Computer supported automatic control. Requirements, structures and implementations of computer controlled systems. Mathematical description of discrete-time systems - a short overview. Graphoanalytical identification methods of process mathematical models. Approaches to digital controllers design. Control systems design in time domain - relay method of PID controller design, general linear parametric controller and its design by optimization. Control systems design in frequency domain: Design by Bode diagrams. Lead-lag compensator. Analytical methods of control systems design: Truxal-Guillemin method. Control of systems with considerable delay. Smith predictor. Process periphery. Signal pre-processing in the digital automatic control system. Implementation aspects of the control algorithms. Distributed control systems. Computer networks for real-time applications. Event-triggered protocols. Time-triggered protocols. Sampling time selection of the control loops in distributed control systems. Basics of synthesis of controlled systems over the communication network. Examples of computer controlled systems.
This course qualifies students for design and implementation of computer controlled systems for processes that are common in industry.
- define the basic concepts and principles of computer control systems
- select appropriate method for system identification
- estimate which method is appropriate for control of a specific system
- compute paremeters of digital controllers for typical industrail processes
- demonstrare functionality of computer-controlled system by simulation
- apply the chosen control method to control a real process by a computer
Forms of Teaching
Lectures are organized in two cycles. First cycle 7 weeks, 3 hours per week. Second cycle 6 weeks, 3 hours per week.Laboratory Work
6 laboratory exercises, 2,5 hours eachConsultations
Upon request. Through the forum on the course webpage.
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Laboratory Exercises||50 %||12 %||50 %||12 %|
|Homeworks||50 %||12 %||50 %||12 %|
|Mid Term Exam: Written||40 %||26 %||0 %|
|Final Exam: Written||50 %||30 %|
|Final Exam: Oral||20 %|
|Exam: Written||50 %||50 %|
|Exam: Oral||26 %|
Week by Week Schedule
- Topics overview, literature, undertaking of teaching and exams. Computer supported automatic control. Requirements, structures and realizations of computer controlled systems.
- Mathematical description of discrete-time systems - a short overview. Graphoanalytical identification methods of process mathematical models.
- Introduction to digital controllers design. Design problem definition, Approaches to controllers design. Architecture of digital controllers.
- Control systems design in time domain - first part: Relay method of PID controller design.
- Control systems design in time domain - second part: General linear parametric controller and its design by optimization.
- Control systems design in frequency domain: Design by Bode diagrams. Lead-lag compensator.
- Analytical methods of control systems design: Truxal-Guillemin method. Controller design with respect to disturbance and reference values.
- Midterm exam.
- Control of processes with time-delay: Controllers with Smith predictors.
- Realization aspects of computer-controlled systems: Hardware design. Measuring signals conditioning and processing. Interfaces to actuating devices and operators.
- Implementation aspects of digital controllers: Impelmentation forms. Limited world length. Coefficient errors. Quantization. Controllers implementation in FPGA circuits.
- Communication networks in distributed computer-controlled systems: Communication model for real-time operation. The most important real-time networks.
- Sampling time selection in distributed computer-controlled systems: Problem identification. Algorithms for sampling time selection in systems with Time-Triggered network and in systems with CAN network.
- Closed loop control over communication networks.
- Final exam.
[FER2-HR] Electronic and Computer Engineering - moduleElective Courses (6. semester)
[FER2-HR] Electronics - moduleElective Courses (6. semester)
Ivan Petrović (2011.), Računalno upravljanje sustavima - bilješke za predavanja, FER - ZARI
Nedjeljko Perić, Ivan Petrović (2005.), Automatizacija postrojenja i procesa - predavanja, FER - ZARI
Karl J. Astrom, Bjorn Wittenmark (1996.), Computer-Controlled Systems, Theory and Design, Prentice Hall
Gene F. Franklin, J. David Powell, Michael L. Workman (1997.), Digital Control of Dynamic Systems - Third Edition, Prentice Hall
Dimitrios Hristu-Varsakelis and William S. Levine (Editors) (2005.), Handbook of Networked and Embedded Control Systems (Control Engineering), Birkhauser
L1 English Level
15 Laboratory exercises
0 Project laboratory
75 Very Good