ECE 460 Course Information

ECE 460 Control Systems II (Winter 2026, B1)

Instructor

Dr. Tongwen Chen, Professor in Control Systems
Office: ICE 11-279
Email: tchen AT ualberta.ca
Office Hours: Monday and Wednesday, 2:00 - 2:30 pm

Prerequisites

ECE 340 Discrete-Time Signals and Systems, and ECE 360 Control Systems I

Time Schedule

Lectures: Monday, Wednesday, and Friday, 10:00 am - 10:50 am (MEC 4-3)
Labs: Tuesday (H21), Wednesday (H31), and Thursday (H41), 2:00 - 4:50 pm (ETLC E5-006)

Textbook and References

J.S. Bay, Fundamentals of Linear State Space Systems, McGraw-Hill, 1999. This is the primary text. The book is available at the Open Repository at Binghamton University (https://orb.binghamton.edu/electrical_fac/3/).
J.D. Aplevich, The Essentials of Linear State-Space Systems, Wiley, 1999.
B. Freidland, Control System Design: An Introduction to State-Space Methods, Dover, 2005.
R.L. Williams II and D.A. Lawrence, Linear State-Space Control Systems, Wiley, 2007.

MATLAB/Simulink Software

MATLAB is a popular computation and visualization software package developed by the MathWorks, Inc. In this course, MATLAB will be used together with its Control System Toolbox, Simulink, and the Symbolic Math Toolbox. If you have not used MATLAB before, the web-based Control Tutorials for MATLAB (https://www.ece.ualberta.ca/~tchen/ctm/) is available on line. The tutorials were developed by Professor D. Tilbury at the University of Michigan and Professor W. Messner at Carnegie Mellon University. The outline of the tutorials closely follows that of most undergraduate control textbooks in Electrical Engineering.

Sequence of Topics

TOPIC	TIME IN WEEKS	CONCEPTS TO BE LEARNED
State-Space Modeling	2	Examples of state-space systems, state-space models and their properties, linearization of nonlinear state-space models, converting state-space to/from transfer function models, canonical forms, change of state coordinates, system interconnections.
Solving LTI State-Space Equations	2	Linear algebra review (vector spaces, linear equations, eigenvalues, eigenvectors, matrix diagonalization, Jordan forms), matrix exponential functions and computation, solving LTI state-space equations, system modes and phase portraits.
Introduction to Computer Control	1.5	Computer implemented controllers, A/D and D/A conversions, sample and hold, discretizing continuous-time systems.
Controllability and Observability	2	Controllability, observability, and algebraic tests, duality, Kalman decompositions, state-space realization, minimal realization and pole-zero cancellation.
State Feedback	1.5	State feedback and eigenvalue/pole assignment design, state feedback of uncontrollable systems, design for step tracking, state feedback with integral action.
Observer and Observer-Based Control	1.5	Definition of observers, full-order observer design, detectability, observer-based control and perfect tracking, reduced-order observers, use of reduced-order observers in control.
Linear Quadratic Optimal Control	1.5	Quadratic forms, the linear quadratic optimal control problem, algebraic Riccati equations, optimal control laws, examples, state feedback via LQR design, introduction to model predictive control.

Grading Scheme

The overall performance is calculated based on the following:

Assignments	Labs	Midterm Test	Final Exam
10%	20%	20%	50%

Final grades are assigned according to the University of Alberta letter grading system, based on relative class standing in terms of overall performance. Suggested grade distribution will be considered.

Assignments

Weekly assignments are to be given and are due the following Wednesday by 4:00 pm; please scan your solutions into a single PDF file and submit through the Canvas Page.
Please note that late assignments will not be accepted unless a legitimate reason (illness, religious conviction, etc.) exists and is discussed with the instructor.
Solutions to the assignments will be prepared by the instructor, but your assignments will be marked by TAs. Solutions will be available on the course Canvas Page.

Labs

There are four labs, all on the same lab system:

Rotating inverted pendulum modeling and linearization
Rotating inverted pendulum parameter identification
State feedback design for the rotating inverted pendulum
Observer-based control design for the rotating inverted pendulum

The lab schedule is as follows:

	H21/Tuesday	H31/Wednesday	H41/Thursday
Lab 1	Feb 3	Feb 4	Feb 5
Lab 2	Feb 24	Feb 25	Feb 26
Lab 3	Mar 10	Mar 11	Mar 12
Lab 4	Mar 24	Mar 25	Mar 26

All labs are conducted in ETLC E5-006 during the period 2:00-4:50 pm by lab instructors and lab TAs.
Labs are performed in groups of two students. Every student must attend each lab session. Failure to attend the lab will result in a zero for the entire lab even if you or your lab partner submit a lab report.
One lab report from each group is due by 4:00 pm, one week after the lab, and should be submitted through the LAB Canvas Page.
Lab instructors and lab TAs are responsible for marking the lab reports.
Lab reports should be neat and clear. They should be collected in a single PDF file.

Test and Exam

There are a midterm test and a final exam:

In the test and exam, you can bring a two-sided formula sheet (8 by 11 in); but no books, class notes, or other materials are allowed.
In the test and exam, only non-programmable calculators (with faculty yellow stickers) are permitted.
The midterm test will be conducted on Friday, February 25, 2026, during the lecture period, namely, from 10:00 am to 10:50 am. The final exam is two-hour long and is tentatively scheduled by the Registrar's Office at 8:30 am, Wednesday, April 15, 2026.

Plagiarism and Such

The University of Alberta is committed to the highest standards of academic integrity and honesty. Students are expected to be familiar with these standards regarding academic honesty and to uphold the policies of the University in this respect. Students are particularly urged to familiarize themselves with the provisions of the Code of Student Behavior (online at www.governance.ualberta.ca/) and avoid any behavior which could potentially result in suspicions of cheating, plagiarism, misrepresentation of facts and/or participation in an offense. Academic dishonesty is a serious offense and can result in suspension or expulsion from the University.

Policy about course outlines can be found in Section 23.4(2) of the University Calendar.

Faculty of Engineering Statement on Safety During Learning Activities

"In all Faculty of Engineering courses, labs, seminars or other learning activity, safety is of paramount importance. In some cases, laboratory work in a program requires high standards for risk management to keep potential hazards safely under control. Anyone found to be unable to function safely, due to intoxication, behaviour, or other reasons, in the class, lab, seminar or other learning activity may be asked to leave or be removed for their and the safety of other participants and instructors. As members, or prospective members, of the engineering profession, it is your responsibility to identify and inform the proper authorities of an unsafe work/learning environment."

Last updated December 8, 2025.