Control Systems Synthesis

Data is displayed for academic year: 2023./2024.

Lecturers

Prof.
Mato Baotić
Asst. Prof.
Branimir Novoselnik

Laboratory exercises

Ivan Župan
mag. ing.

Course Description

Introduction to linear control system design. Performance indices in frequency and time domain. Input/output (external) and (internal) state variable mathematical models. Series compensator design by frequency methods. Lead and lag compensators. Design by linear algebraic methods. Diophant equation. System sensitivity and robustness. System analysis and controller design with root locus methods. Structural characteristics: eigenvalues, stability, controllability, observability, canonic forms and minimal realization. State space controller design. Reference tracking and disturbance compensation. State space observers. Total regulator. Linear quadratic regulator. Cascade control systems. Controller design by symmetric and technical optimum.

Study Programmes

University graduate
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Theoretical Course (1. semester)

Learning Outcomes

  1. Design a regulator using frequency synthesis procedures.
  2. Design a compensator with phase advance and phase delay.
  3. Apply the root locus curve procedure in analysis and synthesis.
  4. Analyze the controllability and observability of linear systems.
  5. Design a controller in the state space and a corresponding (deterministic) state reconstructor.
  6. Design a linear square regulator.
  7. Design a cascade control system.

Forms of Teaching

Lectures

Two times per week two hours of lectures.

Independent assignments

5 homework assignments as preparation for laboratory exercises.

Laboratory

Laboratory exercises comprise 5 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.

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Laboratory Exercises 0 % 2.5 % 0 % 2.5 %
Homeworks 0 % 5 % 0 % 5 %
Quizzes 0 % 7.5 % 0 % 7.5 %
Class participation 0 % 5 % 0 % 5 %
Mid Term Exam: Written 0 % 35 % 0 %
Final Exam: Written 0 % 45 %
Exam: Written 0 % 60 %
Exam: Oral 20 %

Week by Week Schedule

  1. Process of control system design
  2. Control system objectives, models and structures, loop shaping, lead and lag compensator
  3. Loop shaping, lead and lag compensator
  4. Linear algebraic methods (model matching, pole placement, diophantine equation)
  5. Linear algebraic methods (model matching, pole placement, diophantine equation)
  6. Ploting of root loci, amplitude and phase condition
  7. Controller design using the Root-Locus method
  8. Midterm exam
  9. Controlability and observability of LTI systems
  10. Pole placement, ackerman formula, dead-beat controller
  11. Separation principle (state feedback and state observers)
  12. Linear quadratic regulator
  13. Cascade control systems, magnitude optimum
  14. Magnitude optimum, symmetric optimum
  15. Final exam

Literature

Mato Baotić (2016.), Sinteza linearnih sustava upravljanja, Sveučilišni priručnik, Sveučilište u Zagrebu Fakultet elektrotehnike i računarstva
Chi-Tsong Chen (1999.), Linear System Theory and Design; 3rd edition, Oxford University Press
Katsuhiko Ogata (1997.), Modern controle engineering; 3rd edition, Prentice-Hall
Zoran Vukić, Ljubomir Kuljača (2005.), Automatsko upravljanje - analiza linearnih sustava, Kigen d.o.o. Zagreb

For students

General

ID 222535
  Winter semester
5 ECTS
L1 English Level
L1 e-Learning
60 Lectures
0 Seminar
0 Exercises
12 Laboratory exercises
0 Project laboratory
0 Physical education excercises

Grading System

87,5 Excellent
75 Very Good
62,5 Good
50 Sufficient

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