Course: Control Systems in Mechatronics

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Course title Control Systems in Mechatronics
Course code MTI/RSM
Organizational form of instruction Lecture + Lesson
Level of course Master
Year of study not specified
Frequency of the course Every school year
Semester Summer
Number of ECTS credits 5
Language of instruction Czech, English
Status of course Compulsory
Form of instruction Face-to-face
Work placements Course does not contain work placement
Recommended optional programme components None
  • Hubka Lukáš, Ing. Ph.D.
  • Modrlák Osvald, doc. Ing. CSc.
Course content
1. Parametric and non parametric identification, model of the controlled process, identified process, input and output signals, design of identification measure, measuring noise signals. 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. ON - line and OFF - line parameter estimation. Types of model structures, criterion, optimization and flow process diagram of identification MATLAB program. Model order reduction, model verification. 3. Transfer function definition, poles and zeros of the transfer function, minimum and non-minimum phase systems, second order response time specifications, transfer function for continuous time space model, the final value theorems. Transfer function with dead time. 4. The block diagrams, elementary block diagrams, block diagrams simplifications, signal-flow graph, Mason's rule. 5. The root-locus of a feedback system: open and closed loop, introduction and basic properties of the Root Loci, Guideline for sketching a root locus. 6. Zeros and poles of open-loop, Principle of argument, Nyquist path and Nyquist criterion, the L(s) plot that corresponds to the Nyqist path. Nyquist criterion using Nyquist and Bode plots, Simplified forms of the Nyqist criterion. Gain and phase margin. 7. Process and instrument elements, the basic structure of feedback control, control performance, sensitivity functions. The classical three-term PID controller. Empirical tuning rules, Hand tuning, Cohen-Coon tuning by using the reaction curve. 8. Controller design using root-locus method. Controller design using frequency domain characteristic. 9. Enhancements to single-loop PID feedback control. Feed forward control and internal model control, controller tuning. 10. Control systems with an auxiliary controlled and manipulated variable. Principle, block diagram, examples 11. Principle and strategy of cascade control strategy. Block diagram of cascade control, tuning of cascade controllers. Control system with anti-windup measure, 12. State-space representation of SISO systems. State estimation, estimator design using Pole- Placement. 13. Structure of state feedback control, design of state feedback matrix using Pole-Placement. State feedback control with integrator. 14. Mathematical description of MIMO systems, transfer function matrix, structure of transfer matrix, matrix gain.

Learning activities and teaching methods
Monological explanation (lecture, presentation,briefing)
  • Semestral paper - 44 hours per semester
  • Preparation for credit - 10 hours per semester
  • Preparation for exam - 40 hours per semester
  • Class attendance - 56 hours per semester
Learning outcomes
This subject offers a comprehensive overview of control systems with accent on an appropriate balance between theoretical concepts and engineering practice in analysis, synthesis and identification of linear dynamic systems. The subject focuses on empirical identification, single loop control design method, problems of optimal PID control strategy and application of frequency domain methods. The important part consists of solving complicated control loops as feed forward, cascade, multiloop pairing and fundamental approach to state variable control. Theoretical and practical lessons involve utilization of MATLAB software tools. The implementation of the theory will be carried out on physical real models with industrial equipment in the Control laboratory. Extensive computer assisted laboratory exercises cover such tasks as rotation speed control of a system with DC-motor, tachometer and elastic clutch with a load, water temperature control of a circulation water boiler heater, level control, temperature control of air flow and others.
The students will acquire good knowledge of practical parameter estimation for determined model structure, analysis and synthesis of dynamic systems, PID controller tuning, practical design of industrial control systems, and review of Multi Input Multi Output systems and basic knowledge of state controller design. They will become familiar with implementation of control algorithms using modern software tools. Web based interactive modules assist student self study and help prepare practical experimentation. The practical lessons use software tools and utilizations of MATLAB.
The requirements are knowledge of MTI/ZSR or MTI/REG and MTI/PAR 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 0-07-057101-5.

Study plans that include the course
Faculty Study plan (Version) Category of Branch/Specialization Recommended year of study Recommended semester
Faculty: Faculty of Mechatronics, Informatics and Interdisciplinary Studies Study plan (Version): Mechatronics (2016) Category: Special and interdisciplinary fields 1 Recommended year of study:1, Recommended semester: Summer