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Syllabus for

Academic year
ERE101 - Control theory
 
Owner: TDATA
5,0 Credits (ECTS 7,5)
Grading: TH - Five, Four, Three, Not passed
Level: B
Department: 32 - ELECTRICAL ENGINEERING


Teaching language: Swedish

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 No Sp
0106 Examination 4,0 c Grading: TH   4,0 c   16 Dec 2006 pm V,  11 Apr 2007 pm V,  23 Aug 2007 pm V
0206 Laboratory 1,0 c Grading: UG   1,0 c    

In programs

TITEA SOFTWARE ENGINEERING, Year 4 (elective)
TITEA SOFTWARE ENGINEERING, Year 3 (elective)
TKDAT COMPUTER SCIENCE AND ENGINEERING, Year 3 (compulsory)
TDATA COMPUTER SCIENCE AND ENGINEERING, Year 3 (compulsory)

Examiner:

Docent  Stefan Pettersson


Replaces

ERE100   Automatic control


Eligibility:

For single subject courses within Chalmers programmes the same eligibility requirements apply, as to the programme(s) that the course is part of.

Course specific prerequisites

The course uses knowledge from the fundamental courses in mathematics, physics, transforms, signals and systems and will prepare the student for further studies in subjects where fundamental knowledge in dynamical systems and control engineering is required.

Aim

Many technical systems are controlled by feedback actions based on-line measurements; a controller uses information in the measurements about the state of the system to affect the system according to stated requirements.

The purpose of this course is to introduce the fundamental concepts in the field of automatic control and to provide basic methods for design of control systems. The course widens the students perspective of technical systems and gives them an understanding of the interaction between mechanical, electrical, computer and control engineering. These insights are necessary in order to improve and develop new products that offer new functionality and increased performance.

Goal

After finishing the course the student will have basic knowledge in control engineering analysis and design methods required to systematically solve basic control problems. More specifically, the student should be able to:

Formulate a dynamic model for basic electrical, mechanical, electromechanical, fluid, thermal, compounding and chemical systems.
Understand the Laplace transform and its use as a tool for analysis. Manage to analyze and reduce block diagrams, where especially feedback systems are central.
Linearize nonlinear models and transform different dynamic model representations like differential equations, state space models and transfer functions.
Understand the connection between the location of poles and zeros and the system s response to different types of input signals, like steps, impulses and sinusoidal signals.
Draw the frequency response (Bode- and Nyquist diagrams) and be able to design common filters depending on the desired frequency response.
Use Routh-Hurwitz method and the Nyquist criterion to decide the stability of a feedback system.
Calculate the important transfer functions and understand the possibilities, limitations and conflicts in a feedback system, and how this is connected to the system s loop transfer function.
Design P-, PI-, and PID controller structures satisfying given specifications. Understand alternative design structures like feed-forward and cascade control.
Understand how computer implemented controllers work, including sample and hold units and anti-alias filtering, and how such systems can be analyzed with difference equations and discrete-time transfer functions. Be able to design time-discrete controllers.
Use modern computer tools to support the analysis, design and evaluation of dynamic systems.

Content

Introduction: Examples of control problems, dynamic systems, open and closed loop control, compensation of disturbances, servo functions, treatment of parameter variations.

Dynamic models: Transfer functions, block diagrams, transient and frequency analysis, Bode plots. Principles of construction of dynamic models for technical systems. Special attention is paid to similarities between systems from completely different technical areas. State models, linearisation and simulation.

Analysis of feedback systems: Stability, the Nyquist criterion, stability margins, sensitivity and robustness with respect to parameter uncertainties and non-modelled dynamics. Performance and accuracy, transient and stationary performances, specification in the time and frequency domains.

Design of control systems and filters: Fundamental principles of controller design, possibilities and limitations depending on interference between different frequency areas. Design of PI and PID controllers, cascade control and feedforward.

Implementation: Brief theory of discrete-time systems, digital implementation based on analogue design, handling control signal limitations.

Laboratory sessions: Tuning of a PID controller for a tank process, application exercises on computer using MATLAB/SIMULINK.

Organisation

Lectures and problem sessions.
Laboratory session and hand-in assignments (mandatory).

Literature

Bengt Lennartson, Reglerteknikens grunder, Studentlitteratur, 2002. in Swedish.

Examination

Written examination, and passed Laboratory session and hand-in assignments.


Page manager Published: Mon 28 Nov 2016.