To introduce the fundamentals of control theory and selected methodologies for linear contrrol systems analysis and design. To illustrate the application of key concepts and and methods to the control of multifaceted physical examples from different areas. To specify the requisites of a general control system in terms of an appropriate balance between closed loop stability, referencetracking, sensor noise and external distrubances attenuation, and robustness against plant model uncertainty. To perform controlsystems design using “root-locus” and Nyquist/Bode techniques. To understand key fundamental limitations to what can possiblybe achieved with control.
1) Introduction to Control: motivating examples and historical perspective
2) Models of physical systems; linearization of dynamic systems
3) Objectives to be achieved with control systems: stability and performance concepts.
4) Block diagrams: basic rules and successive block reduction
5) Stability: SLIT stability and natural response
6) Feedback effects: reference tracking, disturbance rejection and noise attenuation; steady state errors
7) Analysis and design of control systems using the root locus technique; PID controllers.
8) Analysis of control systems in the frequency domain using Bode and Nyquist diagrams; gain margins and phase margin and delay effects on the chain of action
9) Phase lead and lag compensation systems.
10) Introduction to the design of univariate control systems by molding the loop gain
11) Limitations on performance achievable with feedback.
The course content is taught in theoretical-practical and laboratory classes, developing some practical examples of application
The laboratory has a strong weight in the evaluation and will be developed in a Matlab/Simulink simulation environment, which will allow the development of the following skills associated with computational reasoning: 1. Abstraction: procedural abstraction 2. Automation: i) basic operations of a programming language ; and ii) the definition of functions. 3. Algorithmic reasoning: programs. Special emphasis will also be given to the use of the Control System Toolbox in the context of specific application to the simulation, analysis and control of dynamic systems. Of the laboratory component of the assessment, 10% includes the assessment of computing skills.
Feedback Control of Dynamic Systems, 7th Edition: G. Franklin, J. Powell, Abbas Emami-Naeini 2014 Pearson
Graham C. Goodwin, Stefan F. Graebe, Mario E. Salgado - Control System Design (2000, Prentice Hall)
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