Course detail
Control Theory 1
FEKT-BPC-RR1Acad. year: 2022/2023
Basic terms is Control Theory .Feedforward and feedback control. Simple on-off and proportional control(continuous and discrete type). Performance evaluation of feedback controllers. Stability of feedback systems. Steady state and dynamics errors. Root locus method and frequency analysis. PID controllers. PID controllers design methods. Systems with multi feedback loops. Digital PSD controllers. Multivariable feedback control.
Language of instruction
Czech
Number of ECTS credits
7
Mode of study
Not applicable.
Guarantor
Learning outcomes of the course unit
Ability to apply measuring and control systems. Ability to design, use and maintain systems of applied infromatics. Automation of industrial technologies.
Prerequisites
The subject knowledge on the secondary school and appropriate mathmatics are requested.
Co-requisites
Not applicable.
Planned learning activities and teaching methods
Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations. Materials for lectures and exercises are available for students from web pages of the course. Students have to write a single project/assignment during the course.
Assesment methods and criteria linked to learning outcomes
30 points from tests and activity during seminars and computer exercises
70 points from final written exam
70 points from final written exam
Course curriculum
1. Introduction. Control Systems and their examples.
2. Controllers, basic components and properties.
3. Anaysis of feedback control system. Basic transfer functions in feedback control systems, steady state error behavior.
4. Dynamical properties of closed-loop systems. Integral criterion for control performance evaluation.
5. Stability of feedback control systems, Hurwitz, Routh-Schur and Nyquist stability criterion.
6. Root locus analysis.
7. Analysis of control loops in frequency domain. Gain, phase and modulus margin.
8. Controller synthesis in frequency domains. Bode loop shaping method.
9. Optimal module design, method of optimal time response, Ziegler-Nichols method.
10. Controller design methods based on suitable closed loop poles placement and on standard shapes of characteristic polynomials.
11. Digital controller synthesis. Conversion of continuous time PID to discrete PSD controller.
12. Control Systems with additional loops. Cascade control, model based control, Smith predictor (time delay compensation).
13. Multivariable feedback control. Diagonal and disturbance decoupling problem.
2. Controllers, basic components and properties.
3. Anaysis of feedback control system. Basic transfer functions in feedback control systems, steady state error behavior.
4. Dynamical properties of closed-loop systems. Integral criterion for control performance evaluation.
5. Stability of feedback control systems, Hurwitz, Routh-Schur and Nyquist stability criterion.
6. Root locus analysis.
7. Analysis of control loops in frequency domain. Gain, phase and modulus margin.
8. Controller synthesis in frequency domains. Bode loop shaping method.
9. Optimal module design, method of optimal time response, Ziegler-Nichols method.
10. Controller design methods based on suitable closed loop poles placement and on standard shapes of characteristic polynomials.
11. Digital controller synthesis. Conversion of continuous time PID to discrete PSD controller.
12. Control Systems with additional loops. Cascade control, model based control, Smith predictor (time delay compensation).
13. Multivariable feedback control. Diagonal and disturbance decoupling problem.
Work placements
Not applicable.
Aims
Designing, using and managing of control systems (feedforward as well as feedback)
Specification of controlled education, way of implementation and compensation for absences
The content and forms of instruction in the evaluated course are specified by a regulation issued by the lecturer responsible for the course and updated for every academic year.
Recommended optional programme components
Not applicable.
Prerequisites and corequisites
Not applicable.
Basic literature
Blaha, P.: Řízení a regulace I: Sbírka příkladů. Elektronické skriptum VUT, pp.1-30, 2020. (CS)
Blaha, P., Vavřín, P.: Řízení a regulace I: Základy regulace lineárních systémů - spojité a diskrétní. Elektronické skriptum VUT, pp. 1-214, 2019. (CS)
Blaha, P., Vavřín, P.: Řízení a regulace I: Základy regulace lineárních systémů - spojité a diskrétní. Elektronické skriptum VUT, pp. 1-214, 2019. (CS)
Recommended reading
Not applicable.
Elearning
eLearning: currently opened course
Classification of course in study plans
Type of course unit
Lecture
39 hod., optionally
Teacher / Lecturer
Syllabus
1. Introduction. Control Systems and their examples.
2. Controllers, basic components and properties.
3. Anaysis of feedback control system. Basic transfer functions in feedback control systems, steady state error behavior.
4. Dynamical properties of closed-loop systems. Integral criterion for control performance evaluation.
5. Stability of feedback control systems, Hurwitz, Routh-Schur and Nyquist stability criterion.
6. Root locus analysis.
7. Analysis of control loops in frequency domain. Gain, phase and modulus margin.
8. Controller synthesis in frequency domains. Bode loop shaping method.
9. Optimal module design, method of optimal time response, Ziegler-Nichols method.
10. Controller design methods based on suitable closed loop poles placement and on standard shapes of characteristic polynomials.
11. Digital controller synthesis. Conversion of continuous time PID to discrete PSD controller.
12. Control Systems with additional loops. Cascade control, model based control, Smith predictor (time delay compensation).
13. Multivariable feedback control. Diagonal and disturbance decoupling problem.
2. Controllers, basic components and properties.
3. Anaysis of feedback control system. Basic transfer functions in feedback control systems, steady state error behavior.
4. Dynamical properties of closed-loop systems. Integral criterion for control performance evaluation.
5. Stability of feedback control systems, Hurwitz, Routh-Schur and Nyquist stability criterion.
6. Root locus analysis.
7. Analysis of control loops in frequency domain. Gain, phase and modulus margin.
8. Controller synthesis in frequency domains. Bode loop shaping method.
9. Optimal module design, method of optimal time response, Ziegler-Nichols method.
10. Controller design methods based on suitable closed loop poles placement and on standard shapes of characteristic polynomials.
11. Digital controller synthesis. Conversion of continuous time PID to discrete PSD controller.
12. Control Systems with additional loops. Cascade control, model based control, Smith predictor (time delay compensation).
13. Multivariable feedback control. Diagonal and disturbance decoupling problem.
Fundamentals seminar
14 hod., compulsory
Teacher / Lecturer
Syllabus
1. Basic systems, stability, block algebra. Dynamic systems, notations, all in continuous and discrete time domain.
2. Transfer functions in feedback control circuits. Initial and final value theorems. Selection of the controller type - steady state error (during tracking and disturbance attenuation).
3. Closed loop system stability - Nyquist stability criterion. Analysis and synthesis using root locus method.
4. Ziegler-Nichols tuning method.
5. Design of controllers using the optimal module method. Controller design in frequency domain.
6. PSD controller, discretization of continuous controllers. Multivariable control system design.
2. Transfer functions in feedback control circuits. Initial and final value theorems. Selection of the controller type - steady state error (during tracking and disturbance attenuation).
3. Closed loop system stability - Nyquist stability criterion. Analysis and synthesis using root locus method.
4. Ziegler-Nichols tuning method.
5. Design of controllers using the optimal module method. Controller design in frequency domain.
6. PSD controller, discretization of continuous controllers. Multivariable control system design.
Exercise in computer lab
12 hod., compulsory
Teacher / Lecturer
Syllabus
1. Introduction, MATLAB, functions in Control System Toolbox and Simulink
2. Influence of feedback and controller parameters on control system performance.
3. Integral criterias as a metrics for control performance evaluation – IAE, ISE, ITAE, MSE. Optimal controller design.
4. Ziegler-Nichols tuning method. Sisotool in MATLAB.
5. Open loop frequency response loop shaping controller design. PSD controller.
6. Dead-beat control problem.
2. Influence of feedback and controller parameters on control system performance.
3. Integral criterias as a metrics for control performance evaluation – IAE, ISE, ITAE, MSE. Optimal controller design.
4. Ziegler-Nichols tuning method. Sisotool in MATLAB.
5. Open loop frequency response loop shaping controller design. PSD controller.
6. Dead-beat control problem.
Elearning
eLearning: currently opened course