Lectures:
1. Introduction. Definition of the content and extent of the subject, prerequisites, connections.
2. HW means of control. Overview and features.
3. SW means of control. Overview and features.
4. Special techniques of RT modeling. MIL, SIL, PIL, HIL simulators.
5. Modern approaches to the design of control systems. Model-based design. Virtual and remote laboratories.
6. Introduction to modern control theory. Overview, categorization, and historical development of the algorithms.
7. Methods and computational tools for calculation of admissible control signal and state trajectories of nonlinear systems. Transition towards optimal control problem in open-loop and closed-loop.
8. LQR and LQG control.
9. Adaptive control.
10. Predictive control.
11. Robust control. Robust PID control. H-inf control.
12. Complex presentation of a chosen control system.
13. Case study I. Design and implementation of selected method of modern control theory for a given system. Identification of the system, design of a suitable controller.
14. Case study II. Implementation of selected controller on a suitable platform. Visualization, short-term trends, long-term archiving.
Exercises:
1. Introduction. Safety training. Introduction to the Arduino microcontroller and the Arduino IDE software environment - digital and analogue inputs and outputs, sending and receiving, examples and testing with Arduino UNO.
2. Revision of synthesis methods of continuous controllers on examples, calculations, testing and simulation in Matlab, Ziegler-Nichols methods, modulus optimum, open-loop shaping, optimization-based methods.
3. Static characteristics of the system, measurements of the motor - work with the encoder, physical description of the system (input and output variables, ranges). Dynamic characteristics, motor measurements, transient characteristics archiving - laboratory exercise.
4. Identification of the Transient Characteristics System (Ident tool in Matlab), design of the controller by a selected method of continuous synthesis, simulation and evaluation of the impact of saturation of manipulated variable on the real system - laboratory exercise.
5. Conversion of the controller into a discrete domain, derivation of equations through backward-rectangular rule, coding in Arduino IDE in the form of discrete equation in the time domain - laboratory exercise.
6. Independent work - identification of the system, design of the controller by the modulus optimum method, realization and comparison with the simulation - laboratory exercise.
7. Wind-up effect, bumpless switching, position control - system identification, controller design and testing, results evaluation - laboratory exercise.
8. Position control with offset of non-linear character of the motor system, Hammerstein model - laboratory exercise.
9. Cascade control, position control, speed, acceleration, design, realization, comparison of results - laboratory exercise.
10. Discrete controllers - algebraic design, description, derivation, simulation, testing, effect of sampling period, saturation of manipulated variable - laboratory exercise.
11. REX and RPi + Arduino control system: familiarization with the environment, work, realization of some of the previously proposed controller, comparison of the realization in REX control environment and Arduino IDE environment.
12. REX control system: Self-tuning controllers, archiving and visualization capabilities.
13. REX control system: implementation of the state LQR / LQG controllers.
14. Credit test.
Projects:
Each student is assigned a project to be processed by PC. Time consumption: appx. 20 hours. The title of the project: Design and implementation of controllers – case study.
1. Introduction. Definition of the content and extent of the subject, prerequisites, connections.
2. HW means of control. Overview and features.
3. SW means of control. Overview and features.
4. Special techniques of RT modeling. MIL, SIL, PIL, HIL simulators.
5. Modern approaches to the design of control systems. Model-based design. Virtual and remote laboratories.
6. Introduction to modern control theory. Overview, categorization, and historical development of the algorithms.
7. Methods and computational tools for calculation of admissible control signal and state trajectories of nonlinear systems. Transition towards optimal control problem in open-loop and closed-loop.
8. LQR and LQG control.
9. Adaptive control.
10. Predictive control.
11. Robust control. Robust PID control. H-inf control.
12. Complex presentation of a chosen control system.
13. Case study I. Design and implementation of selected method of modern control theory for a given system. Identification of the system, design of a suitable controller.
14. Case study II. Implementation of selected controller on a suitable platform. Visualization, short-term trends, long-term archiving.
Exercises:
1. Introduction. Safety training. Introduction to the Arduino microcontroller and the Arduino IDE software environment - digital and analogue inputs and outputs, sending and receiving, examples and testing with Arduino UNO.
2. Revision of synthesis methods of continuous controllers on examples, calculations, testing and simulation in Matlab, Ziegler-Nichols methods, modulus optimum, open-loop shaping, optimization-based methods.
3. Static characteristics of the system, measurements of the motor - work with the encoder, physical description of the system (input and output variables, ranges). Dynamic characteristics, motor measurements, transient characteristics archiving - laboratory exercise.
4. Identification of the Transient Characteristics System (Ident tool in Matlab), design of the controller by a selected method of continuous synthesis, simulation and evaluation of the impact of saturation of manipulated variable on the real system - laboratory exercise.
5. Conversion of the controller into a discrete domain, derivation of equations through backward-rectangular rule, coding in Arduino IDE in the form of discrete equation in the time domain - laboratory exercise.
6. Independent work - identification of the system, design of the controller by the modulus optimum method, realization and comparison with the simulation - laboratory exercise.
7. Wind-up effect, bumpless switching, position control - system identification, controller design and testing, results evaluation - laboratory exercise.
8. Position control with offset of non-linear character of the motor system, Hammerstein model - laboratory exercise.
9. Cascade control, position control, speed, acceleration, design, realization, comparison of results - laboratory exercise.
10. Discrete controllers - algebraic design, description, derivation, simulation, testing, effect of sampling period, saturation of manipulated variable - laboratory exercise.
11. REX and RPi + Arduino control system: familiarization with the environment, work, realization of some of the previously proposed controller, comparison of the realization in REX control environment and Arduino IDE environment.
12. REX control system: Self-tuning controllers, archiving and visualization capabilities.
13. REX control system: implementation of the state LQR / LQG controllers.
14. Credit test.
Projects:
Each student is assigned a project to be processed by PC. Time consumption: appx. 20 hours. The title of the project: Design and implementation of controllers – case study.