Controls and Systems

Code:

EEC0025

Acronym:

SCON

Keywords
Classification	Keyword
OFICIAL	Basic Sciences for Electrotechnology

Instance: 2009/2010 - 1S

Active?	Yes
Web Page:	http://www.fe.up.pt/ts
Responsible unit:	Fundamental Sciences and Electrotechnics
Course/CS Responsible:	Master in Electrical and Computers Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
MIEEC	76	Syllabus since 2007/2008	3	-	5	55	134

Teaching language

Portuguese

Objectives

1) Background: Electrical and computer engineers are frequently confronted with situations where a solid basis in system modelling and control is needed.

2) Specific aims:
To teach the students systematic methods to perform the analysis of linear and non linear dynamic systems, as well as to provide them withtools to automatically design control algorithms (by feedback) for linear systems.

3) Previous Knowledge:
Basic knowledge of analysis and linear algebra.

4) Percent distribution: 50% theory; 50% practice

5) Learning outcomes: The students should be able to:

- model and analyse the behaviour of linear systems as well as systems with static nonlinearities;

-design controllers both in the transfer function and in the state space frameworks;

- Use Matlab and Simulink as analysis and design tools.

- apply the acquired knowledge in engineering problems.

Program

1-Introduction to non-linear systems.
1.1 – Describing functions; 1.1.1 - method foundations; 1.1.2 - Basic concepts; 1.1.3 - Describing functions of some common nonlinearities; 1.1.4 – The use of the describing function in feedback systems analysis.
1.2 - Phase plane. 1.2.1-Basic concepts; 1.2.2 - Singular points; 1.2.3 - Methods for plane phase trajectories sketching; 1.2.4 - Time and acceleration computation in a trajectory.; 1.2.5 - Linear and non-linear systems analysis in the phase plane.
2-On-off and PID controllers
2.1 On-off controller with and without hysteresis.
2.2 The PID controller; 2.2.1 The P, I and D control actions; 2.2.2 Empirical methods for PID controller tuning. 2.2.3 The wind-up problem.
3 - Classical . compensation
3.1 – Lead compensation and PD control.
3.2 – Lag compensation and PI control.
3.3 – Root locus methods for compensator and PID tuning; 3.3.1 - Lead compensators and PD controllers; 3.3.2 –Lag compensators and PIcontrollers; 3.3.3- Lead-lag compensators and PID controllers.
3.4 – Frequency-domain methods for compensator and PID tunnning; 3.4.1 - Lead compensators and PD controllers; 3.4.2 – Lag compensators and PI controllers.
3.5 - Cascade and feed-forward controllers.
3.6 – Compensation of systems with transport delay: The Smith predictor and the Padé approximations.
4 - State space analysis.
4.1 - Controllability e Observability; 4.1.1 –Sate space representation controllability ; 4.1.1.1 – Controllable state; 4.1.1.2 – The controllable state subspace ; 4.1.1.3 – Controllable realizations; 4.1.2 – Sate space representation observability; 4.1.2.1 – Non-observable state; 4.1.2.2 – Non-observable states subspace; 4.1.2.3 – Observable realizations; 4.1.3 - Canonical representations; 4.1.4 – Transfer function minimal representations; 4.1.5 - Kalman canonical representation.
4.2 –Complex modal analysis.
5- State feedback. 5.1 –State feedback without observer; 5.1.1 – Canonical controllable representtion; 5.1.2 – General case: Ackerman formula.
5.2 – Sate observer; 5.2.1 - Structure of a state observer; 5.2.2 - Convergence conditions; 5.2.3 – State observer design.
5.3 – State feedback with observer .
6- The servo-problem.
7– Algebric compensation.Implementable transfer functions. Polynomial equation solution.

Mandatory literature

J. L. Martins de Carvalho; Sistemas de controle automático. ISBN: 85-216-1210-9

Teaching methods and learning activities

Lectures ("aulas teóricas"): Contents exposition on the board/slides.
Exercise classes("aulas teórico-práticas"): Exposition and solution of examples on the board illustrated with computer simulations using Control Systems Toolbox and Matlab’s Simulink; exercise solution by the students.

Software

Matlab

Evaluation Type

Distributed evaluation with final exam

Assessment Components

Description	Type	Time (hours)	Weight (%)	End date
Attendance (estimated)	Participação presencial	50,00
	Total:	-	0,00

Eligibility for exams

The student must not exceed the absence limit allowed in practical classes.
Students have to reach a minimum mark of 3.0 out of 20 in the midterm.

Calculation formula of final grade

Final grade = max(exam grade; 0,4 * mideterm grade + 0,6 * exam grade)

Examinations or Special Assignments

Obtaining a grade higher than 18 points (19 or 20) demands an oral exam, to be done after the end of the re-sit examination period. The students in these conditions will have their names properly highlighted on the results sheet posted after the written exams.

Special assessment (TE, DA, ...)

The students admitted to the exam for being dismissed from frequency (under the items a), b) and c) of Article 4 of the General Evaluation Rules) will do, on the regular examination period, the same exam as the ordinary evaluation students. Obtaining a final classification superior to 18 marks (19 or 20) demands for an oral exam that will be done after the end of the re-sit examination period. The students in these conditions will have their names properly highlighted on the results’ sheet posted after the written exams. The exams to be done by the students in the special examination period (item 5 of Article 6 in the General Evaluation Rules) can be oral exams, in which case they will be previously noticed.

Classification improvement

Classification improvement can be done accordingly to item 1 of Article 10 of General Evaluation Rules. This means it can be done if the student, within the established deadlines, enrolls on the re-sit exam of the regular period in which he obtained approval or (exclusively) on one of the tests of the regular period of the following year.

Observations

Language of instruction: Portuguese