Introduction to Control, 5–7 op

Ydinsisältö

• Introduction to control systems. Specifications. Open loop, feedforward, 1DOF (error feedback) control. Block diagrams. PID control. Filtering. Alternate implementations and modifications of PI, PD and PID controllers. Boss knowledge: i.e. why/what/how should be done for success.
• Mathematical Modelling. Equilibrium, linearization, sensitivity. Standard form of a linear state space model. Laplace transform. Polynomial and transfer function models. Simplification of block diagrams. Simulink simulation. Use of Control System Toolbox for modelling and simulation.
  
• Controllability and observability. Minimum realization. Eigenvalues, poles, zeros. Internal and external stability. Inverse of a rational Laplace Transform. On convergence and boundedness of the signals. Reduced Routh Test.
  
• Periodic phenomena and their frequency response analysis. Analysis of nominal and robust stability and performance concerning asymptotic accuracy, speed and damping. Frequency Response Design of Stability and Dynamics.
• Derivation, tuning and implementation of compensator and controller structures with functional blocks.
• Use of Matlab commands and Control System Toolbox for analysis of stability, accuracy and dynamics.
  
• Seminars without examination needs on two more topics from the list: (1) Root Locus, (2) Nyquist Stability Theorem & Routh Test Cases 2 and 4, (3) On LTI and LPV Systems, (4) On Distributed Parameter Systems.
• +1cr from Part D:
  

  Parametric Optimal Control and Model Reduction.
  Experimental Modelling and Simple Model Approximations.
  Smith Predictor, 2DOF Control, Cascade Control, Nonlinear control, Signal Flow Graph. Assumes skills of Symbolic Toolbox of Matlab, too.
  

• +1cr from Part E: Type 0 and Type 1 State Feedback Control. Full Order State Observers. Observer Based Control. Assumes skills of Symbolic Toolbox of Matlab, too.

Täydentävä tietämys

• Operator transfer functions. Transfer functions of Eigenfunctions.

Erityistietämys

• Analog electronics implementation of filters, compensators and controllers.