Control Systems Lab
Responsible Instructor:Dr. R. Ferrari (Riccardo)
Instructor:dr.ir. M. Mazo Jr. (Manuel)
Contact Hours / Week x/x/x/x:0/0/4/0
Exam Period:Different, to be announced
Course Contents:Design, practical implementation and evaluation of a digital control system:
- using mechatronic laboratory systems (inverted pendulum, 'helicopter' model, inverted wedge, 'acrobot' system)
- applying both standard and advanced control methods (state-feedback, output-feedback, system identification, adaptive control)
- using MATLAB/Simulink and the Real-Time toolbox
In this course you will use a discrete-time approach, in which the system to be controlled is modeled both by discretizing an available continuous-time physical model and by using system identification. A systematic, MATLAB-supported design methodology is followed, using a state estimator (observer) and a state-feedback controller.
Lecture 1: Introduction. Course overview and goals. Description and mathematical models of the laboratory setups. System identification methods. Experiment design, model validation.
Lecture 2: Modeling and identification. Mathematical modeling of physical systems, parameter estimation and tuning, model validation, simulation.
Lecture 3: Design of digital controllers. Pole placement. Observers and output feedback. More control architectures.
Lecture 4: Design of digital controllers. Recapitulation of computer-control design methodology. Design example and implementation in MATLAB / Simulink.
Laboratory sessions in times according to the students preference (within lab availability constraints). The scheduled lecture times can be used for consulting the approach and results with the lecturers.
Study Goals:The course goals are to gain hands-on experience with the design and implementation of a computer-controlled system; and to understand computer-controlled systems in terms of design, analysis and implementation.
- to understand discrete-time systems,
- to be able to design sampled-data controllers,
- to understand issues connected with implementation,
- to be able to design and implement a controller for a simple physical process.
Education Method:In the first two weeks, four lectures and a lab demo are given in order to refresh the theoretical and methodological background. Then, the students work in groups of three in the lab, with a setup of their choice. The assignment is stated in terms of the control objective and the mathematical model of the process to be controlled is provided. The results will be summarized in a report and a final presentation will be given. The grade is determined on the basis of the report and the presentation (i.e., there is no written exam).
Assessment:Presentations and discussion of the results.
A joint presentation, one per group, however each member of the group has to present a part of the results.
A computer and a beamer are available. In the final week the report has to be turned in.