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Lecturer(s)
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Hlava Jaroslav, doc. Dr. Ing.
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Mrázek Petr, Ing. Ph.D.
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Course content
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Lectures 1. Mathematical modelling of time delay systems, examples of time delay systems 2. Systems with state delays, retarded and neutral systems, delay effects on stability 3. Control of time delay systems using PI and PID controllers 4. Smith predictor and its properties 5. Use of Smithova predictor for integrating and unstable systems, robustness of Smith predictor 6. Control of MIMO time delay systems 7.-8 Application of time delay systems, time delays in mechanical systems, telemanipulation systems, communication delays in distributed control systems etc. 9-10. Non-linear systems, control of non-linear by linear controllers, compensation of static non-linear characteristics, interaction of logical and continuous controls Laboratories and seminars: 1. Simulation experiments, delay effects on system behaviour and stability 2. Uncertainty in time delay systems, delay margin 3. Design and simulation of PID controllers for time delay systems 4. Design and simulation of Smith predictor controllers 5. Control of integrating systems, examples of applications 6. Robustness of control methods for time delay systems 7.-8 Design and simulation of more complex applications of time delay systems, independent work of students 9-10. Design and simulation of basic design approaches for non-linear systems
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Learning activities and teaching methods
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Monological explanation (lecture, presentation,briefing), Laboratory work
- Class attendance
- 40 hours per semester
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Learning outcomes
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This course is focused on practical applications of methods and algorithms of automatic control. Unlike most other courses it does not systematically develop some special field of control theory (such as robust control, nonlinear control etc.) but an attempt is made to show how approaches from various fields of control theory can be combined within the framework of large full scale applications of automatic control. A particular emphasis is put on phenomena that considerably complicate the application of classical finite dimensional linear control methods. These phenomena include time delays, nonlinearities and interactions of logical and continuous variables and systems. The course makes extensive use of knowledge that the students have acquired in the previous courses. New pieces of knowledge are (if necessary) explained within the context of suitable applications. The seminars and laboratory lessons are devoted to full scale control design case studies.
Students that have completed this course will better understand the considerations that must be taken into account when applying control methods to tasks of realistic complexity. Besides they will also deepen their knowledge in the fields of time delay systems control, non-linear and hybrid control.
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Prerequisites
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Condition of registration: none
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Assessment methods and criteria
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Combined examination
Activity on the seminars and successful passing the tests are required for getting a credit. Examination is of the written and /or oral form (s). Understanding of the lectured topics is required.
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Recommended literature
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Huang, S., & Tan, K.K. & Lee T., H. (2001), Applied Predictive Control, Springer Verlag.
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Johansson, R., & Rantzer, A. (2003), Nonlinear and Hybrid Systems in Automotive Control, Springer Verlag.
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Levine W. S. (1999), Control system applications, CRC Press.
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Niculescu, S. I. (2001), Delay Effects on Stability: A Robust Control Approach, Lecture Notes in Control and Information Sciences, vol. 269, Berlin: Springer.
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Silva, G., J., Datta, A., & Bhattacharyya, S., P. (2005), PID Controllers for Time-Delay Systems, Boston: Birkhäuser.
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Wang, Z.H. & Hu, H.Y. (2002), Dynamics of Controlled Mechanical Systems with Delayed Feedback, Springer Verlag.
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Zítek, P. & Víteček, A. (1999), Návrh řízení podsystémů se zpožděními a nelinearitami, Praha: Vydavatelství ČVUT.
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