ECTS
credits: 4
Course type:
MSc. (graduate level)
Period:
Q3 (third quarter), S2 (second semester)
Lecturer:
dr.ir. Alessandro Abate, DCSC, Mekelweg 2, block 8c, 4th floor, room 25, tel:
015 27 85606
Lab Assistants:
dr.ir. Mernout Burger, DCSC, Mekelweg 2, block 8c, 3th floor, room 17, tel: 015 27 83371
ir. Hans Yoo, DCSC, Mekelweg 2, block 8c, 4th floor, room 9, tel: 015 27
84106
Lectures: 4 lectures (8 hours) in the first weeks of class. Dates and times:
Monday 0602 2012, 3mECZ F (S. Stevin), 13:4515:30
Wednesday 0802 2012, 3mECZ F (S. Stevin), 15:4517:30
Monday 1302 2012, 3mECZ F (S. Stevin), 13:4515:30
Monday 2002 2012, 3mECZ F (S. Stevin), 13:4515:30
Lab Demo:
Wednesday 1502 2012, 3mE5B030, 15:4517:30
Laboratory Sessions:
Labs take place in weeks 8,10, and 11 of Q3, in 3mE5A030.
Exact dates and times will be scheduled during the first two weeks of classes.
Course information sheet: PDF
Transparencies:
Practical lab sessions:
·
The bearctrl.mdl Simulink model of the magnetic
bearing example can also serve as a template for your own designs for the
laboratory setups.
Teams for lab sessions:
Reference textbooks (not compulsory):
 G.F. Franklin, J.D. Powell & A. EmamiNaeini: 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 (statefeedback, outputfeedback, system identification, adaptive control)
 use of MATLAB/Simulink and the RealTime toolbox
The goal is to gain handson experience with the design and implementation of a computercontrolled system. We will use the discretetime approach, in which the system to be controlled is modeled both by discretizing an available continuoustime physical model and by using system identification. A systematic, MATLABsupported design methodology is followed, using a state estimator (observer) and a statefeedback 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 computercontrolled systems in terms of design, analysis and implementation. In particular:
 to understand discretetime systems,

to
be able to design sampleddata controllers,

to
understand issues connected with implementation,

to
be able to design and implement a controller for a simple physical process.
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 computercontrol 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.
The labsetups will be reserved for you according to the schedule below.
If you wish to work in the lab outside these time slots,
please contact the lab assistants to reserve the computer and the setup in advance.
From Monday 1803 on, you can no longer make reservations for the setups.
You are welcome to work on the setup, but you just have to walk by to see if it is available.
Crane  Helicopter  Inv. Pend.  Inv. Pend.  Rot. Pend. 1  Rot. Pend. 2  
/Wedge 1  /Wedge 2  
Date  AM  PM  AM  PM  AM  PM  AM  PM  AM  PM  AM  PM 
Mo 2002  
Tu 2102  P  B  F  H  N  L  Q  G  J  S  

We 2202  O  D  R  Y  T  E  
Th 2302  C  A  V  I  M  W  
Fr 2402  D  
Mo 0503  A  
Tu 0603  Z  R  B  F  H  N  L  Q  G  J  S  
We 0703  O  P  C  Y  T  T  U  U  E  X  
Th 0803  Z  C  A  V  I  Q  M  X  W  
Fr 0903  D  V  G  
Mo 1203  D  T  V  U  U  X  
Tu 1303  P  Y  B  F  H  N  L  Q  G  J  S  
We 1403  O  D  R  Y  T  L  U  E  J  X  
Th 1503  Z  Y  C  A  V  N  I  M  W  
Fr 1603  O  P/D  F  V  L  Q  G  E 
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.