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**ECTS credits:** 4

**Course type:** MSc. (graduate level)

**Period:** Q3 (third quarter), S2 (second semester)

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**Lecturer:**

dr.ir. Manuel Mazo Jr., DCSC, Mekelweg 2, block 34, 2th floor, room 34 C-2-290, tel: 015 27 88131

**Lab Assistants:**

dr. Yiming Wan, DCSC, Mekelweg 2, block 34, 3th floor, room 34 C-3-180, tel: 015 27 87019

dr. Dieky Adzkiya, DCSC, Mekelweg 2, block 34, 2th floor, room 34 C-2-240, tel: 015 27 81660

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**Lectures: **4 lectures (8 hours) in the first weeks of class. Dates and times:

Monday 9-02 2014, 3mE-CZ B (Isaac Newton), 13:45-15:30

Friday 13-02 2014, 3mE-CZ C (Daniel Bernoulli), 15:45-17:30

Monday 16-02 2014, 3mE-CZ B (Isaac Newton), 13:45-15:30

Friday 20-02 2014, 3mE-CZ C (Daniel Bernoulli), 15:45-17:30

**Lab Demo:**

Monday 16-02 2014, 3mE 34 Cellar Tower C, 15:45-17:30

**Laboratory Sessions: **

Labs take place in weeks 9, 10, and 11 of Q3, in 3mE 34 Cellar Tower C.

Here is the Lab Roster

**Course information sheet**: PDF

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**Transparencies:**

**Practical lab sessions:**

- General description of the lab sessions: PDF
- Matlab/Simulink refresher:
- System identification examples: ZIP
- Descriptions of laboratory setups:
- Inverted wedge (balance) PDF
- Inverted pendulum PDF
- Helicopter PDF
- Rotational pendulum PDF
- Container crane PDF
- Simple exercises to get used to Matlab vector and matrix notation: PDF

· The **bearctrl.mdl** Simulink model of the magnetic bearing example can also serve as a template for your own designs for the laboratory setups.

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**Teams for lab sessions:**

- Schedule of the lab sessions: To Appear
- Teams: To Appear

**Reference textbooks (not compulsory):**

- G.F. Franklin, J.D. Powell & A. Emami-Naeini: *Feedback Control of Dynamic Systems,* (5th ed) Prentice Hall, 2002.

- K. Astrom and B. Wittenmark:* Computer Controlled Systems*, (3rd ed) Prentice Hall, 1997.

Design, practical implementation and evaluation of a digital control system:

- mechatronic laboratory systems (inverted pendulum, 'helicopter' model, inverted wedge, 'acrobot' system)

- both standard and advanced control methods (state-feedback, output-feedback, system identification, adaptive control)

- use of MATLAB/Simulink and the Real-Time toolbox

The goal is to gain hands-on experience with the design and implementation of a computer-controlled system. We will use the 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.

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).

The course objective is to understand computer-controlled systems in terms of design, analysis and implementation. In particular:

- 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.

**Prerequisites**

A basic undergraduate course in feedback control, working knowledge with MATLAB.

**Lectures**

**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.

**Lab sessions**

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.

**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.