Control Theory Laboratory

Lecturer:

Tutor:

Supervisor:

Department of Control Engineering

Synopsis:

Practical use of knowledge get in lectures of Systems & Models (E35SAM), Systems & Control (E35SRI), Systems Theory (E35TS) and Modern Control Theory (E35MTR) in solving problem of modeling, identification and control of an electromechanical, hydraulic, pneumatic, thermal or magnetic systém in real time. Bond graph modeling, data based identification of ARX model. PID controller and state feedback controller design by pole-placement and LQ method. Controller implementation in RT-MATLAB and testing in real-time.

Requirements:

Syllabus of lectures:

Syllabus of tutorials:

1. Project statement, measurement of essential parameters of a controlled system

2. Identification of model parameters based on system response to specific signals

3. Control task specification, model linearization and derivation of state-space and I/O model

4. Frequency response identification based on spectral analysis methods

5. Identification of an ARX models based on least squares - part I

6. Identification of an ARX models based on least squares - part II

7. Design, implementation and testing of a PID controller

8. Design, implementation and testing of a State Observer controller

9. State feedback regulator design by pole placement

10. State feedback controller testing

11. Design and implementation of an LQ regulator

12. Testing of an LQ controller

13. Finalizing the project documentation

14. Project presentation and discussion

Study Objective:

Study materials:

Ljung. L.: System Identification - Theory for the user. Prentice-Hall, Inc. Englewood Cliffs, N.J., 1991

Astrom, K. J. - B. Wittenmark: Computer - Controlled Systems. Prentice-Hall, Englewood Cliffs, N.J., 1990

Note:

Further information:

No time-table has been prepared for this course

The course is a part of the following study plans: