Module Description
Introduction to Control Systems
Courses:
| Title | Type | Hrs/Week | Period |
|---|---|---|---|
| Introduction to Control Systems | Lecture | 2 | Winter Semester |
| Introduction to Control Systems | Recitation Section (small) | 2 | Winter Semester |
Module Responsibility:
Prof. Herbert Werner
Admission Requirements:
None
Recommended Previous Knowledge:
Representation of signals and systems in time and frequency domain, Laplace transform
Educational Objectives:
Professional Competence
Theoretical Knowledge
- Students can represent dynamic system behavior in time and frequency domain, and can in particular explain properties of first and second order systems
- They can explain the dynamics of simple control loops and interpret dynamic properties in terms of frequency response and root locus
- They can explain the Nyquist stability criterion and the stability margins derived from it.
- They can explain the role of the phase margin in analysis and synthesis of control loops
- They can explain the way a PID controller affects a control loop in terms of its frequency response
- They can explain issues arising when controllers designed in continuous time domain are implemented digitally
Capabilities
- Students can transform models of linear dynamic systems from time to frequency domain and vice versa
- They can simulate and assess the behavior of systems and control loops
- They can design PID controllers with the help of heuristic (Ziegler-Nichols) tuning rules
- They can analyze and synthesize simple control loops with the help of root locus and frequency response techniques
- They can calculate discrete-time approximations of controllers designed in continuous-time and use it for digital implementation
- They can use standard software tools (Matlab Control Toolbox, Simulink) for carrying out these tasks
Personal Competence
Social Competence
Students can work in small groups to jointly solve technical problems, and experimentally validate their controller designs
Autonomy
Students can obtain information from provided sources (lecture notes, software documentation, experiment guides) and use it when solving given problems.
They can assess their knowledge in weekly on-line tests and thereby control their learning progress.
ECTS-Credit Points Module:
6 ECTS
Examination:
Written exam
Workload in Hours:
Independent Study Time: 124, Study Time in Lecture: 56
Course: Introduction to Control Systems
Lecturer:
Herbert Werner
Language:
German
Period:
Winter Semester
Content:
Signals and systems
- Linear systems, differential equations and transfer functions
- First and second order systems, poles and zeros, impulse and step response
- Stability
Feedback systems
- Principle of feedback, open-loop versus closed-loop control
- Reference tracking and disturbance rejection
- Types of feedback, PID control
- System type and steady-state error, error constants
- Internal model principle
Root locus techniques
- Root locus plots
- Root locus design of PID controllers
Frequency response techniques
- Bode diagram
- Minimum and non-minimum phase systems
- Nyquist plot, Nyquist stability criterion, phase and gain margin
- Loop shaping, lead lag compensation
- Frequency response interpretation of PID control
Time delay systems
- Root locus and frequency response of time delay systems
- Smith predictor
Digital control
- Sampled-data systems, difference equations
- Tustin approximation, digital implementation of PID controllers
Software tools
- Introduction to Matlab, Simulink, Control toolbox
- Computer-based exercises throughout the course
Literature:
- Werner, H., Lecture Notes „Introduction to Control Systems“
- G.F. Franklin, J.D. Powell and A. Emami-Naeini "Feedback Control of Dynamic Systems", Addison Wesley, Reading, MA, 2009
- K. Ogata "Modern Control Engineering", Fourth Edition, Prentice Hall, Upper Saddle River, NJ, 2010
- R.C. Dorf and R.H. Bishop, "Modern Control Systems", Addison Wesley, Reading, MA 2010
ECTS-Credit Points Course:
6 ECTS