||Control Systems Lab
||Dr. M. Mazo Espinosa
|Contact Hours / Week x/x/x/x:
||Different, to be announced
|Expected prior knowledge:
||Control Systems (SC4026) or similar
||In this course, students have the opportunity to design and implement their own controllers for various laboratory systems (helicopter model, inverted pendulum, inverted wedge, gantry crane). In this way, they gain more insight in the use of control theory and gain experience with the practical implementation of computer-controlled systems. MATLAB and SIMULINK are used as the basic platform for the design, analysis, simulation and real-time implementation. The control design methods to be used include standard techniques (digital state feedback, output feedback, PID control) as well as more advanced methods (adaptive control, linear quadratic control, systems identification). In the beginning of the course, a refresher is given in which the essential topics from theoretical control courses are reviewed. See also: http://www.dcsc.tudelft.nl/~sc4070
||Main objective: make operational and apply in practice the knowledge from control theory and system identification courses. Gain hands-on experience with the design and implementation of a computer-controlled system.
After successfully completing the course, the student is able to:
* Implement in Matlab / Simulink a given mathematical model of a mechatronic laboratory system. Estimate unknown parameters in the model by using experimental data measured on the process. Validate the model against measured process data.
* Linearize the model around an operating point. Assess the accuracy of the linearized model with respect to the nonlinear one and with respect to the real process. Identify limitations of the linearized model. Choose a suitable sampling period, discretize the linearized model.
* Define meaningful performance specifications for a control system to be designed for the given process. Selected a suitable type of controller. Compute the controller"s parameters such that the above specifications are met. Verify the closed-loop performance in realistic simulations.
* Apply the controller to the process in real-time experiments. Evaluate the performance of the control system. Identify reasons for possible discrepancies between simulations and real-time results. Suggest possible improvements.
* Demonstrate proficiency in using Matlab and Simulink as the primary tool for the achievement of the above objectives.
* Document the design steps, considerations, choices and the achieved control results effectively in a written report. Present and defend the results in an oral presentation.
||Lectures, laboratory sessions
|Literature and Study Materials:
||Book: Astrom K.J. and Wittenmark B. Computer Controlled Systems Theory and Design (Third Edition). Prentice Hall, 1997.
||Written report, presentation
||Computer use: laboratory assignment. Design content (60%): control design.