Control Theory I (FSI-VA1-A)

Academic year 2020/2021

Supervisor:	prof. RNDr. Ing. Miloš Šeda, Ph.D.
Supervising institute:	ÚAI	all courses guaranted by this institute
Teaching language:	English
Aims of the course unit:
The aim of the course is to formulate and establish a basic knowledge of classical control theory. To strengthen the knowledge by the understanding the context of the different methods of PID controller synthesis. To learn the methods of the synthesis.
Learning outcomes and competences:
To be well informed about the foundations of classical control theory. To be able to choose and use adequate methods of PID controller synthesis for the solution of the given tasks.
Prerequisites:
The knowledge of essential principles and terms of automation, the knowledge of mathematics gained within the bachelor's study programme, using of Matlab.
Course contents:
The introduction to the classical control theory is presented in the course. We focus on linear time-invariant systems (LTI) without delay with one degree of freedom in the transfer form and on the synthesis of PID controllers. The interpretation is demonstrated through the illustrations from different application areas. Synthesis of control systems can be easily carried out with the use of Matlab Control System Toolbox.
Teaching methods and criteria:
The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.
Assesment methods and criteria linked to learning outcomes:
In order to be awarded the course-unit credit students must prove 100% active participation in laboratory exercises and elaborate a paper on the presented themes. The exam is written and oral. In the written part a student compiles two main themes which were presented during the lectures and solves three examples. The oral part of the exam will contain discussion of tasks and possible supplementary questions.
Controlled participation in lessons:
Attendance and activity at the seminars are required. One absence can be compensated for by attending a seminar with another group in the same week, or by the elaboration of substitute tasks. Longer absence can be compensated for by the elaboration of compensatory tasks assigned by the tutor.
Type of course unit:
Lecture	13 × 3 hrs.	optionally
Computer-assisted exercise	9 × 2 hrs.	compulsory
Course curriculum:
Lecture	1. Continuous vs. discrete systems/models, stability 2. Illustrations of models from different application domains 3. Analytical assembly of the transfer model 4. Introduction to the identification of transfer model 5. Quality of regulation. Synthesis of control systems using Root-Locus method 6. Lag, lead and lag–lead compensation 7. Ziegler–Nichols rules for tuning PID controllers 8. PID synthesis from frequency response 9. PID synthesis by computational optimization 10. Modifications of PID structures 11. Two-degrees-of-freedom control 12. Response improving by zeros placement 13. More detailed discussion of discrete models

Computer-assisted exercise	1. Continuous and discrete variables, models 2. Illustrations of continuous and discrete models 3. Transfer models of technical systems and their parameters 4. Methods of technical systems identification 5. PID controller design by using Root-Locus method, illustration of Lag, Lead and Lag–Lead compensation methods usage 6. Controller parameters tuning by Ziegler-Nichols method, controller parameters design by using frequency response 7. Controller parameters tuning by using optimization methods 8. Used structures of PID controllers 9. Illustrations of design and usage two-degrees-of-freedom controller

Literature - fundamental:
1. Ogatha,K.: Modern Control Engineering, Prentice Hall , fourth edition, New Jersey 2002, ISBN 0-13-043245-8
2. Schwarzenbach,J.-Gill,F.K.: System Modelling and Control, Butterwoth Heinemann, third edition, Oxford 2002, ISBN 0-340-54379-5
Literature - recommended:
1. Švarc,I.:: Automatizace-Automatické řízení, skriptum VUT FSI v Brně, CERM 2002, ISBN 80-214-2087-1
2. Švarc,I.: Teorie automatického řízení, podpory FSI, www stránky fakulty 2003