Control VKO 2005/2006

5CC90 EIT1.1

Study load

lectures: 27
expected self study: 100 hours
study points: 4
computer usage: MATLAB

required courses passed

previous signal- and system-courses or their HBO-equivalent.

goal

The student is able to design controllers for given, linear, SISO(= single input single output)-plants, both time-continuous and time-discrete according to the classic control techniques. Furthermore he is aware of the inevitable trade-offs, he recognizes conflicting demands and he can find the "bottleneck" of the resulting controlled system. So he can explain how for some additional costs (for instance for a more powerful actuator, a sensor with less noise or a better model of the plant-dynamics) the performance and robustness can be inproved.

Teacher

dr.ir.A.A.H.Damen. Questions and discussion with the teacher in between or after the lectures or on appointment tel. 4701, e-mail: a.a.h.damen@tue.nl

Boek

G.F.Franklin,"Feedback Control of Dynamic Systems ", Prentice-Hall.

Lecture notes:Models , Introduction Digital Control en Limits of Feedback Control,.

The lecture notes can also be downloaded in pdf-format from regeltechniek 5CC90 the public folder of this course under the respective names "models.pdf", "digital0.pdf" en "contlim.pdf" Required knowledge of this material:

"Models" (notes): study
Franklin: Chapter 2 presumed to be known from "HBO".
2.2: will be treated in course
2.6: will be treated in course
Franklin: Chapter 4:
4.1: Compulsory till 4.1.2
4.2: Compulsory with exception of Ziegler-Nichols (4.2.4) and anti-windup (4.2.5) (will not be treated in course).
4.3: Compulsory till 4.3.5
Franklin: Chapter 5:
5.1: Compulsory
5.2: You should be able to draw rootloci by hand so this is desirable.
- also for K<0! see in course and section 5.2.2
- page 284: Routh-Hurwitz may be skipped (the teacher himself has to look it up as he cannot memorize these rules), alternatives: Matlab: "roots"
- in the case of two poles and one zero the rootlocus is always a circle around the zero.
5.3: Read, very illustrative and offers deepening of insight.
5.4: Skip
5.5: Read, Lead en Lag compensation will be treated after Bode and Nyquist plots, such that the effect will be clear in all three analysis methods.
5.6: Interesting example.
5.7.1: Read, will be treated after Bode and Nyquist.
5.7.2: Read, will be treated after Bode and Nyquist.
5.7.3: Skip.
Appropriate assignments: 5.2; 5.5; 5.6; 5.8; 5.12; 5.21; 5.23; 5.24; 5.24; 5.26; 5.27; 5.30; 5.34; 5.43; 5.48
Franklin: Chapter 6:
6.1: Should already be familiar to you, read.
6.1.1: Also the sketching Bode-plots by hand should already be an acquired skill!
6.1.2: For reconsideration, read.
6.2: stability criterion with Bode, not always applicable! Can better be assessed by the Nyquist criterion in combination with 6.4: stability margins.
6.3: Nyquist-plots: you should be able to draw them as as routine! Nyquist criterion: should be applied to its full extent!
6.4: Important.
6.5: Skip.
6.6: Memorable.
6.7: These are the fundamental principles of classic control design, ergo important!
6.8: Skip.
6.9: Certainly important, better read "Limits of Feedback Control" though.
6.10: Time delays will be treated in all its aspects in the course.
6.11: Skip
Appropriate assignments: 6.2; 6.3c,g,h; 6.4; 6.11; 6.14; 6.16; 6.21; 6.22; 6.29; 6.43; 6.46; 6.47; 6.50; 6.55; 6.72; 6.75
Franklin: Chapter 7:
Not part of this course, will be treated in optional course 5SC20 "State Space Control".
Franklin: Chapter 8:
Inappropriate. May be consulted if desired after studying the lecture notes "Introduction Digital Control".
Lecture notes "Introduction Digital Control":
Chapters 1+2: Recapitulation of material from previous lectures but analyzed in the context of control design. Study thoroughly. Will be treated in the course.
Chapter 3: Study thoroughly. The principles of ZOH, Euler(forwards and backwards), Tustin, you can copy shortly on the A-4 sheet allowed at the exam.
Chapter 4: Study thoroughly. Is certainly necessary to pass the exam.
Appropriate assignments in Franklin: 8.1; 8.2; 8.6; 8.8; 8.9; 8.16; 8.21; 8.24
Lecture notes "Limits of Feedback Control":
Study completely

Lectures

The lectures are scheduled on friday afternoon; the planning is as follows:

14 oct. : introduction, some plant examples. (notes "models")
21 oct. : linearization and state space (sections 2.6 and 2.2 in Franklin)
28 oct. : PID-controllers for stable systems of the first and second order. (Franklin pp. 215-242)
4 nov. : Rootlocus (Franklin Chapter 5)
11 nov. : Bode/Nyquist, stability , margins (Franklin 6.1,6.2,6.3,6.4)
2 dec. : general controller design, delays (Franklin 6.5,6.6,6.7,6.8)
9 dec. : more about general control design in s-domain (pole-zero-cancellations, non-minimum-phase-zeros,...), Fundamental limits in control like the Bode-integral (notes "Limits of feedback control.")
16 dec. : Digital controllers ( notes Intr. Dig. Contr.)
23 dec. : Continuation digital controllers (notes Intr. Dig. Contr.)
13 jan. : questions

Assignments

9 Assignments are available by which you can train and test yourself in the following aspects:

models, linearization, state space
control structures
Rootlocus
Bode/Nyquist-plots
Stability criteria, relations rootlocus/Bode/Nyquist
Control design with lead- and lag-compensators
Control limits
Control design in time-discrete systems 1+2

These assignments can be found in the public folder of this course.

Computer usage:

For real life examples the computations become soon very cumbersome so the usage of Matlab is necessary. Matlab is described in "Franklin", will frequently be shown in the lectures and the last part of the assignments must be made withe the help of Matlab. You are expected to have available a notebook with Matlab 6.x or 7.x for assignments and exams.

Exams

Written, open questions with usage of a few self made A4-s for formulas and the use of Matlab on your notebook. . In preparation you can find at regeltechniek VKO the public folder of this course previous exams and working outs under the names "ex******.pdf". SUCCESS!