- explain the pricinple of feedback in control systems
- apply laws of conservation of energy and matter in mathematical modelling of dynamical systems; linearize nonlinear model
- employ block agebra and Laplace transform in transfer function calculation
- compute frequency characteristics of linear systems
- apply methods of analysis of stability of linear continuous-time control systems in frequency domain
- apply tuning rules for PID regulator based on experiments (Ziegler-Nichols).
Forms of Teaching
Two times per week two hours of lectures.Exercises
One hour per week.Independent assignments
6 homework assignments as preparation for laboratory exercises.Laboratory
Laboratory exercises consist of 6 exercises. Each exercise is worth 3 points: 1 point for homework which is evaluated during the exercise, 0.5 for the laboratory work and 1.5 for a quiz written at the end of the exercise.
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Laboratory Exercises||0 %||3 %||0 %||1.5 %|
|Homeworks||0 %||6 %||0 %||3 %|
|Quizzes||0 %||9 %||0 %||4.5 %|
|Mid Term Exam: Written||0 %||35 %||0 %|
|Final Exam: Written||0 %||47 %|
|Exam: Written||0 %||41 %|
|Exam: Oral||50 %|
Student must complete all laboratory exercises . On midterm exam and final exam at least 40 out of total 82 points is required. At least 50 out of total 100 points is required to pass the course.
Week by Week Schedule
- Historical overview of control systems; Motivation for using control systems; Examples of control systems; Classification of control systems.
- Block diagrams and algebra ; State space representation of continuous control systems ; Modeling of mechanical systems.
- Modeling of electrical systems; Modeling of heath transfer processes; Modeling of fluid motion and accumulation; Linearization.
- Transfer function of continuous control systems ; Transient and impulse system response; Forced and natural system response; Convolution integral.
- Pole and zero influence on LTI system time response.
- Control system quality criteria in time domain; Control error in steady-state.
- Closed loop control structures; Frequency characteristic.
- Midterm exam.
- Frequency characteristic; Nyquist diagram.
- Nyquist diagram; Bode diagram.
- Stability of LTI systems; Stability from transfer function; Algebraic stability criteria (Hurwitz).
- Gain and phase margin; Graphic stability criteria (Nyquist and Bode).
- PID controller structures; Tuning of PID controller parameters; Ziegler-Nichols methods.
- Tuning of PID controller parameters; Ziegler-Nichols methods; Practical aspects of PID controller design; Filtering; Anti-windup.
- Final exam.