| Course Unit Code | 352-0545/01 |
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| Number of ECTS Credits Allocated | 6 ECTS credits |
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| Type of Course Unit * | Compulsory |
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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 | There are no prerequisites or co-requisites for this course unit |
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| Name of Lecturer(s) | Personal ID | Name |
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| WAG52 | doc. Ing. Renata Wagnerová, Ph.D. |
| Summary |
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| Analysis and synthesis of linear MIMO control systems. Analysis and synthesis of linear and nonlinear control systems in state space. |
| Learning Outcomes of the Course Unit |
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| The subject “Theory of Automatic Control” belongs among basic subjects, which form the graduate profile of the student in master study program “Mechatronics”. Its objective is deepening and extension of knowledge of analysis and synthesis of the SISO linear discrete control systems, analysis and synthesis linear and nonlinear systems in state space. |
| Course Contents |
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1. SISO advanced linear discrete and continuous control systems (with auxiliary controlled variable (cascade), with disturbance variable measurement, with auxiliary manipulated variable, Smith and modified Smith predictor, internal model control)
2. Modification of conventional controllers (2DOF controllers, anti-windup realization, filtration of derivative component).
3. Mathematical models of continuous and discrete MIMO systems (stationarity (t-invariance), realizability, transfer relations, minimum phase, etc.).
4. Block diagram algebra for MIMO systems (serial, parallel and feedback connection, basic transfer function matrices, etc.).
5. Stability of continuous and discrete MIMO control systems (characteristic equation, definitions, conditions and criteria of stability)
6. Autonomy and invariance of continuous and discrete MIMO systems (partial and full autonomy and invariance, conditions, properties, etc.).
7. Synthesis of continuous and discrete MIMO control systems (choice of sampling period, synthesis methods, properties, etc.).
8. State space models of continuous and discrete systems (stationarity (t-invariance), realizability, relations between transfer function matrices and state space models, etc.).
9. Solution of linear continuous state equations (solution in the time and complex variable doman, fundamental matrix, etc.). Discretization of linear continuous state space model.
10. Controllability, stabilizability, observability and detectability of linear continuous and discrete dynamic systems (decomposition, controllability and observability matrices, conditions, etc.)
11. Canonical forms of state space models of linear continuous dynamic systems (transformation matrices).
12. Design of continuous state space controller (procedure, properties, etc.)
13. Design of Luenberger observer (procedure, properties, etc.).
14. Integral state space control. |
| Recommended or Required Reading |
|---|
| Required Reading: |
|---|
BALÁTĚ, J. Automatické řízení (2. přepracované vydání). Praha: Nakladatelství BEN, 2004, 664 s. ISBN 80-7300-148-9
ŠVARC, I., MATOUŠEK R., ŠEDA, M., VÍTEČKOVÁ, M. Automatické řízení (2. vydání). Brno: Akademické nakladatelství CERM, 2011, 348 s. ISBN 978-80-214-4398-3
ŠULC, B., VÍTEČKOVÁ, M. Teorie a praxe návrhu regulačních obvodů. Praha: Vydavatelství ČVUT, 2004, 333 s. ISBN 80-01-03007-5
VÍTEČKOVÁ, M., VÍTEČEK, A. Základy automatické regulace (2.přepracované vydání). Ostrava: VŠB-TU Ostrava, 2008, 200 s. ISBN 978- 80-248-1924-2
http://books.fs.vsb.cz/ZRMS/zpetnovazebni-rizeni-mechatronickych-systemu.pdf
http://books.fs.vsb.cz/ZRMS/closed-loop-control-of-mechatronic-system.pdf
http://books.fs.vsb.cz/MatMet/ATR.htm
http://books.fs.vsb.cz/cislicovaregulace/
VÍTEČKOVÁ, M., VÍTEČEK, A. Vybrané metody seřizování regulátorů. VŠB-TU Ostrava, Fakulta strojní, Ostrava 2011, 230 str., ISBN 978-80-248-2503-8
http://books.fs.vsb.cz/ZRMS/vybrane-metody-serizovani-regulatoru.pdf
http://books.fs.vsb.cz/ZRMS/stavove-rizeni.pdf
http://books.fs.vsb.cz/ZRMS/state-space-control.pdf
http://books.fs.vsb.cz/Analyza/index.html
http://books.fs.vsb.cz/SyntezaReg/
http://books.fs.vsb.cz/DeltaTransAS/index.htm
OGUNNAIKE, B. A., RAY, W. H. (1994) Process Dynamics, Modeling, and Control. Oxford University Press, Oxford, 1994, 1260 p.
ÅSTRÖM, K. J., HÄGGLUND, T. (1995) PID Controllers: Theory, Design, and Tuning. Second Edition. ISA – Instrument Society of America, Research Triangle Park, 1995, 343 p.
SKOGESTAD, S., POSTLETHWAITE, I. (2005) Multivariable Feedback Control. Analysis and Design. Second Edition. John Wiley & Sons, River Street, 2005, 574 p.
VÍTEČEK, A., VÍTEČKOVÁ, M., LANDRYOVÁ, L. Basic Principles of Automatic Control. VŠB-TU Ostrava, FS, 2012, 115 str.
http://books.fs.vsb.cz/ZRMS/basic-principles-of-automatic-control.pdf
FRANKLIN, G. F., POWELL, J. D., EMAMI-NAEIMI, A. (2002) Feedback Control of Dynamic Systems. Fourth Edition. Prentice-Hall, 2002, 910 p.
http://books.fs.vsb.cz/NelSys/NelSys.pdf |
BALÁTĚ, J. Automatické řízení (2. přepracované vydání). Praha: Nakladatelství BEN, 2004, 664 s. ISBN 80-7300-148-9
ŠVARC, I., MATOUŠEK R., ŠEDA, M., VÍTEČKOVÁ, M. Automatické řízení (2. vydání). Brno: Akademické nakladatelství CERM, 2011, 348 s. ISBN 978-80-214-4398-3
ŠULC, B., VÍTEČKOVÁ, M. Teorie a praxe návrhu regulačních obvodů. Praha: Vydavatelství ČVUT, 2004, 333 s. ISBN 80-01-03007-5
VÍTEČKOVÁ, M., VÍTEČEK, A. Základy automatické regulace (2.přepracované vydání). Ostrava: VŠB-TU Ostrava, 2008, 200 s. ISBN 978- 80-248-1924-2
http://books.fs.vsb.cz/ZRMS/zpetnovazebni-rizeni-mechatronickych-systemu.pdf
http://books.fs.vsb.cz/ZRMS/closed-loop-control-of-mechatronic-system.pdf
http://books.fs.vsb.cz/MatMet/ATR.htm
http://books.fs.vsb.cz/cislicovaregulace/
VÍTEČKOVÁ, M., VÍTEČEK, A. Vybrané metody seřizování regulátorů. VŠB-TU Ostrava, Fakulta strojní, Ostrava 2011, 230 str., ISBN 978-80-248-2503-8
http://books.fs.vsb.cz/ZRMS/vybrane-metody-serizovani-regulatoru.pdf
http://books.fs.vsb.cz/ZRMS/stavove-rizeni.pdf
http://books.fs.vsb.cz/ZRMS/state-space-control.pdf
http://books.fs.vsb.cz/Analyza/index.html
http://books.fs.vsb.cz/SyntezaReg/
http://books.fs.vsb.cz/DeltaTransAS/index.htm
OGUNNAIKE, B. A., RAY, W. H. (1994) Process Dynamics, Modeling, and Control. Oxford University Press, Oxford, 1994, 1260 p.
ÅSTRÖM, K. J., HÄGGLUND, T. (1995) PID Controllers: Theory, Design, and Tuning. Second Edition. ISA – Instrument Society of America, Research Triangle Park, 1995, 343 p.
SKOGESTAD, S., POSTLETHWAITE, I. (2005) Multivariable Feedback Control. Analysis and Design. Second Edition. John Wiley & Sons, River Street, 2005, 574 p.
VÍTEČEK, A., VÍTEČKOVÁ, M., LANDRYOVÁ, L. Basic Principles of Automatic Control. VŠB-TU Ostrava, FS, 2012, 115 str.
http://books.fs.vsb.cz/ZRMS/basic-principles-of-automatic-control.pdf
FRANKLIN, G. F., POWELL, J. D., EMAMI-NAEIMI, A. (2002) Feedback Control of Dynamic Systems. Fourth Edition. Prentice-Hall, 2002, 910 p.
http://books.fs.vsb.cz/NelSys/NelSys.pdf
VÍTEČKOVÁ, Miluše, 2020. Pozorovatel poruchy. [online]. Ostrava: VŠB-TU Ostrava. Dostupné z: http://books.fs.vsb.cz/pozpor/pozorovatel-poruchy.pdf |
| Recommended Reading: |
|---|
DORF, R. C., BISHOP, R. H. Modern Control Systems. Tenth Edition. Pearson Prentice Hall, Upper Saddle River – New Jersey, 2004
GOODWIN G. C. – GRAEBE, S. F. – SALGADO, M. E. Control System Design. Pearson Education, Singapore, 2001
RAZÍM, M., ŠTECHA, J. Nelineární systémy. Ediční středisko ČVUT, Praha, 1997
ZÍTEK, P. – VÍTEČEK, A. 1999. Návrh a řízení podsystémů se zpožděními a nelinearitami. Vydavatelství ČVUT v Praze, Praha, 1999
|
DORF, R. C., BISHOP, R. H. Modern Control Systems. Tenth Edition. Pearson Prentice Hall, Upper Saddle River – New Jersey, 2004
GOODWIN G. C. – GRAEBE, S. F. – SALGADO, M. E. Control System Design. Pearson Education, Singapore, 2001
RAZÍM, M., ŠTECHA, J. Nelineární systémy. Ediční středisko ČVUT, Praha, 1997
ZÍTEK, P. – VÍTEČEK, A. 1999. Návrh a řízení podsystémů se zpožděními a nelinearitami. Vydavatelství ČVUT v Praze, Praha, 1999
|
| Planned learning activities and teaching methods |
|---|
| Lectures, Tutorials |
| Assesment methods and criteria |
|---|
| Task Title | Task Type | Maximum Number of Points
(Act. for Subtasks) | Minimum Number of Points for Task Passing |
|---|
| Exercises evaluation and Examination | Credit and Examination | 100 (100) | 51 |
| Exercises evaluation | Credit | 35 (35) | 20 |
| Zápočet | Other task type | 35 | 20 |
| Examination | Examination | 65 (65) | 16 |
| Písemná zkouška | Written examination | 45 | 10 |
| Ústní zkouška | Oral examination | 20 | 6 |