Registration Information:

  • All graduate AND undergraduate courses must be registered on paper using an Academic Change Form and approved by your supervisor
  • When registering for a course, you must indicate whether the course will be primary or secondary to your program
  • All courses which are part of your required program must be listed as primary
  • All primary courses require a pass mark of B- or 2.7 or 70%
  • Courses taken outside the department and that are used to meet degree requirements should be in a related field to the student's research and must have course instructor's approval
  • Students who audit graduate courses may be required to participate in assignments but not final examinations; consult the instructor beforehand.
  • It is the student's responsibility to adhere to the guidelines for dropping and adding courses by the relevant deadlines.

Timetable 2018-2019 (PDF document)

Courses offered at Royal Military College

RMC course descriptions

To register for a course at RMC, complete and submit the application form

ECE Graduate Courses

Fall 2017 Courses
Winter 2018 Courses
Not Currently Offered
ELEC 831 - Power Electronics


Power electronics plays a key role in our modern society. It is helping us in building modern infrastructures that are not only providing us a comfortable life but are also environmental friendly. This course presents some of the advanced work in the field of resonant and soft-switching converters. We will see how this field has evolved through the years in terms of power electronics converter topologies and control techniques. We will also see how this field has impacted many real-life applications such as space, telecommunications, information processing and renewable energy generation.


  • Variable Frequency Resonant Converters
  • Modeling of Resonant Converters
  • Phase-shift modulated resonant converters
  • Asymmetrical PWM resonant converters
  • Naturally commutated soft switching converters
  • Auxiliary Commutated Soft Switching Converters


There will be two independent projects for this class. Students will present their projects to the class. The course grade will be based on the class presentations and submissions of project reports.


ELEC 837 - High Power Electronics


Introduction. Power semiconductor devices. Line- and force-commutated converters. High power ac/dc and dc/ac converter structures and switching techniques. Principles of HVDC and HVAC systems. Large and small scale stabilities, sub-synchronous resonances, inter-area oscillations, voltage sags, and harmonic instability. Voltage, power angle, and impedance control, phase balancing, and power factor correction by means of solid-state power converters. Flexible AC Transmission Systems (FACTS). Three term hours, lecture, Fall.

ELEC 841 - Non-Linear Systems: Analysis and Identification


Analytical methods for nonlinear systems; nonlinear difference equation models: functional expansions and Volterra, Wiener and Fourier-Hermite kernels; kernel estimation techniques; identification of cascades of linear and static nonlinear systems; use of Volterra series to find region of stability of nonlinear differential equations; applications to pattern recognition, communications, physiological systems, and non-destructive testing. Three term-hours, lecture, Fall.

ELEC 848 - Control Systems Design for Robots and Telerobots


This course provides an overview of manipulator modeling, and presents and analyzes various control architectures designed for robots and telerobots. Topics include introduction to robotics, serial manipulator forward and inverse kinematics, Jacobian, singularities and dynamics, robot position and force control methodologies and their stability analyses; introduction to telerobotics and haptics, haptic devices and their specifications, network modeling of telerobotic systems, stability and performance measures, bilateral control architectures, issues of communication delays and dynamic uncertainties and proposed treatments, rate control.

Course Overview
  1. Robot Modeling
    1. Spatial description and transformations.
    2. Serial manipulators: Forward and inverse kinematics, Jacobian and singularities, Dynamics using Euler-Lagrange method.
  2. Robot Control
    1. Position control methods: Centralized and decentralized control, Multivariable control, Robust control, Stability in the sense of Lyapunov, Variable structure control, Adaptive control.
    2. Force control methods: Hybrid control, Impedance control, Parallel force/position control.
  3. Telerobotics and Haptics
    1. Introduction to telerobotics and applications, Haptic devices and their specifications, Network modeling of telerobotic systems, Kinesthetic and task-based performance measures, Stability and stability robustness.
    2. Four-channel control formalism, Traditional control architectures, Trade-off between stability and performance
    3. Issue of time-delay, Proposed solutions: passivity-based, optimization-based, predictive-based methods and supervisory control
    4. Adaptive and variable parameter control methods
    5. Issue of rate mode control, Stability and performance
    6. Current research topics


  1. B. Siciliano, L. Scavicco, L. Villani, and G. Oriolo, "Robotics," 2009. Available online through Queen's Library.
  2. J.J. Craig, “Introduction to Robotics: Mechanics and Control,” 2004.
  3. M.W. Spong and M. Vidyasagar, "Robot Dynamics and Control," Wiley, 1989.
  4. M.W. Spong, S, Hutchinson and M. Vidyasagar, "Robot Modeling and Control," Wiley, 2006.
Courses Recommended:

Any introductory courses in linear control systems (e.g. ELEC-443 or MECH-350 or MTHE-332) and in robotics (e.g. ELEC-448 or MECH-456).

  • Test - 15%
  • Assignments - 30%
  • Project/Study - 55%

Test: A mid-term will be held around week 6 on spatial descriptions, kinematics and dynamics. Date/Location: TBD.

Assignments: 3-4 assignments on robot control will be handed out, collected and marked.

Project/Study: consists of (i) individual or group project or study, and (ii) class discussions on selected key topics intelerobitics and haptics. The deliverable on item (i) are an oral presentation and a report.

ELEC 852 - Broadband Integrated Circuits


Topics covered include S-parameter design method; filters, equalizers and amplifiers; broadband design applications of microwave integrated circuits (MIC) with emphasis on lightwave transmitters and receivers; broadband adaptive filtering for lightwave systems; monolithic microwave integrated circuits (MMIC) techniques; comparison between MIC and MMIC.


  • Understand limitations of electronic elements and their parasitics. Parasitic extraction.
  • RF, microwave and electromagnetic modelling and there limitations. Many examples in IC and PCB designs.
  • Getting the most out of your active devices. Increasing fT and fmax of FETs and BJTs.
  • Broadband amplifier design techniques. Dealing with Miller through unilaterlization and neutralization. Parasitic absorption. Applications to filters and mixers.
  • High speed digital topologies.


50% Assignments and 50% Project.

Fourth Year Courses

External Course List