455-0341/01 – Design and Realization of Controllers (NRR)

Gurantor departmentDepartment of Measurement and ControlCredits4
Subject guarantordoc. Ing. Štěpán Ožana, Ph.D.Subject version guarantordoc. Ing. Štěpán Ožana, Ph.D.
Study levelundergraduate or graduateRequirementCompulsory
Year3Semesterwinter
Study languageCzech
Year of introduction2003/2004Year of cancellation2009/2010
Intended for the facultiesFEIIntended for study typesFollow-up Master
Instruction secured by
LoginNameTuitorTeacher giving lectures
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
Individual consultations
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 and predictive control will be treated in the course.

Compulsory literature:

Srovnal,V.:Navrhování a realizace regulátorů. Sylaby na WWW stránkách fakulty,2004 Roubal,J., Pekař,J., Pachner,D., Havlena,V.: Moderní teorie řízení - Cvičení. Skripta ČVUT, FEL 2005 Havlena, V., Štecha,J.: Moderní teorie řízení. Skripta ČVUT, FEL 2000

Recommended literature:

Bobál,V. a kol.: Praktické aspekty samočinně se nastavujících regulátorů. Brno, VUT Brno 1999. Havlena,V.,Štecha,J.: Moderní teorie řízení. ČVUT Praha 1994 Šimandl,M.: Adaptivní systémy. Plzeň, ZČU Plzeň 1993 Honec,J.: Teorie automatického řízení III. VUT Brno,1991. Masár,I.,Ivanov,I.: Aplikácie reálného času v programovou prostriedku MATLAB-SIMULINK. STU Bratislava, 2001. 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 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

Way of continuous check of knowledge in the course of semester

Verification of study: One credit test and one individual project. Days of delivery individual works by WEB or writing documents in 14 week. Area and form . Individual works contain control algorithms and programs documentation for laboratory computer. Students demonstrate their tasks solving on computer. Credit test confirms theoretic knowledge of students. Closing Test - writing part of examination . Theoretical part of test consist 20 questions, which verify global student's knowledge . Practice part of test student prepares on computer. Total test time is 120 min. Conditions for credit: Study Classification . Exercise credits - student is classifying on base 1 test 0-10 points and individual project 0-25 points. Award of 14 th. week. Condition for receiving is min. 10 points, maximum of receiving points is 35. Examination - Writing part - Closing test - theoretical part 0-20 points, practical part 0-35 points, total 0-55 points. Oral part 0-10 point. Total classification 51-100 points according study rules.

E-learning

Další požadavky na studenta

Prerequisities

Subject has no prerequisities.

Co-requisities

Subject has no co-requisities.

Subject syllabus:

Lectures: Introduction into problematic of design and realization of the controllers. Comparison of classical methods of design and modern control theories. Realization of the controllers. Overview of software design. Real-time control. Realization of algorithms on chosen platforms: PC, microcontrollers, PLC, embedded systems,, dSPACE. Modern design techniques: Hardware-in-the-loop simulations. Rapid prototyping. Model-based design. Design of PID controllers. Industrial PID controllers. Empiric method of setting PID controllers. Self-tunning PID controllers. Nonlinear PID controllers. Analogue PID controllers. Choosing appropriate structure of control scheme for typical applications. Digital PID controllers (PSD). Determination of parameters of controllers. Modification of PSD controllers. Determination of appropriate sampling period. PID controllers for engineering practice. Smooth controller attachment. Wind-up effect. Industrial PID controllers. Introduction into quadratic optimal control. Strategies of quadratic optimal control. Dynamic programming, optimal principal. Principle of control design according minimization of quadratic critera. Continuous quadratic optimal control, features of LQ controllers. Stochastic approach. Features of control circuit with LQ controller. Condition of realization. Adaptive LQ control. Description of the system and design of the control algorithms. Linear stochastic system. Formulation of the problem of state estimation for stochastic system based on measuring inputs/outputs. Statistical methods of identification. Adaptive and learning systems. Adaptive identification and control. Optimal filtering based on input/output description - Wienerův filtr. Optimal filtration based on state-space description of the system - Kalman filter: correlated/uncorrelated noise of the process and measurement, extended Kalman filter. LQG controller. Feedback state control for stochastic system. Scheme with Kalman filter. LTR method. Discrete LQG controller. Predictive control strategy, design of predictive controller. Prediction based on I/O and state-space description. MPC with/without actuating limitation. Robust control. Basic terminology. Use of robust controllers. Norms of the signals and systems, sensitivity functions. Introduction into description of uncertainty, structured and unstructured uncertainty, small gain theorem, robust stability. Methodology of robust control design. H2 a H-infinity methods. Nonlinear systems. Methods of linearization. Problematics of nonlinear control. Fuzzy controller. Exercises: Working rules and conditions in the laboratory . Assigning individual projects. Introduction to real-time desgin in Matlab/Simulink: xPC Target, Real Time Windows Target. Laboratories: Design of PSD controller and verivication on a real system. Verification of wind up effect on a real system. Adaptive identification on PC connected to a real system. Design of adaptive controller with the model for a real system and its verification. Laboratory experiment with quadratic optimal controller. Laboratory experiment with LQR controller. Laboratory experiment with MPC controller. Laboratory experiment with LQG controller with Kalman filter. Calculation of H-2 and H-infinity norms. Sensitivity functions Laboratory experiment with robust controller. Evaluation of particular methods of the control design. Final test. Presentation of individual projects. Projects: All the students will be assigned to individual projects, which will be solved on computer according the assignment.

Conditions for subject completion

Full-time form (validity from: 1960/1961 Summer 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 40 (40) 0
                Laboratory work Laboratory work 30  0
                Written exam Written test 10  0
        Examination Examination 60 (60) 0
                Written examination Written examination 50  0
                Oral Oral examination 10  0
Mandatory attendence parzicipation:

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Occurrence in study plans

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2009/2010 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering P Czech Ostrava 2 Choice-compulsory study plan
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2007/2008 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering P Czech Ostrava 2 Choice-compulsory study plan
2007/2008 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering K Czech Ostrava 2 Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava 5 Optional study plan
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2006/2007 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
2006/2007 (M2612) Electrical Engineering and Computer Science (2642T004) Electrical Machines, Apparatus and Drives (10) Elektrické stroje a přístroje P Czech Ostrava Choice-compulsory study plan
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2006/2007 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering P Czech Ostrava 2 Compulsory study plan
2006/2007 (N2649) Electrical Engineering (2601T004) Measurement and Control Engineering K Czech Ostrava 2 Compulsory study plan
2005/2006 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava 5 Optional study plan
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2005/2006 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
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2004/2005 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava 5 Optional study plan
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2003/2004 (M2612) Electrical Engineering and Computer Science (2601T004) Measurement and Control Engineering P Czech Ostrava Choice-compulsory study plan
2003/2004 (M2612) Electrical Engineering and Computer Science (2612T018) Electronics and Communication Technology P Czech Ostrava Choice-compulsory study plan
2003/2004 (M2612) Electrical Engineering and Computer Science (2642T004) Electrical Machines, Apparatus and Drives (10) Elektrické stroje a přístroje P Czech Ostrava Choice-compulsory study plan
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2003/2004 (M2612) Electrical Engineering and Computer Science (3902T023) Computer Science P Czech Ostrava Choice-compulsory study plan
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