EE3CL4: Additional Resources
Lecture capture and live streaming
The lectures for this course
will be livestreamed and captured using the Echo 360 system. You can access them from
Avenue to Learn.
Online companion to the 11th edition of the text book
The publishers provided an interesting online companions to
the 11th edition of the text book. It is available for free and provides some
interesting exercises that would help develop and assess your understanding of the
core principles of the course.
You can find the companion by clicking on the following
link.
There are also some additional online features of the 12th edition
that are available directly from the publisher for an additional fee.
(Variants for the 13th edition are on their way, apparently.)
Although I will not refer to those features directly, they may be
of interest to some students.
Other Textbooks
If you have difficulty with the textbook or the notes, the following books
offer highquality treatments of
similar material from slightly different perspectives.
They
are recommended.
 Nise, Control System Design, 7th edition, Wiley, 2015. (An eighth edition will
be available as an electronic text book in January 2019.)
 Franklin, Powel, EmamiNaeini,
Feedback Control of Dynamic Systems, 8th edition, Prentice Hall, 2019.
 Ogata, Modern Control Engineering, 5th edition, Prentice Hall, 2010.
For those of you who find Schaum's Outlines useful, there is one that
is relevant to this course:
 Stubberud, Williams and DiStefano, Schaum's Outline of Feedback and Control Systems,
2nd edition, McGrawHill, 2013.
For those looking for an advanced perspective on
this introductory material, two useful text books are:

Goodwin, Graeve and Salgado, Control System Design,
Prentice Hall, 2001.

Qiu and Zhou, Introduction to Feedback Control,
Prentice Hall, 2010.
The following book takes a somewhat different approach, emphasizing an appreciation of the
fundamentals and the development of insight:
 Astrom and Murray, Feedback Systems. An Introduction for Scientists and Engineers,
2nd edition, Princeton University Press, 2016. This book is also available
online.
For those looking for an introduction to digital control of physical systems, two
useful text books are:
 Franklin, Powell and Workman, Digital Control of Dynamic Systems,
3rd edition, Prentice Hall, 1998. Now published by EllisKagle Press.

Phillips, Nagle and Chakrabortty, Digital Control System Analysis and Design,
4th edition, Prentice Hall, 2014
For those looking for a more conceptual discussion of the principles of feedback and control, consider:
 Albertos and Mareels, Feedback and Control for Everyone,
Springer, 2010.
Online resources
The are a number of online resources for education in the area of control systems.
Although I am not in a position to endorse any of them, what I can say is that in 2013 a number
of EE3CL4 students said that they found the online lectures by
Brian Douglas to be quite helpful.
Another interesting online resource is the "Experience Controls" mobile application developed by Quanser. It was released in 2019 and provides
a combination of concentrated theory and interactive exercises.
It might be a helpful complement to the lectures.
It is available in the App Store and on Google Play.
Quanser have also developed a podcast channel of the same name. It should be available
where you get your favourite podcasts.
Technical papers on specific topics
The following papers provide additional details on some of the fundamental results that
we will use in class. The papers in the IEEE journals can be obtained by going to the
library web site, searching the catalogue for
"IEEE Xplore", accessing that electronic resource, and then searching IEEE Xplore for the paper. The paper
in Control Engineering Practice, can be found by searching for that journal on the library site.
 Laplace Transforms: There is an interesting discussion on
the definition of the "onesided" Laplace transform in the following paper. It makes the case
for defining the transform starting from just before time t=0, rather than just after. This is
what we will do in this class.
 K. H. Lundberg, H. R. Miller and D. L. Trumper,
"Initial conditions, generalized functions, and the Laplace transform.
Troubles at the origin,"
IEEE Control Systems Magazine,
vol. 27, no. 1, pp. 2235, Feb. 2007
 Proof of the RouthHurwitz criterion: An "elementary" proof of the RouthHurwitz
criterion is available in the following paper
 M.T. Ho, A. Datta and S. P. Bhattacharyya,
"An elementary derivation of the RouthHurwitz criterion,"
IEEE Transactions on Automatic Control,
vol. 43, no. 3, pp. 405409, Mar 1998
 PID Control:
 K. J. Astrom and T. Hagglund,
"The future of PID control,"
Control Engineering Practice,
vol 9, pp. 11631175, 2001.
 K. J. Astrom and T Hagglund,
Advanced PID Control,
International Society of Automation, 2005
(This is a book.)
Software toolboxes for control system design
Some of you may wish to explore control system design concepts using software
tools that have been customized for this purpose.
A prominent example of such a tool is the
Among many other things, it offers simple ways to represent transfer functions, calculate the transfer
functions of cascaded blocks and feedback loops, and finding poles and zeros
of transfer functions. It also offers simple interfaces for
plotting the step response of a system, responses to other inputs,
root locus diagrams, and Bode and Nyquist diagrams. An interesting feature
is
the Control Systems Designer App (formerly known as the SISO Design Tool) that offers some
helpful numerical acceleration of some of the design processes that we will use, and
offers an engaging user interface.
Some other software toolboxes that offer similar functionality (perhaps with the
exception of the user interface in the Designer App), and indeed can be implemented using similar syntax are:
Back to
EE3CL4 home page
Tim Davidson
(davidson@mcmaster.ca).