- Garant předmětu:
- Department of Control Engineering
Foundation course of automatic control. Introduction to basic concepts and properties of dynamic systems of physical, engineering, biological, economics, robotics and informatics nature. Basic principles of feedback and its use as a tool for altering the behavior of systems and managing uncertainty. Classical and modern methods for analysis and design of automatic control systems. Students specialized in systems and control will build on these ideas and knowledge in the advanced courses to follow. Students of other branches and programs will find out that control is an inspiring, ubiquitous and entertaining field worth of a future cooperation. Students? creativity is developed in our laboratories.
- Syllabus of lectures:
1.Terminology. Dynamic models: continuous- and discrete-time. Linear and nonlinear models. Linear approximation
2.Continuous-time state-space and input-output models: Solution, transfer function
3.Dynamic response. Poles and zeros
4.System Properties: Stability and inverse response; Controllability and observability
6.Connecting systems. Control Structures
7.Steady state, tracking and disturbance rejection
8.Root locus method
11.Basic controllers: P, PI, PID, lead, lag
12.Frequency-response: Nyquist criterion
13.Frequency-response design methods
14.Frequency-response design methods: Robustness
15.State-space design methods: State feedback
16.State-space design methods: Observer and output feedback
18.Mid-term written exam
23.Discrete-time design methods
24.Model predictive control
27.Multi-input multi-outputs systems.
Students are supposed to learn selected topics at home from textbooks (so called Readings).
Regular ?lecture homework" is assigned every Thursday, handed in the following Monday and graded by Wednesday.
- Syllabus of tutorials:
At the beginning of the semester, a refresher task is assigned on a topic of the previous course Signals and systems. Every week, a short quiz is to be passed via web Moodle site.
During the semester, three projects are assigned
1.A laboratory experiment design project - a written report to be defended
2.A simulation of a complex system - a written report to be defended
3.Final creative task - LEGO Segway robot controller design and realization - on a public competition, the students are graded based on the actual performance of the robot (the actual distance the robot travels in a stabilized position)
A sophisticated assessment system is used: Students are rated gradually during the semester and earn points. Information on the current state of points is available in the Moodle system.
- Study Objective:
- Study materials:
During the semester, students are expected to use either
-Gene F. Franklin, David J. Powell, Abbas Emami-Naeini: Feedback Control of Dynamic Systems. Prentice Hall; 7th ed. 2014 and earlier editions,
-Richard C. Dorf and Robert H. Bishop: Modern Control Systems, Prentice Hall; 12th ed. 2010 and earlier editions.
The publishers of both textbooks provide elaborate websites including numerous worked-out examples section. The books are available in over hundred pieces in the university library and temporarily reserved for the course students at the beginning of each semester.
The course is equipped with a sophisticated website system in Moodle at https://moodle.dce.fel.cvut.cz/course/view.php?id=68
which enables to download all slides with lectures and examples, many Simulink models and other study materials and all the necessary software
During the course, its students have free access to all the necessary software packages such as Matlab and toolboxes and Simulink models.
- Further information:
- No time-table has been prepared for this course
- The course is a part of the following study plans:
- Cybernetics and Robotics 2016 (compulsory course in the program)