Lecturer(s)


Modrlák Osvald, doc. Ing. CSc.

Hubka Lukáš, Ing. Ph.D.

Course content

1. Model of identified system, parametric and non parametric identification, measurement of real process, input and output signals, design of identification measure, measuring noise signals, working point. 2. Parameter estimation of the transfer functions with least squares method and chosen structure based on the input/output measuring of the real plant, chosen criterion and appropriate optimization strategy. 3. State representation, model verification, minimal realization, model order reduction. 4. Dead time systems, shift in time, transfer function with dead time, Laplace transform of periodical functions, system response to periodical input signal. 5. The block diagrams, elementary block diagrams, block diagrams simplifications, signalflow graph, Mason's rule. 6. The rootlocus of a feedback system: open and closed loop, introduction and basic properties of the Root Loci: number of branches, departure and arrival of root loci, symmetry, intersection with real axis, angles of asymptotes. Guideline for sketching a root locus. 7. Frequency domain analysis of systems with time delay, minimal and nonminimal systems. 8. Zeros and poles of openloop, Principle of argument, Nyquist criterion, the L(s) plot of open loop that corresponds to the Nyqist path. Relative stability, gain and phase margin. 9. Structure of feedback control measured and nonmeasured disturbances, controller configuration forwards and feedback controller. PID controllers, realization of the derivative part. Control performance. Tuning rules, CohenCoon tuning by using the reaction curve. 10. Optimal design of PID controllers via minimum of generalized integral of square of the error. 11. Optimal design of PID controllers via manipulated variable behavior. 12. Controller design using rootlocus method for PID controller in the time domain. Time specifications: maximum overshoot %, rise and setting time, damping ratio. 13. Bode plots of PD, PI and PID controller. Control system design in frequency domain. 14. Enhancements to singleloop PID feedback control. Feed forward control, controller tuning. 15. Control systems with an auxiliary controlled variable. Principle, block diagram, examples. 16. Control systems with an auxiliary manipulated variable. Principle, block diagram, examples. 17. Principle and strategy of cascade control strategy. Block diagram of cascade control, tuning of cascade controllers. 18. Internal model control, strategy, structure and controller design with inverse transfer function. 19. Mathematical description of MIMO systems, transfer function matrix, structure of transfer matrix, matrix gain. 20. Representing model uncertainty, parametric and nonparametric uncertainty, representing uncertainty in the frequency domain, neglected and unmodelled dynamics. 21. Robustness analysis of control systems, criteria of stability and performance robustness.

Learning activities and teaching methods

Monological explanation (lecture, presentation,briefing), Project teaching
 Class attendance
 70 hours per semester
 Preparation for credit
 16 hours per semester
 Preparation for exam
 50 hours per semester
 Home preparation for classes
 14 hours per semester

Learning outcomes

The aim of this subject is assumption of knowledge and practice of identification, analysis and design of linear continuous dynamic systems. It is intend on principle of identification, model of disturbances and dynamic systems, control system structure, stability of linear control systems, time and frequencydomain analysis and design, robust control systems. It includes the multiloop control systems and the principles of the variable analysis and synthesis including observes. Theoretical and practical lessons use software support from MATLAB.
The students will become familiar with the practical parameter estimation for determined transfer function structure, computer aided controller design as in time as in frequency domain. They will gain their knowledge and theoretical background over controller design from the inverse dynamic response, internal model control and design of cascade control, control with auxiliary controlled and manipulated variable. They will become familiar with representing a model uncertainty and with robust analysis of controlled systems.

Prerequisites

The requirements are knowledge of MTI/ZSŘ or MTI/REG and MTI/PAŘ subject substance.

Assessment methods and criteria

Combined examination, Oral exam, Written exam, Practical demonstration of acquired skills
Requirements for getting a credit are activity at the practicals /seminars and presentation of reports. Examination is of the written and oral forms.

Recommended literature


Grace, A., Laub, J., A., Litle, J., N., Thomson, C., M. Control System Toolbox. For Use with MATLAB. User's Guide.. The Math Works,Inc., 1995.

GRACE,A.LAUB,J.A.LITTLE,J.N.THOMPSON,C.M. Control System Toolbox. For Use with MATLAB. User's Guide.. The Math Works,Inc., 1995.

Isermann, R.:. Mechatronics Systems. Fundamentals.. Springer, London., 2003. ISBN ISBN 1852336935.

Kuo, B.C.:. Automatic control systems.. John Wiley & Sons, Inc. New York, 1995.

NOSKIEVIČ,P.:. Modelování a identifikace systémů.. MONTANEX a.s., Ostrava., 1999.

Shinskey, F. G. Process Control Systems. Application, Design, and Tuning. Mc Graw Hill. ISBN 0070571015.
