450-4018/01 – Design and Realization of Controllers (NRR)

Gurantor departmentDepartment of Cybernetics and Biomedical EngineeringCredits4
Subject guarantordoc. Ing. Štěpán Ožana, Ph.D.Subject version guarantordoc. Ing. Štěpán Ožana, Ph.D.
Study levelundergraduate or graduateRequirementOptional
Year2Semesterwinter
Study languageCzech
Year of introduction2010/2011Year of cancellation
Intended for the facultiesFEIIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
DOC0021 Ing. Tomáš Dočekal
OZA77 doc. Ing. Štěpán Ožana, Ph.D.
Extent of instruction for forms of study
Form of studyWay of compl.Extent
Full-time Credit and Examination 2+2
Combined Credit and Examination 2+12

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

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

Další požadavky na studenta

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

Subject codeAbbreviationTitleRequirement
450-4001 RS Control Systems Theory and Design Recommended

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

Full-time form (validity from: 2010/2011 Winter semester)
Task nameType of taskMax. number of points
(act. for subtasks)
Min. number of points
Exercises evaluation and Examination Credit and Examination 100 (100) 51
        Exercises evaluation Credit 35 (35) 10
                Test Other task type 25  9
                Projekt Project 10  1
        Examination Examination 65 (65) 16
                Teoretická část Other task type 20  5
                Praktická část Other task type 35  10
                Ústní zkouška Oral examination 10  1
Mandatory attendence parzicipation: 80% attendance at the exercises

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Occurrence in special blocks

Block nameAcademic yearForm of studyStudy language YearWSType of blockBlock owner
V - ECTS - mgr. 2011/2012 Full-time Czech Optional 401 - Study Office stu. block