| Course Unit Code | 450-4018/01 |
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| Number of ECTS Credits Allocated | 4 ECTS credits |
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| Type of Course Unit * | Optional |
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| Level of Course Unit * | Second Cycle |
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| Year of Study * | First Year |
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| Semester when the Course Unit is delivered | Winter Semester |
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| Mode of Delivery | Face-to-face |
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| Language of Instruction | Czech |
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| Prerequisites and Co-Requisites | |
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| Prerequisities | Course Unit Code | Course Unit Title |
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| 450-4001 | Control Systems Theory and Design |
| Name of Lecturer(s) | Personal ID | Name |
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| OZA77 | doc. Ing. Štěpán Ožana, Ph.D. |
| Summary |
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| Attendants will extend their knowledge of theory of control and also of realization the controllers by means of modern computer techniques for chosen hardware targets. Particular types of the controllers will be discussed during the course as well as their functionality on PC. Practical verification will be carried out on a laboratory experiment. Students will become familiar with discrete realization of PID controllers, optimal controller and its discrete equivalent. Last but not least, robust controller, self-tuning controller, adaptive, robust and predictive control will be treated in the course. |
| Learning Outcomes of the Course Unit |
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The goal of subject is to make students familiar with detail designs of controllers and their digital implementation on PLCs and embedded systems. Students will be able to design and realize the controllers in practical tasks. This subject is also recommended for students of other branches of study who want to get involved with design and realization of the controllers.
Control system design using both classical and modern control theories. Realization on various HW targets. |
| Course Contents |
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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.
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| Recommended or Required Reading |
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| Required Reading: |
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Kuo,B.C., Golnaraghi,F.: Automatic Control Systems
Tewari,A.: Modern Control Design With MATLAB and SIMULINK
Astrom,K.J., Wittenmark,B.: Computer-Controlled Systems: Theory and Design
Leigh,J.R.Control Theory, 2nd Edition
Albertos,P., Strietzel, R., Mort,N.: Control Engineering Solutions: A Practical Approach |
[1] Gopal, M. Modern Control System Theory. Wiley,2nd edition, 1993. ISBN 978-0470221570.
[2] Ožana,Š.: Navrhování a realizace regulátorů. Učební text. VŠB-TUO, FEI, 2012.
[3] Roubal,J., Pekař,J., Pachner,D., Havlena,V.: Moderní teorie řízení - Cvičení. Skripta ČVUT, FEL 2005.
[4] Havlena, V., Štecha,J.: Moderní teorie řízení. Skripta ČVUT, FEL 2000.
[5] Bobál, V. (1999). Praktické aspekty samočinně se nastavujících regulátorů : algoritmy a implementace. Brno, VUTIUM.
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| Recommended Reading: |
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Astrom,K.J.: Automatic Tuning of PID Controllers. Insrument Society of America 1988
Dorf,C.,Bishop,R.: Modern Control Systems
Tripathi,S.M.: Modern Control Systems:An Introduction
Zak,H.: Systems and Control
Paraskevopoulos,P.N.: Modern Control Engineering
Zhou,K.,Doyle,J.C.,Glover,K.: Robust and Optimal Control
O'Dwyer,A.: Handbook of Pi And Pid Controller Tuning Rules
Nise,N.S.: Control Systems Engineering
Lyshevski,S.E.: Control Systems Theory with Engineering Applications
Shinners,S.M.: Advanced Modern Control System Theory and Design
Vukic,Z.: Nonlinear Control Systems |
[1] Bubnicki, Z. Modern Control Theory. Springer, 2005 edition. 2005. ISBN 978-3540239512.
[2] Shinners, S.M. Advanced Modern Control System Theory and Design. John Wiley and Sons Ltd.1998. ISBN 9780471318576
[3]Bobál,V. a kol.: Praktické aspekty samočinně se nastavujících regulátorů. Brno, VUT Brno 1999.
[4]Šimandl,M.: Adaptivní systémy. Plzeň, ZČU Plzeň 1993
[5] Honec,J.: Teorie automatického řízení III. VUT Brno,1991.
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| Planned learning activities and teaching methods |
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| Lectures, Tutorials, Experimental work in labs, Project work |
| Assesment methods and criteria |
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| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
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| Exercises evaluation and Examination | Credit and Examination | 100 (100) | 51 |
| Exercises evaluation | Credit | 35 (35) | 10 |
| Test | Other task type | 25 | 9 |
| Projekt | Project | 10 | 1 |
| Examination | Examination | 65 (65) | 16 |
| Teoretická část | Other task type | 20 | 5 |
| Praktická část | Other task type | 35 | 10 |
| Ústní zkouška | Oral examination | 10 | 1 |