last modified: 26/05/2005

Course code: sc4021

Course name: Control Theory for PMM

This concerns a course

ECTS credit points: 4

Faculty of Mechanical Engineering and Marine Technology

Section of Systems & Control Engineering

Lecturer(s): Bosgra, prof.ir. O.H.

Tel.:  015 - 27 85603

Catalog data:

Control engineering: basic theory. State space description of linear dynamic systems. Stability theory, frequency domain analysis. Controllability, observability. Loop shaping for dynamic response. Pole assignment, state feedback. Linear observers, Kalman filter. Design and separation principle. LQ regulator and LQG theory. LQ control system design, dynamic compensation. Tracking control, servomechanism design.

Course year:

MSc 1st year

Course language:

English

Semester:

1A

Hours per week:

4

Other hours:

Assessment:

see remarks

Assessment period:

see remarks

(see academic calendar)

 

Prerequisites (course codes): wb2310

Follow up (course codes): wb2305

Detailed description of topics:

Control engineering: basic theory. State space description of linear dynamic systems. Realization of transfer function models by state space models. Controllability, observability, minimal order. Parallel and series connection, pole-zero cancellation, relationship with controllability and observability. Controllability and observability canonical forms. Jordan canonical form. Stability theory, frequency domain analysis. Dynamic response, relationship with pole and zero locations in the complex domain. Loop shaping for dynamic response, robustness indicators. Multi-input and multi-output systems. Pole assignment, design of state feedback. Linear observers, Kalman filter. Design of observer. Control design and separation principle. LQ regulator and LQG theory. Algebraic Riccati equation, choice of performance criteria. Asymptotic analysis, LQ control system design, dynamic compensation. Disturbances and reference signals, modelling of exogenous variables. Internal model principle, design of tracking control systems, servomechanism design.

Course material:
Auteur: K. Ogata, Boek: Modern Control Engineering, Prentice Hall Int. Upper Saddle River, NJ, USA 1997. paperback edition ISBN: [0-13-261389-1] Hoofdstukken: 3, 9, 11, 12, 13

References from literature:

  • [1] ISBN: [0-13-589763-7] Brogan,W.L., Modern Control Theory. 3rd Edition, Prentice Hall, Inc., Englewood Cliffs, NJ, 1991.

  • [2] ISBN: [4-8337-0191-X] Chen,Chi-Tsong, Linear System Theory and Design, Holt,Rinehart and Winston, Inc., New York, NY, 1984.

  • [3] ISBN: [0-13-638560-5] Anderson,B.D.O. Moore,J.B., Optimal Control. Linear Quadratic Methods, Prentice Hall, Inc., Englewood Cliffs, NJ, 1990.

  • [4] ISBN: [0-12-527780-6] O'Reilly,J., Observers for Linear Systems, Academic Press, London, 1983.

  • [5] ISBN: [0-13-638122-7] Anderson,B.D.O. Moore,J.B., Optimal Filtering, Prentice Hall, Inc., Englewood Cliffs, NJ, 1979.

 

Remarks assessment, entry requirements, etc.:

Assessment: computer aided control system design exercise, where the student is required to apply the various approaches discussed in the course. Exercise is done individually using Matlab computational environment and Matlab Control System Toolbox or similar. The exercise can be executed throughout the year. The succesful completion of the design exercise is a prerequisite for the participation in the written examination.

Learning goals:

The course serves as an introduction to the concepts and techniques currently used in basic modern control theory. The course requires the development of the technical skills involved in state space system theory. It also extends the notions of control system design towards time-domain techniques based on pole placement and linear optimal control using quadratic performance criteria. The exercises in the course stress the use of a computational linear-algebra environment (Matlab or similar) for linear control system design. The exercises familiarize the student with model-based control design, supported by modern computational tools for dynamic analysis, simulation and control performance assessment.

Computer use:

The computer will be used regularily in demos and examples, and constitutes the main tool for the software environment (Matlab and Toolboxes) used in the exercise.

Laboratory project(s):

Design content:

The goal is control system design. The presentation of theoretical issues is done with the purpose to use the notions involved immediately in a design context.

Percentage of design:   %