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Lecturer(s)
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Course content
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1. Introduction, fundamental terminology, structure of control circuit, open loop, closed loop. 2. Static and dynamic properties of linear-time-invariant systems, Laplace transform, transfer function, impulse and step responses. 3. Frequency response characteristic, Nyquist and bode plots, zeros and poles. 4. Basic types of elements in control loop (proportional, integrative and derivative elements, lag, lead) and their characteristics. 5. Block algebra. 6. PID controllers, their properties and characteristics, wind-up effect, sensitivity to noise, practical implementation. 7. Closed loop control, types of control systems (type 0, 1, 2), accuracy in steady state, indicators of quality of control system in complex plain p, time domain, frequency domain. Stability analysis of systems and closed loop control circuits, stability critera (algebraic - Routh-Schur, Hurwitz criterion and graphical - Nyquist, Michajlov-Leonhard criterion). 8. Introduction to design of feedback control systems, empirical methods (Ziegler-Nichols etc.), integrative criteria. 9. Root-Locus analysis and design. 10. Introduction to discrete-time systems, Z-transform, difference equations, converstion from continuous-time to discrete-time domain. 11. Z-transfer function, time responses, influence of sampling period, combining continuous-time and discrete-time elements. 12. PSD controllers, stability of discrete time systems. 13. Introduction to design of discrete feedback control systems.
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Learning activities and teaching methods
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Monologic (reading, lecture, briefing)
- unspecified
- 16 hours per semester
- unspecified
- 40 hours per semester
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Learning outcomes
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Students learn about basic theory of control systems. It presents a treatment of analysis and design of continuous-time and discrete-time single input-single output control systems. Main topics are modeling of basic electrical and mechanical systems, their description with transfer functions in continuous-time and discrete-time domain (Laplace transform and Z-transform), properties of components in control circuit, transient and frequency responses, block algebra, PID and PSD controllers, control loop stability and stability criteria, basic synthesis of control circuit (empirical tuning, root-locus and frequency response methods).
Student has basic skills in the field of classic control theory. Student can derive a model of plant and determine its basic characteristics (time and frequency response on input signal). Student can construct a block diagram of control system and determine final transfer function. According to requirements on quality of control loop student can choose a right controller (P,I,D controller and their combinations) and tune its parameters to meet stability and quality requirements. Although the course is focused mainly on continuous time-domain, student has basic knowledge of discrete-time systems (description of discrete-time system, stability, PSD controllers).
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Prerequisites
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It is assumed that student passed course on differential equations, vector-matrix algebra, complex numbers and introductory circuit analysis.
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Assessment methods and criteria
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Oral examination, Written examination, Home assignment evaluation
Student has to prove his/her knowledge during semester (active participation at exercises, homework) and in final exam. Student creates a semester project. Teacher provides particular demands at the beginning of course.
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Recommended literature
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BALÁTĚ, J. Automatické řízení. Praha: BEN, nakladatelství technické literatury, 2003. BEN, 2004.
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Kubík, Kotek, Strejc,Štědra. Teorie automatického řízení I.,. SNTL, Praha, 1982.
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Ogata K. Modern Control Engineering. 1997, Prentice Hall..
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STUBBERUD A., WILLIAMS I., DiSTEFANO J. Schaum's Outline of Feedback and Control Systems. McGraw-Hill, 1994.
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