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Institutionernas kurser för doktorander

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Kursplan för

Läsår
SSY285 - Linear control system design
 
Kursplanen fastställd 2012-02-23 av programansvarig (eller motsvarande)
Ägare: MPSYS
7,5 Poäng
Betygskala: TH - Fem, Fyra, Tre, Underkänt
Utbildningsnivå: Avancerad nivå
Huvudområde: Automation och mekatronik, Elektroteknik, Kemiteknik med fysik, Teknisk fysik
Institution: 32 - ELEKTROTEKNIK


Undervisningsspråk: Engelska
Sökbar för utbytesstudenter
Blockschema: A

Modul   Poängfördelning   Tentamensdatum
Lp1 Lp2 Lp3 Lp4 Sommarkurs Ej Lp
0111 Konstruktionsövning + lab 3,0hp Betygskala: UG   3,0hp    
0211 Tentamen 4,5hp Betygskala: TH   4,5hp   17 Dec 2012 em VASA,  02 Apr 2013 fm V,  30 Aug 2013 fm M

I program

MPBME BIOMEDICAL ENGINEERING, MSC PROGR, Årskurs 2 (valbar)
MPEPO ELECTRIC POWER ENGINEERING, MSC PROGR, Årskurs 2 (valbar)
MPISC INNOVATIVE AND SUSTAINABLE CHEMICAL ENGINEERING, MSC PROGR, Årskurs 2 (valbar)
MPISC INNOVATIVE AND SUSTAINABLE CHEMICAL ENGINEERING, MSC PROGR, Årskurs 1 (obligatoriskt valbar)
MPSYS SYSTEMS, CONTROL AND MECHATRONICS, MSC PROGR, Årskurs 1 (obligatorisk)

Examinator:

Docent  Balazs Kulcsar


Kursutvärdering:

http://document.chalmers.se/doc/5c8a326f-75e3-4138-904b-824ab870cf95


Behörighet:

För kurser inom Chalmers utbildningsprogram gäller samma behörighetskrav som till de(t) program kursen ingår i.

Kursspecifika förkunskaper

A basic course in automatic control including some familiarity with state space models.

Syfte

The purpose of this course is to introduce and investigate techniques to design model based control systems by use of digital computers. In industrial plants, a system to be controlled is often assumed to operate close to a specified steady state. A consequence of this is that linear models very often are sufficient to be used in model based control. Moreover, many approaches to nonlinear control as well involve concepts from linear state space models, at least to some extent. Hence linear models are emphasized in this course.

Lärandemål (efter fullgjord kurs ska studenten kunna)


  • Design control algorithms for linear time-invariant (LTI) dynamical systems with some state-space methods presented.
  • Become familiar with the concept of the state-space terminology.
  • Linearize nonlinear continuous time multivariable models (MIMO). Have some knowledge on deriving discrete time forms from continuous time LTI descriptions by a suitable sampling.
  • Understand model descriptions for linear time-invariant multivariable systems. Analyze these type of systems from the point of view controllability, observability and stability.
  • Understand the basics of MIMO transfer functions, become familiar with some analytical properties.
  • Explain and design discrete time multivariable state feedback controllers, based on linear quadratic optimization.
  • Understand and explain how dynamic systems behave in the presence of additive discrete time stochastic disturbances, and how to characterize such disturbances.
  • Explain and design discrete time Kalman filters, and apply them for state estimation combined with controller design, i.e. LQG-control. Understand the principle of separation.

Innehåll


  • Multivariable systems. MIMO (Multiple input-multiple output) vs. SISO (single input-single output) dynamical systems. Nonlinear dynamical systems and linearization. Basic control concepts (feedback, stability).
  • Transfer function matrices. State-space realizations, state transformation. Continuous and discrete time descriptions. Discretization technique.
  • Analytic properties of linear dynamical systems. Controllability, observability, multivariable poles and zeros, stability.
  • Disturbance modeling, descriptions. Stochastic and deterministic disturbances. Robustness.
  • Closed-loop control systems in state-space. Sensitivity, robustness. Performance limitations in controlled systems.
  • Linear quadratic regulation
  • State observer design. Kalman filtering. Separation principle. Linear quadratic gaussian control (LQG).

Organisation

The course is divided into a series of lectures, problem solving, and a mandatory project including assignments and laboratory sessions.

Litteratur

Control textbook and lecture slides.

Examination

Written exam with TH grading; project with assignments and laboratory sessions (pass/fail).


Sidansvarig Publicerad: må 13 jul 2020.