450-4018/01 – Design and Realization of Controllers (NRR)
| Gurantor department | Department of Cybernetics and Biomedical Engineering | Credits | 4 |
| Subject guarantor | doc. Ing. Štěpán Ožana, Ph.D. | Subject version guarantor | doc. Ing. Štěpán Ožana, Ph.D. |
| Study level | undergraduate or graduate | Requirement | Optional |
| Year | 2 | Semester | winter |
| | Study language | Czech |
| Year of introduction | 2010/2011 | Year of cancellation | |
| Intended for the faculties | FEI | Intended for study types | Follow-up Master |
Subject aims expressed by acquired skills and competences
The goal of subject is to make students familiar with detail designs of controllers and their digital implementation on PLCs and embedded systems. Students will be able to design and realize the controllers in practical tasks. This subject is also recommended for students of other branches of study who want to get involved with design and realization of the controllers.
Control system design using both classical and modern control theories. Realization on various HW targets.
Teaching methods
Lectures
Tutorials
Experimental work in labs
Project work
Summary
Attendants will extend their knowledge of theory of control and also of realization the controllers by means of modern computer techniques for chosen hardware targets. Particular types of the controllers will be discussed during the course as well as their functionality on PC. Practical verification will be carried out on a laboratory experiment. Students will become familiar with discrete realization of PID controllers, optimal controller and its discrete equivalent. Last but not least, robust controller, self-tuning controller, adaptive, robust and predictive control will be treated in the course.
Compulsory literature:
Kuo,B.C., Golnaraghi,F.: Automatic Control Systems
Tewari,A.: Modern Control Design With MATLAB and SIMULINK
Astrom,K.J., Wittenmark,B.: Computer-Controlled Systems: Theory and Design
Leigh,J.R.Control Theory, 2nd Edition
Albertos,P., Strietzel, R., Mort,N.: Control Engineering Solutions: A Practical Approach
Recommended literature:
Astrom,K.J.: Automatic Tuning of PID Controllers. Insrument Society of America 1988
Dorf,C.,Bishop,R.: Modern Control Systems
Tripathi,S.M.: Modern Control Systems:An Introduction
Zak,H.: Systems and Control
Paraskevopoulos,P.N.: Modern Control Engineering
Zhou,K.,Doyle,J.C.,Glover,K.: Robust and Optimal Control
O'Dwyer,A.: Handbook of Pi And Pid Controller Tuning Rules
Nise,N.S.: Control Systems Engineering
Lyshevski,S.E.: Control Systems Theory with Engineering Applications
Shinners,S.M.: Advanced Modern Control System Theory and Design
Vukic,Z.: Nonlinear Control Systems
Additional study materials
Way of continuous check of knowledge in the course of semester
Credit part:
It consists of the final credit test, 9-25 points, and individual project 1-10 points (both parts are obligatory for completion of the subject). Project is handed over by the email, deadline is the end of the credit week. Obtaining credit is possible from the 14th week of the semester. Necessary minimum for the credit part is 10 points, maximum 35 points. It is necessary to achieve 80% of course attendance.
Exam part:
It consists of written part and oral part. Written part includes theoretical part 5-20 points and practical part 10-35 points, together 15-55 pts. The oral part is evaluated between 1-10 pts. All three part of the exam are obligatory, minimum for oral part is 1point. Overall evaluation is between 51-100 points according faculty study code.
E-learning
Other requirements
A student must be able to demonstrate that his project was carried out on his own. Credit test, theoretical and practical exam must be processed on student’s own, any violation may be a reason for unsuccessful result of a given part. Unless otherwise noted, only desktop laboratory PCs are allowed to use during education process, and only programs related to the subject. Detailed rules for a specific classroom are determined by a special document posted at the entrance to the classroom.
Prerequisities
Co-requisities
Subject has no co-requisities.
Subject syllabus:
Lectures:
1. Introduction. Definition of the content and extent of the subject, prerequisites, connections.
2. HW means of control. Overview and features.
3. SW means of control. Overview and features.
4. Special techniques of RT modeling. MIL, SIL, PIL, HIL simulators.
5. Modern approaches to the design of control systems. Model-based design. Virtual and remote laboratories.
6. Introduction to modern control theory. Overview, categorization, and historical development of the algorithms.
7. Methods and computational tools for calculation of admissible control signal and state trajectories of nonlinear systems. Transition towards optimal control problem in open-loop and closed-loop.
8. LQR and LQG control.
9. Adaptive control.
10. Predictive control.
11. Robust control. Robust PID control. H-inf control.
12. Complex presentation of a chosen control system.
13. Case study I. Design and implementation of selected method of modern control theory for a given system. Identification of the system, design of a suitable controller.
14. Case study II. Implementation of selected controller on a suitable platform. Visualization, short-term trends, long-term archiving.
Exercises:
1. Introduction. Safety training. Introduction to the Arduino microcontroller and the Arduino IDE software environment - digital and analogue inputs and outputs, sending and receiving, examples and testing with Arduino UNO.
2. Revision of synthesis methods of continuous controllers on examples, calculations, testing and simulation in Matlab, Ziegler-Nichols methods, modulus optimum, open-loop shaping, optimization-based methods.
3. Static characteristics of the system, measurements of the motor - work with the encoder, physical description of the system (input and output variables, ranges). Dynamic characteristics, motor measurements, transient characteristics archiving - laboratory exercise.
4. Identification of the Transient Characteristics System (Ident tool in Matlab), design of the controller by a selected method of continuous synthesis, simulation and evaluation of the impact of saturation of manipulated variable on the real system - laboratory exercise.
5. Conversion of the controller into a discrete domain, derivation of equations through backward-rectangular rule, coding in Arduino IDE in the form of discrete equation in the time domain - laboratory exercise.
6. Independent work - identification of the system, design of the controller by the modulus optimum method, realization and comparison with the simulation - laboratory exercise.
7. Wind-up effect, bumpless switching, position control - system identification, controller design and testing, results evaluation - laboratory exercise.
8. Position control with offset of non-linear character of the motor system, Hammerstein model - laboratory exercise.
9. Cascade control, position control, speed, acceleration, design, realization, comparison of results - laboratory exercise.
10. Discrete controllers - algebraic design, description, derivation, simulation, testing, effect of sampling period, saturation of manipulated variable - laboratory exercise.
11. REX and RPi + Arduino control system: familiarization with the environment, work, realization of some of the previously proposed controller, comparison of the realization in REX control environment and Arduino IDE environment.
12. REX control system: Self-tuning controllers, archiving and visualization capabilities.
13. REX control system: implementation of the state LQR / LQG controllers.
14. Credit test.
Projects:
Each student is assigned a project to be processed by PC. Time consumption: appx. 20 hours. The title of the project: Design and implementation of controllers – case study.
Conditions for subject completion
Occurrence in study plans
Occurrence in special blocks
Assessment of instruction