Complements of Automatic Control

Code:

EM610

Acronym:

CCA

Instance: 2003/2004 - 1S

Active?	Yes
Responsible unit:	Automation, Instrumentation and Control Section
Institution Responsible:	Faculty of Engineering

Cycles of Study/Courses

Acronym	No. of Students	Study Plan	Curricular Years	Credits UCN	Credits ECTS	Contact hours	Total Time
LEM	8	Plano de Estudos EM Oficial a partir de 2000	5	3,5	7	-
		Plano para Bachareis EM a partir 2000	2	3,5	7	-

Teaching language

Portuguese

Objectives

To complement the knowledge on Automatic Control theory, with a specific Mechanical Engineering orientation. Some subjects are deepened and new ones are introduced enabling:
- to model and numerically simulate the time behaviour of dynamic systems;
- to account for the always present non-linear plant behaviour;
- to use Computer-Aided Control System Design tools.
- to numerically implement control algorithms, allowing the use of computer control;
- to identify linear models, in a least squares sense, using system input and output information.

Program

1 Dynamic Systems Mathematical Modelling.
1.1 Lumped parameter models;
1.2 Application to electromechanical servo-actuator modelling.
2 Non-linear Continuous Systems Modelling.
2.1 Linearization around an equilibrium point using Taylor series expansion;
2.2 Examples: Modelling of turbulent flow trough a variable area orifice; Model of a liquid reservoir; Servo-valve flow modelling; Hydraulic servo-system modelling; Introduction to thermal systems modelling;
2.3 Introduction to Matlab/Simulink
3 Non-linear Systems with Discontinuities.
3.1 Some “strange” non-linear behaviours;
3.2 Phase plane analysis;
3.3 Limit-cycles;
3.4 Non-linear discontinuous behaviours;
3.5 Describing Functions;
3.6 Stability analysis using Describing Functions.
4 State-Space Theory.
4.1 State-Space representation of dynamical systems;
4.2 Invariance of the system eigenvalues under a linear transformation;
4.3 Solution of the state equation;
4.4 Diagonalization of the system matrix;
4.5 Controllability and observability of a dynamical system.
5 Modern Control.
5.1 Design of pole-placement controllers using full state feedback;
5.2 The reference tracking problem;
5.3 State observer design.
6 Introduction to Digital Control.
6.1 Introduction to discrete time control systems;
6.2 Sampling characteristics;
6.3 Finite-difference approximations of continuous control algorithms;
6.4 Z transform of a sampled signal;
6.5 Controller synthesis in the pseudo-frequency domain using the w transform;
6.6 State-Space representation of sampled dynamical systems;
6.7 Design of discrete time state feedback controllers and observers.
7 Introduction to System Identification.
7.1 Principles of system identification;
7.2 The Least-Squares principle;
7.3 Batch identification using the Penrose pseudo-inverse.

Main Bibliography

Katsuhiko Ogata, "Modern Control Engineering", 3rd Ed., Prentice-Hall Inter. Editions, 1997, ISBN 0-13-261389-1.
John Van de Vegte, "Feedback Control Systems",
Prentice-Hall Int.Ed., 1994, ISBN 0-13-191503-7.

Complementary Bibliography

John J. D'Azzo e Constantine H. Houpis, "Linear Control System Analysis and Design",
McGraw-Hill Int.Ed., 1988, ISBN 0-07-100191-3.
J.L. Martins de Carvalho, "Dynamical Systems and Automatic Control",
Prentice-Hall Int.Ed., 1993, ISBN 0-13-221755-4.
Gene F. Franklin, J. David Powell e Michael Workman, “Digital Control of Dynamic Systems”,
Addison-Wesley, 1998, ISBN 0-201-33153-5.
Karl J. Astrom e Bjorn Wittenmark, “Computer-Controlled Systems, 3rd edition”,
Prentice-Hall, 1997, ISBN 0-13-314899-8.
Herbert E. Merrit, “Hydraulic Control Systems”,
John Wiley & Sons, 1967, ISBN 0-471-59617-5.

Teaching methods and learning activities

Subjects are presented and developed in the main lectures.
Two types of tutorials are used for:
- problem solving exercises;
- experimental demonstration of some automatic control systems and of the use of Computer-Aided Control System Design tools.

Software

Matlab / Simulink

Evaluation Type

Evaluation with final exam