Controls and Systems
Keywords |
Classification |
Keyword |
OFICIAL |
Basic Sciences for Electrotechnology |
Instance: 2006/2007 - 1S
Cycles of Study/Courses
Teaching language
Portuguese
Objectives
To teach the students systematic methods for the performance analysis of linear and non linear dynamic systems, as well as methods to project automatically commanded algorithms (by feedback) for linear systems.
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.
Main Bibliography
J. L. Martins de Carvalho, 'Sistemas de Controlo Automático', LTC Editora, 2000.
Jean-Jacques E. Slotine, Weiping Li, “Applied Nonlinear Control”, Prentice-Hall, 1991
Complementary Bibliography
G.F. Franklin, J. D. Powell and Emami-Naeini, “Feedback Control of Dynamic Systems. Addison-Wesley.
C. L. Philips and R. D. Harbor, 'Feedback Control Systems', Prentice-Hall, 1996.
Graham C. Goodwin, Stefan F. Graebe, Mario E.Salgado, “Control System Design”, Prentice-Hall, 2001.
H. K. Khalil, “Nonlinear Systems”, Prentice-Hall, 1996.
Teaching methods and learning activities
Theoretical Classes: Contents exposition on the board.
Theoretical-practical classes: Exposition and resolution of examples on the board and, whenever possible, illustrated with computer simulations using Control Systems Toolbox and Matlab’s Simulink.
Practical classes: Support to students in the resolution of problems proposed in class and clearing doubts.
keywords
Technological sciences > Engineering > Systems engineering > Systems theory
Technological sciences > Engineering
Technological sciences > Engineering > Control engineering
Evaluation Type
Distributed evaluation with final exam
Assessment Components
Description |
Type |
Time (hours) |
Weight (%) |
End date |
Subject Classes |
Participação presencial |
56,00 |
|
|
|
Total: |
- |
0,00 |
|
Eligibility for exams
The student must not exceed the absence limit allowed in practical classes
Calculation formula of final grade
Classification of the Final Exam
Examinations or Special Assignments
The obtaining of a classification superior to 18 marks (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