Edition


Author  : K. Ogata


Publisher  : PrenticeHall


Year  : 1995

2. Recommended
3. For information on Matlab available at UVic computers see here

Assignments  : 5%


Midterm  : 35% Monday, February 28


Final  : 60%

The final grade obtained from the above marking scheme for the purpose of GPA calculation will be based on the percentagetograde point conversion table as listed in the current Undergraduate Calendar.
Assignment of E grade and supplemental examination for this course will be at the discretion of the Course Instructor.More information and links to the detailed policies can be found in the course outline.
Information and links to the detailed policies can be found in the course outline.
The University of Victoria is commited to promoting, providing and
protecting a positive, supportive and safe learning and working
enviromrnt for all its members.
More information and links to the detailed policies can be found in the course outline.
You are advised to read the Faculty of Engineering Standards for
Professional Behaviour which
contains important information regarding conduct in courses, in labs and in the general use of facilities.
More information and links to the detailed policies can be found in the course outline.
Continuously modified: JanuaryApril, 2022.