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Lecturer(s)
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Doležel Petr, prof. Ing. Ph.D.
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Kupka Libor, Ing. Ph.D.
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Course content
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Lecture topics by week of the semester: 1. Introduction to discrete control theory, discrete control circuits. Discretization of continuous control circuit. Sampling and signal shaping, filtration. Difference equations. 2. Z transform and inverse Z transform, difference equations. Transfer function models. 3. Stochastic process and its statistically characteristics, ARX, ARMAX, OE and BJ model structures. 4. Stability analysis of discrete systems. Algebraic stability criteria of discrete linear systems. 5. Discrete controller, digital approximation of continuous PID. Methods for finding discrete PID controller parameters. 6. Design and implementation of digital control algorithms, selection of sampling period, aliasing. 7. Algebraic methods of discrete control theory. Selected operations with polynomials. Diophantine equation. 8. Digital controllers with optimized structure. Design of digital controller according to finite steps of regulation (weak, strong version). 9. Discrete state space description of the continuous system. The relationship between internal and external description of a dynamical system. 10. Introduction to observers. Full- and reduced-order Luenberger deterministic observers. 11. State feedback control, discrete state-space controller. Adding an integral part to the controller, remove a permanent deviation. 12. Pole placement method, Ackermann's formula. 13. Design of linear-quadratic optimal digital controller, Riccati equation. The content of the exercises corresponds to the topics of the lectures.
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing), Work with text (with textbook, with book), Laboratory work
- Contact teaching
- 65 hours per semester
- Home preparation for classes
- 20 hours per semester
- Term paper
- 40 hours per semester
- Preparation for laboratory work and processing of results
- 30 hours per semester
- Preparation for an exam
- 25 hours per semester
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Learning outcomes
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Students will acquire the means of analysis and synthesis of discrete control circuits of linear dynamic systems..
Student after the course: - demonstrates theoretical knowledge in the field of analysis and synthesis of discrete control circuits, - is able to practically implement digital control circuit and analyze its behavior, - using discretization of continuous models, he is able to design a discrete controller with both fixed and optimized structure, including state controller.
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Prerequisites
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Basic knowledge of the theory of automatic control, identification and modeling of dynamic systems is needed.
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Assessment methods and criteria
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Oral examination, Written examination, Home assignment evaluation
During the semester and in the final exam, the student must demonstrate an understanding of the solved problems. The specific requirements will be communicated to the students by the teacher in the first week of the semester. Active participation in the exercises is required, including the development of all assigned tasks and the submission of the semester work.
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Recommended literature
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BALÁTĚ, Jaroslav. Automatické řízení. 2., přeprac. vyd. Praha: BEN - technická literatura, 2004. ISBN 80-7300-148-9.
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FRANKLIN, G. F., POWELL, J. D. and WORKMAN, M. L. Digital Control of Dynamic Systems. 3rd ed. Stanford (USA): Prentice Hall, 1998. ISBN 0-201-82054-4.
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HANUŠ, Bořivoj, Miroslav OLEHLA a Osvald MODRLÁK. Číslicová regulace technologických procesů: algoritmy, matematicko-fyzikální analýza, identifikace, adaptace. Brno: VUT - nakladatelství VUTIUM, 2000. ISBN 80-214-1460-X.
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HAVLENA, Vladimír a Jan ŠTECHA. Moderní teorie řízení. 2. vyd. Praha: ČVUT, 1999.
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HLAVA, Jaroslav. Prostředky automatického řízení II: analogové a číslicové regulátory, elektrické pohony, průmyslové komunikační systémy. Praha: ČVUT, 2000. ISBN 80-01-02221-8.
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KWAKERNAAK, H. and SIVAN, R. Linear Optimal Control Systems. New York: John Wiley & Sons, 1972. ISBN 0-471-51110-2.
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ŠTECHA, Jan a Vladimír HAVLENA. Teorie dynamických systémů. 2. vyd. Praha: ČVUT, 1999. ISBN 80-01-01971-3.
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