352-0545/01 – Automatic Control Theory (TAŘ)
| Gurantor department | Department of Control Systems and Instrumentation | Credits | 6 |
| Subject guarantor | doc. Ing. Renata Wagnerová, Ph.D. | Subject version guarantor | doc. Ing. Renata Wagnerová, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Compulsory |
| Year | 1 | Semester | winter |
| | Study language | Czech |
| Year of introduction | 2010/2011 | Year of cancellation | |
| Intended for the faculties | USP, FS | Intended for study types | Follow-up Master |
Subject aims expressed by acquired skills and competences
The subject “Theory of Automatic Control” belongs among basic subjects, which form the graduate profile of the student in master study program “Mechatronics”. Its objective is deepening and extension of knowledge of analysis and synthesis of the SISO linear discrete control systems, analysis and synthesis linear and nonlinear systems in state space.
Teaching methods
Lectures
Tutorials
Summary
Analysis and synthesis of linear MIMO control systems. Analysis and synthesis of linear and nonlinear control systems in state space.
Compulsory literature:
Recommended literature:
DORF, R. C., BISHOP, R. H. Modern Control Systems. Tenth Edition. Pearson Prentice Hall, Upper Saddle River – New Jersey, 2004
GOODWIN G. C. – GRAEBE, S. F. – SALGADO, M. E. Control System Design. Pearson Education, Singapore, 2001
RAZÍM, M., ŠTECHA, J. Nelineární systémy. Ediční středisko ČVUT, Praha, 1997
ZÍTEK, P. – VÍTEČEK, A. 1999. Návrh a řízení podsystémů se zpožděními a nelinearitami. Vydavatelství ČVUT v Praze, Praha, 1999
Additional study materials
Way of continuous check of knowledge in the course of semester
Conbined exam
E-learning
Other requirements
Students have to prepare two projects.
Prerequisities
Subject has no prerequisities.
Co-requisities
Subject has no co-requisities.
Subject syllabus:
1. SISO advanced linear discrete and continuous control systems (with auxiliary controlled variable (cascade), with disturbance variable measurement, with auxiliary manipulated variable, Smith and modified Smith predictor, internal model control)
2. Modification of conventional controllers (2DOF controllers, anti-windup realization, filtration of derivative component).
3. Mathematical models of continuous and discrete MIMO systems (stationarity (t-invariance), realizability, transfer relations, minimum phase, etc.).
4. Block diagram algebra for MIMO systems (serial, parallel and feedback connection, basic transfer function matrices, etc.).
5. Stability of continuous and discrete MIMO control systems (characteristic equation, definitions, conditions and criteria of stability)
6. Autonomy and invariance of continuous and discrete MIMO systems (partial and full autonomy and invariance, conditions, properties, etc.).
7. Synthesis of continuous and discrete MIMO control systems (choice of sampling period, synthesis methods, properties, etc.).
8. State space models of continuous and discrete systems (stationarity (t-invariance), realizability, relations between transfer function matrices and state space models, etc.).
9. Solution of linear continuous state equations (solution in the time and complex variable doman, fundamental matrix, etc.). Discretization of linear continuous state space model.
10. Controllability, stabilizability, observability and detectability of linear continuous and discrete dynamic systems (decomposition, controllability and observability matrices, conditions, etc.)
11. Canonical forms of state space models of linear continuous dynamic systems (transformation matrices).
12. Design of continuous state space controller (procedure, properties, etc.)
13. Design of Luenberger observer (procedure, properties, etc.).
14. Integral state space control.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction