Space systems, modeling and identification

Garant předmětu:

Přednášející:

Petr Hušek

Cvičící:

Petr Hušek

Předmět zajišťuje:

katedra řídicí techniky

Anotace:

The aim of the course is to introduce basic concepts and methods for analysis, modelling and control design of linear dynamical systems such as different kinds of system models (differential equation, transfer function, time and frequency responses, state space models), commonly used concepts of stability (Lyapunov, asymptotic, BIBO), reachability and observability, step response and frequency response based output feedback controller design, state feedback and state observation. The course should serve as an introduction into the world of system analysis and design and should provide the background for study of advanced control design approaches.

Výsledek studentské ankety předmětu je zde: http://www.fel.cvut.cz/anketa/aktualni/courses/XE35SSM

Požadavky:

Osnova přednášek:

1. Dynamical system, examples, kinds, properties. Description by differential equations and state space equations.

2. Linear systems, principle of superposition, convolution integral, impulse and step response. Laplace transform, transfer function, Fourier transform, frequency response. Time delay. Discrete-time systems, difference equation, Z-transform.

3. Zeros and poles, their effect on time responses, connection of differential and state-space equations, system realization, state transformation. Solution of state-space equations, modes.

4. Linearization. Stability.

5. Reachability, controllability, observability, constructability.

6. Feedback, scheme, transfer functions, control requirements in time and frequency domain.

7. PID control, root locus.

8. Nyquist stability criterion, frequency response based design. Lead and lag compensators.

9. State feedback, observer, state feedback with observer.

10. Algebraic control, digital control.

Osnova cvičení:

Cíle studia:

The main aim of the course is to introduce the basic concepts and terminology used in the analysis of single-input single-output linear dynamical systems as well as to mention the basic schemes for feedback control of those systems and standard tools for controller design. Even though especially the methods for linear controller design can be directly applied in practice the course should serve as a background for advanced courses on control approaches (robust, optimal, MIMO, stochastic).

The course includes an introduction to identification of the models via least-squares techniques, different continuous and discrete-time models and their relations, different concepts of stability, reachability and observability, frequency and time responses based controller design methods and linear state feedback and observation including the basics of linear quadratic controller and estimator.

Studijní materiály:

1. G. F. Franklin, J. D. Powell, A. Emami-Naeini: Feedback Control of Dynamic Systems, 4-th edition, Prentice Hall, 2002

2. P. J. Antsaklis, A. N. Michel: A Linear Systems Primer, Birkhauser, 2007

Poznámka:

Rozvrh na zimní semestr 2023/2024:

	06:00–08:0008:00–10:0010:00–12:0012:00–14:0014:00–16:0016:00–18:0018:00–20:0020:00–22:0022:00–24:00
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Út	místnost T2:C3-132 Hušek P. 16:15–19:30 (přednášková par. 1) Dejvice T2:C3-132
St	místnost KN:E-26 Hušek P. 16:15–17:45 (přednášková par. 1 paralelka 1) Karlovo nám. Laboratoř TŘ2
Čt
Pá

Rozvrh na letní semestr 2023/2024:

Rozvrh není připraven

Předmět je součástí následujících studijních plánů:

• Erasmus Mundus Master Course - SpaceMaster II (povinný předmět programu)
• Erasmus Mundus Master Course - SpaceMaster 2018 (povinný předmět programu)
• Erasmus Mundus Master Course - SpaceMaster 2020-22 (povinný předmět programu)