ASE-2116 Systems and Control, 5 cr
Additional information
The course is lectured every second year, in the springs of odd calender years. In the springs of even calender years the mandatory 4 PC sessions (each of 2h) and the exam options will be available while the voluntary regular week session can be replaced by a guided self-study
Person responsible
Terho Jussila
-->Requirements
Exam(s), 4 PC sessions (each taking 2h).
Learning Outcomes
Thinking, concepts, analysis and synthesis needed to control deterministic systems of various complexity, especially for LTI (Linear Time Invariant) systems in DT (Discrete-Time) but also for CT (Continuous-Time). The student should (for grade 3/5): 1. Recognize the basic concepts and elements of systems control needed and relate the methods studied to them. 2. Master identification of ARX models and model conversions (between CT and DT models, between state-space models and transfer function models.) 3. Know the similarities and differences in the CT and DT time domain and frequency domain theory of systems (due to elementary knowledge from a course of CT control) 4. Master Root-Locus Theory exluding angle rules. 5. Perform analysis of stability, controllability (reachability) and observability of a DT LTI state-space model. 6. Design and analyze LTI State-Feedback Controllers and LTI State Observers for LTI DT state-space plants 7. Recognize and handle obvious risks of poor control or computations. Grade (1/5): At least four of the goals listed are reached
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | The concept system and elements of systems control. Natural DT systems. DT models for computer control of CT plants. Limitations of DT models. Sampling Theorem. Computation of the Intersample response. Equilibrium analysis. Introduction to identification. | Construction of DT controllers, compensators and filters from CT ones using transfer function and state-space procedures. Basics of non-linear dynamics | |
| 2. | Response, natural response, forced response, impulse response, step response, stability, controllability, observability, pulse transfer function, poles, zeros of a DT LTI system. | polynomial models, Kalman decomposition, Jordan and Schur forms. | |
| 3. | Z transform, Z transfer function from equations and those of the subsystems. Frequency Response. Final Value Theorem. Comparison of CT and DT analysis of stability, relative stability and sensitivity. | Initial Value Theorem | |
| 4. | Root Locus. Möbius-Routh stability Test. Sensitivity of poles. | stability tests: Jury, Schur-Cohn | |
| 5. | State-Feedback Control and State Observers using pole placement designs and with analysis of relative stability. | Sensitivity of eigenvalues of a state-space model. | |
| 6. | Synthesis of DT controllers: Dead-Beat, Dahlin, Smith Predictor, IMC. Optimal PID Control. Implementation of DT controllers, compensators and filters. | ||
| 7. | SEMINAR: Non-linearities. Non-linear control of non-linear systems. Introduction to Predictive control. Anti-windup. |
Study material
| Type | Name | Author | ISBN | URL | Additional information | Examination material |
| Lecture slides | No |
Prerequisites
| Course | Mandatory/Advisable | Description |
| ASE-1130 Automaatio | Mandatory |
Correspondence of content
| Course | Corresponds course | Description |
| ASE-2116 Systems and Control, 5 cr | ASE-2110 Systems and Control, 5 cr |