Control System Design
(Winter 2004)


Dr. Ian Bruce
Room CRL-229, Ext. 26984
Office Hours: Mondays, 2:00-3:30pm.

Teaching Assistants:

Jennifer Ko (email: jenko@grads.ece.mcmaster.ca)
M. S. Arefeen Zilany (email: zilany@grads.ece.mcmaster.ca)
Room CRL-205, Ext. 27281
Office Hours: Tuesdays, 12:30-2:30pm.

Course Outline: (subject to change)



The recommended text is G. C. Goodwin, S. F. Graebe, and M. E. Salgado, "Control System Design," Prentice Hall, 2001.
Copies are available at Titles Bookstore.
Official Errata - note that I've found some other errors in the textbook, so I will provide an additional PDF with a list of corrections.

The secondary reference and an alternative text is R. C. Dorf and R. H. Bishop, "Modern Control Systems," ninth edition, Prentice Hall, 2001.


Worked problem sets for Chapter 3, Chapter 4, Chapter 5, Chapter 6,
Chapter 7, Chapter 8, Chapter 9, Chapter 12, and Chapter 13.
Course reserves in the Thode library.
Last year's homework assignments and exams (problems and solutions).


Homework Assignments (15%); Labs (15%); Midterm (30%); Final (40%).


There will be £ 36 one-hour lectures (3 per week) on:
Mondays and Wednesdays 11:30am-12:20pm, and
Fridays 1:30-2:20pm
in BSB-304.

Lecture notes in PDF format will be posted on this web site before each lecture:

Lecture #1 (Monday, January 5); Lecture #2 (Wednesday, January 7); Lecture #3 (Friday, January 9)
Lecture #4 (Monday, January 12); Lecture #5 (Wednesday, January 14); Lecture #6 (Friday, January 16)
Lecture #7 (Monday, January 19); Lecture #8 (Wednesday, January 21); Lecture #9 (Friday, January 23)
Lecture #10 (Monday, January 26) - Continues with the notes from Lecture #9
Lecture #11 (Wednesday, January 28)
Lecture #12 (Friday, January 30) - Continues with the notes from Lecture #11
Lecture #13 (Monday, February 2); Lecture #14 (Wednesday, February 4); Lecture #15 (Friday, February 6)
Lecture #16 (Monday, February 9) - Continues with the notes from Lecture #15
Lecture #17 (Wednesday, February 11); Lecture #18 (Friday, February 13)
No lectures February 16-25; Lecture #19 (Friday, February 27)
Lecture #20 (Monday, March 1); Lecture #21 (Wednesday, March 3); Lecture #22 (Friday, March 5)
Lecture #23 (Monday, March 8); Lecture #24 (Wednesday, March 10); Lecture #25 (Friday, March 12)
Lecture #26 (Monday, March 15); Lecture #27 (Wednesday, March 17); Lecture #28 (Friday, March 19)
Lecture #29 (Monday, March 22); Lecture #30 (Wednesday, March 24)
No lecture Friday, March 26 (Kipling Ceremony)
Lecture #31 (Monday, March 29); Lecture #32 (Wednesday, March 31); Lecture #33 (Friday, April 2)


There will be 1 one-hour tutorial per week.  The class is split into two sections for tutorials:
Section T2 is in BSB-340 on Tuesdays 11:30am-12:20am.
Section T1 is in BSB-B116 on Wednesdays 9:30-10:20am.
Current tutorial sections as of January 19.
Some tutorial notes in PDF format may be posted on this web site after the tutorials.
Tutorial #1
Tutorial #2
Tutorial #4
Tutorial #? (March 9 & 10)
Tutorial #? (March 16 & 17)


There will be 5 three-hour labs in T13-111 every second week on Mondays and Tuesdays 2:30-5:30pm, beginning January 12.
The class is split into four sections for labs.
Current lab sections as of January 19.
Lab descriptions will be made available on this web site before the lab:
Lab #1 (Monday, January 12, for Section L1; Monday, January 19, for Section L2; Tuesday, January 13, for Section L3; Tuesday, January 20, for Section L4)
Lab #2 (Monday, January 26, for Section L1; Monday, February 2, for Section L2; Tuesday, February 10, for Section L3; Tuesday, February 3, for Section L4)
Lab #3 (Monday, February 23, for Section L1; Monday, March 1, for Section L2; Tuesday, February 24, for Section L3; Tuesday, March 2, for Section L4)
Lab #4 (Monday, March 8, for Section L1; Monday, March 15, for Section L2; Tuesday, March 9, for Section L3; Tuesday, March 16, for Section L4)
Lab #5 (Monday, March 22, for Section L1; Monday, March 29, for Section L2; Tuesday, March 23, for Section L3; Tuesday, March 30, for Section L4)
The total grade for each lab will be out of 20 points. The written report will be worth 15 points, and the remaining 5 points will be based on a demonstration of your Simulink model and Matlab code to the TA and/or a pre-lab quiz on the theory required for that particular lab.
These labs are Matlab/Simulink based simulations that can also be performed outside of lab hours, but the TAs will only provide assistance during lab hours.  You may choose to complete the lab assignment partially or entirely in your own time (in groups preferably of two students but definitely no larger than three).  However, if you choose to do this, you must show up at the start of your scheduled lab time to give the TA a brief demonstration of your Matlab/Simulink code and model and to participate in any pre-lab quizzes.

Homework Assignments:

There will be 5 homework assignments.
Homework assignments will be posted on this web site.
2 weeks will be given to complete each assignment.
Homework Assignment #1: Problems; Solutions
Homework Assignment #2: Problems; Solutions
Homework Assignment #3: Problems; Solutions
Homework Assignment #4: Problems; Solutions
Homework Assignment #5: Problems; Solutions

Rules for Students Missing the Midterm Exam:

Students without a valid excuse will get zero points for the midterm, i.e., will lose 30% of their possible total grade.
Students with a valid excuse approved by the Associate Deanís office will have an oral deferred midterm exam.

Midterm Exam:

Questions; Solutions

Final Exam:

Date: Tuesday, 20th April, 2004
Time: 2:00 pm
Place: PE3
Duration: 3 hours
More details; Supplied equations, tables, etc.

Policy Reminders

"The Faculty of Engineering is concerned with ensuring an environment that is free of all adverse discrimination. If there is a problem, that cannot be resolved by discussion among the persons concerned, individuals are reminded they should contact the Departmental Chair, the Sexual Harassment Officer or the Human Rights Consultant, as soon as possible."

"Academic dishonesty consists of misrepresentation by deception or by other fraudulent means and can result in serious consequences, e.g. the grade of zero on an assignment, loss of credit with a notation on the transcript (notation reads: 'Grade of F assigned for academic dishonesty'), and/or suspension or expulsion from the university.

It is your responsibility to understand what constitutes academic dishonesty. For information on the various kinds of academic dishonesty please refer to the Academic Integrity Policy, specifically Appendix 3, located at http://www.mcmaster.ca/senate/academic/ac_integrity.htm

The following illustrates only three forms of academic dishonesty:
1. Plagiarism, e.g. the submission of work that is not oneís own or for which other credit has been obtained.
2. Improper collaboration in group work.
3. Copying or using unauthorized aids in tests and examinations."

Last updated Thursday, April 29, 2004