Course number Course Title Term

Mech 473/6021 Control System Design FALL 2020

Course Instructor Office E-Mail Office Hours

Dr. W. F. Xie ONLINE wfxie@encs.concordia.ca Tuesday 10:00am-12:00pm

Conditions Specific to Remote Teaching and Assessment

1. All students are expected to have access to a computer with following capabilities:
a. reliable internet connection
b. camera and microphone (your computer and/or cellphone)
c. document scanning application such as Adobe Scan app
(https://play.google.com/store/apps/details?id=com.adobe.scan.android&hl=en_CA)

2. All students should install VPN for remote desktop access to Concordia University
computer labs
https://www.concordia.ca/it/support/connect-from-home.html
Once you have VPN connection to Concordia University, you can access to all available
software in Gina Cody School labs by following the process described in:
https://www.concordia.ca/ginacody/aits/support/faq/connect-from-home.html

3. Download Microsoft Office 365: https://www.concordia.ca/it/services/office-365-

education.html

4. Course specific software installation instructions: Consult AITS on Matlab/Simulink

installation.

The Matlab link: https://www.mathworks.com/academia/online-teaching.html.

5. All students are expected to do online, timed exams

a. Both midterm and final exams will be through Moodle Quiz using live-invigilation

For live ZOOM based exams

Please note the following with respect to online live proctored exams:
• That the exams will take place during the exam period at the designated date and
time set by the professor (midterm) or the Exams office (final). All exam times will
be set to Eastern Standard Time.
• That your image, voice and screen activity may be recorded throughout the
duration of the exam.
• That you must show your Concordia University Identification card to validate your
identity. Alternative government-issued photo identification will be accepted,
 though it is not recommended. Only identification in English or French will be
accepted.
• That any recording made (if one is made) will only be viewed by authorized
university personnel (no external entity has authorization to review the recording).
• That you will be responsible for ensuring appropriate, properly functioning
technology (webcam, a microphone, appropriate browser and an ability to
download any necessary software, as well as a reliable internet connection with a
minimum of a 3G connection).
• For your online examination(s), you will need to download the appropriate browser
lockdown technology and use Zoom. Protocols for entering the examination will be
provided by your professor.
• That you should enter the virtual test site and become familiar with the software
that will be used for your exam before starting the exam.
• That you will need a quiet place within which to take the exam. Earplugs or noise-
cancelling headphones that are not connected to a device may also be used to allow
you to focus for the duration of the exam.

b. Course instructor reserves the right to conduct an individual oral examination to

verify student’s response to online exam questions

6. Academic Integrity
Violation of the Academic Code of Conduct in any form will be severely dealt with. This includes copying
(even with modifications) of program segments. You must demonstrate independent thought through your
submitted work. The Academic Code of Conduct of Concordia University is available at:
https://www.concordia.ca/conduct/academic-integrity.html

It is expected that during class discussions and in your written assignments you will communicate
constructively and respectfully. Sexist, racist, homophobic, ageist, and ablest expressions will not be tolerated.

All students must read and sign the Expectations of Originality form and submit the signed copy to course
instructor by September 14, 2020
7. Third-party software/website and personal information
Note that, as a part of this course, some or all of the lectures and/or other activities in this course
may be recorded. Recordings will be focused on the instructor and will normally exclude students.
It is possible, however, that your participation may be recorded. If you wish to ensure that your
image is not recorded, speak to your instructor as soon as possible.
Also, please note that you may not share recordings of your classes and that the instructor will
only share class recordings for the purpose of course delivery and development. Any other sharing
may be in violation of the law and applicable University policies, and may be subject to penalties.

8. Third-party software/website usage for work submission

Students are advised that external software and/or websites will be used in the course and
students may be asked to submit or consent to the submission of their work to an online service.
Students are responsible for reading and deciding whether or not to agree to any applicable terms
of use. Use of this software and service is voluntary. Students who do not consent to the use the
software or service should identify themselves to the course instructor as soon as possible to
discuss alternate modes of participation that do not require them to give copyright or the right to
use their work to a third party.
 By using the external software or websites, students agree to provide and share their work and
certain personal information (where applicable) with the website/software provider. Students are
advised that the University cannot guarantee the protection of intellectual property rights or
personal information provided to any website or software company. Intellectual property and
personal information held in foreign jurisdictions are subject to the laws of such jurisdictions.
9. Third-party software/website usage for work submission
Students are advised that external software and/or websites will be used in the course and
students may be asked to submit or consent to the submission of their work to an online service.
Students are responsible for reading and deciding whether or not to agree to any applicable terms
of use. Use of this software and service is voluntary. Students who do not consent to the use the
software or service should identify themselves to the course instructor as soon as possible to
discuss alternate modes of participation that do not require them to give copyright or the right to
use their work to a third party.
By using the external software or websites, students agree to provide and share their work and
certain personal information (where applicable) with the website/software provider. Students are
advised that the University cannot guarantee the protection of intellectual property rights or
personal information provided to any website or software company. Intellectual property and personal
information held in foreign jurisdictions are subject to the laws of such jurisdictions.

CLASS, LAB AND TUTORIAL SCHEDULE

Section Day Time Location Instructor E-mail
11:45- ZOOM
Lecture W-F Dr. W.F. Xie Wfxie@enc.concordia.ca
13:00

Labs Lab Start Date

the week of September 14

COURSE CALENDAR DESCRIPTION

Analog and digital controller designs. Analog controllers: lead/lag compensators, pole placement, model matching, two-
parameter configuration, plant input/output feedback configuration. Digital controllers: difference equations, Z-transform,
stability in the Z-domain, digital implementation of analog controllers, equivalent digital plant method, alias signals,
selection of sampling time. Introduction to analog/digital state-space: controllability, observability, state feedback, state
estimator. PI and PID controllers. Simulink assignments and project. Hardware laboratory project: analog and digital
controller design for motor with inertial plus generator load. Lectures: three hours per week. Laboratory: two hours per
week, alternate weeks.

PREREQUISITE

Mech 371

TEXTBOOK AND ADDITIONAL COURSE MATERIALS

• Required textbook(s): Analog & Digital Control System Design:
 Transfer-function, State-space, & Algebraic Methods
Chi-Tsong Chen, Oxford University Press, 2006, ISBN 0195310462

• Suggested Textbook:

• Instructor’s lecture notes: will be posted in Moodle course management site

• Software Use: Matlab/Simulink

KNOWLEDGE BASE FOR ENGINEERING PREREQUISITES:

ASSIGNMENTS AND PROJECTS

The students in this course must form themselves into groups of 2 or 3 maximum. All assignments
and projects are performed and submitted as a group. This procedure will cultivate discussion
amongst the students in the group with the objective to develop a fuller understanding of the subject
materials studied.

Assignments:
Most assignments will be computer simulation to verify the system dynamic performances
resulting from controller designs. It must be emphasized that marks per assignment, whether they
are of the analytical or simulation type, are based on DISCUSSIONS of the PROCEDURES taken
and, on the CONCLUSIONS, drawn from the study.

SIMULINK from the MATLAB software package will be used for computer simulation.
NO LATE assignments will be accepted beyond the date of submission, and a mark of zero will
be given.

UNDERGRADUATE Projects:

Please refer to the instructions on Moodle.

NOTE: A lab manual with model samples and motor/generator specifications will be provided
for more information pertaining to your projects.

Please note that project marks are based on ANALYSIS, COMPARISONS, DISCUSSIONS, and
CONCLUSIONS drawn from the study.

GRADUATE Projects:
 Each group (same students as in the assignment group) must go to the library and select a
publication from a technical JOURNAL (ie. IEEE, AIAA, ASME, SAE, etc.) for review.

A) The paper must have the following contents:

• Mathematical modelling with simulation or experimental results.
• The paper must include the control of a dynamic system. The dynamic system could
include combinations of hydraulic, pneumatic, servo, mechanical, electrical, digital and
analog electronics.

B) Submit (latest by Friday September 25) a copy of the Journal paper for me to review
for project approval. Duplicate papers submitted by more than one group will be accepted on
a first come first serve basis. Approval of your project will be given no later than one week
after your submission.

D) Your objectives are to:

1) Review and understand the subject, system, and mathematical model,
2) If possible, provide simplifications to the system model with justifications,
3) Computer simulate the control system using SIMULINK,
4) Write a Technical Report based on your review. Provide other sources of reference to
support your study. As in any technical report, it must be emphasized that the presentation
of understanding and discussion is of utmost importance.

Please note that project marks are based on ANALYSIS, COMPARISONS, DISCUSSIONS, and
CONCLUSIONS drawn from the study.

GRADING POLICY
Evaluation Tool Weight
Assignment 10%
Project** 35%
Final * 55%
Total 100%
Passing Criteria:
• If your total score before the final exam is less than 40% and you decide to defer the final exam,
you will receive an R grade which prevents you to defer the final exam.
• In order to pass the class, both your cumulative score and the final examination must be above
50%
** UNDERGRADUATE
Projects: --Preliminary Report 10 % (Steps 1 to 4 above) due Friday October 30, 2020
--Final Report 25 % (Steps 1 to 7 above) due Friday December 4, 2020

GRADUATE
Projects: --Preliminary Report 10 % due Friday October 30, 2020
--Final Report 25 % due Friday December 4, 2020
NOTE 1: All reports are due before 5:00 PM on the due days indicated above.
 5 marks will be deducted for each day late, considered after 5:00 PM noon, up to a
maximum of 20 marks (Friday latest day), after which the report will not be accepted and
a final mark of zero will be given.

NOTE 2: A package containing SIMULINK programs and system response results MUST be
submitted with your final report.
The preliminary report MUST BE RESUBMITTED with your final report.
If these items are not submitted, the final report will be given a MARK OF ZERO.

TENTATIVE COURSE OUTLINE

Topics Week

Introduction and Frequency Response Review 1

Bode Plot 2

Compensator Design 3-4

The Inward Approach 4-5

Implementation Linear Algebraic Method 6

Mathematical Preliminary (State-Variable Equations) 7-8

Computer Simulation and Realization

State-sate space design 9-10

Discrete-time system analysis 11-12

Review 13
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academic support for their educational experience at Concordia. sexual violence and/or harassment.
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ACADEMIC HONESTY AND CODE OF CONDUCT
Violation of the Academic Code of Conduct in any form will be severely dealt with. This includes
copying (even with modifications) of program segments. You must demonstrate independent
thought through your submitted work. The Academic Code of Conduct of Concordia University is
available at:
http://www.concordia.ca/students/academic-integrity/offences.html

It is expected that during class discussions and in your written assignments you will communicate
constructively and respectfully. Sexist, racist, homophobic, ageist, and ablest expressions will not be
tolerated.

ADDENDUM
ACADEMIC CONDUCT ISSUES THAT APPLY IN GENERAL
The basic ten rules that make you a good engineer

The B. Eng. program is set to satisfy most of the requirements for your education and prepares you for a
professional engineering career that requires dedication and knowledge. What you learn, and how you
learn, will be used extensively in your engineering profession for the next 30 to 40 years. Therefore, the
four years spent in the engineering program are crucial towards your professional formation. The first
step is for you to learn to “think like an engineer” which means:

• accept responsibility for your own learning

• follow up on lecture material and homework
• learn problem-solving skills, not just how to solve each specific homework problem
• build a body of knowledge integrated throughout your program
• behave responsibly, ethically and professionally

One of the mainstays of being a professional engineer is a professional code of conduct and as an
engineering student this starts with the Academic Code of Conduct (Article 16.3.14 of the undergraduate
calendar). However, you may encounter situations that fall outside the norm and in such cases, you use
your common sense.

Further, the following issues should be given serious consideration:

1) Attendance at lectures and tutorials are major learning opportunities and should not be missed. The
labs represent a unique opportunity for you to acquire practical knowledge that you will need in your
career. Class and tutorial attendance is important for you to comprehend the discipline and make the
connections between engineering skills. You are strongly encouraged to participate in the class, ask
questions and answer the instructor’s questions. Tutorials are just extensions of the classes in which
application of the concepts presented during the lectures are presented and problems are practically
solved.

2) The decision to write tests that are not mandatory is entirely yours. For example, midterm test are
often stated in many courses as optional. However, one the objectives of midterms is to check on your
 comprehension of the material and allow time for whatever action is necessary (from more study time
to discontinuing a course). Plan to attend the class tests even if they are not mandatory. If you pay
attention in the lectures, it will take you significantly shorter time to comprehend the material. Note
also that if you are in the unfortunate position of being unable to write a final exam due to medical
reasons and seek a deferral, this may not be possible if the instructor has no information indicating that
you have been attending the course and assimilating the material (ie through midterms, quizzes,
assignments etc).

3) Homework is usually mandatory and it has some weight in the final grade (such information is given
in the course outline). Homework may also be conceived as training material for the class tests. Under
all circumstances, it is highly recommended to carry out the home work on time and submit it on the
prescribed date. Late submissions are not granted to individual cases regardless of the reason. This is
part of the training for being in the workforce where deadlines have to be met. Please, plan your work
such that you submit all the assignments and lab reports on time and in the correct place (not in the
corridor or on the street!).

4) Office hours with tutors, lab instructors or class instructors are listed in the course
outline/website/office doors. Please respect these office hours and in case you have a serious conflict,
contact the instructor asking for a special time arrangement.

5) Class tests (midterms, quizzes) are returned to the student. The final exams are not. If you wish to
see your exam paper, be aware that most instructors allow only a narrow window of time for that
purpose. For the fall term, exams may usually be reviewed in January and May for the spring term.

6) When you see your marked work (assignments, midterms, final exam etc), be aware that you are
supposed to review your material and see the type of errors you made and if marks have been added
incorrectly. This is not an opportunity to try and “negotiate” a higher grade with the instructor. If you
believe that your grade is not right, you may apply for a formal Course Reevaluation through the Birks
Student Centre.

7) Writing tests and exams represents a major component of your course work. These tests and exams
have rigorous requirements such as:
• No cell phone or other communication enabling tool is allowed on the student during the examination
period.
• Only specified faculty calculators are allowed during tests and exams unless otherwise indicated by the
instructor.
• Usually, no materials are allowed in the exam unless otherwise announced.
Get used to signing in and out of your exam. Make sure that you leave your exam papers with the
invigilator. There are rules concerning general exam issues in the UG Calendar. These requirements are
there to eliminate any possible misunderstanding and you are asked to respect the rules. Disciplinary
measures are taken when the rules are not followed.

8) Respect your colleagues and those that you meet during the class: tutors, instructors, lab
instructors, technical personnel, assistants, etc. Use appropriate communication means and language.
Be considerate for all human beings. This includes small things such as turning off cell-phones before a
class begins. Concordia University is a very diverse group of people and a very large multicultural
community.
9) Communication is part of your future profession. Learn how to communicate effectively and
efficiently in the shortest time possible. Write short but meaningful e-mails, make effective phone calls,
etc. If your instructor accepts emails make sure that your request is clear with the course number and
your name in the Subject line. Do not ask for special treatment as instructors have to treat all students
equitably.

10) Respect all the above and you will get closer to your future profession.