Dynamiska system och reglering (TSRT21)
Preliminary Lecture and Exercise Session Plan
Lectures
The slides will be updated shortly before the lecture. Please remind to dowload the latest version.
B=Book by Glad&Ljung, K = Kurskompendium
| Nr | Content | Chapter | Slides |
|---|---|---|---|
| 1 | Course overview. Introduction to control, Models. | B2, B8 | slides in pdf |
| 2 | Laplace transform, stability, characteristics of first and second-order systems. | B2, B8, A.2 | slides in pdf |
| 3 | Transfer function using state-space model, controllability and observability, linearization. | B2, B8 | slides in pdf |
| 4 | Sensor and measurements. | K1 | slides in pdf |
| 5 | Signal processing. | K2 | slides in pdf |
| 6 | Open and closed-loop control, PID controller, Closed-loop systems analysis. | B3.2, B3.3, B3.4, B3.5 | slides in pdf |
| 7 | Feedback issues, systems that are diffcult to control, PID tuning. | K3, B3.3, B2.8, B5.6, B6.2 | slides in pdf |
| 8 | PID discretization, integral windup, derivative filtering. | K3 | slides in pdf |
| 9 | PID issues, state feedback. | B9.1, B9.2 | slides in pdf |
| 10 | Incorporating state feedback and PID controller. | B9.6 | slides in pdf |
Exercises
| Nr | Content | Exercises | "Extra exercises" |
|---|---|---|---|
| 1 | Laplace transform, transfer function, poles | 1.10, 1.11, 1.12, 1.13 | 1.15 |
| 2 | State-space reprsentation, linearization | 1.14, 1.18, 1.19, 1.20, 1.3 | 1.2, 1.17, 1.4 |
| 3 | Case study: Modelling DC-motor | 1.5 | 1.6, 1.1 |
| 4 | Modelling DC-motor (Computer session) | 1.7 | 1.8, 1.9 |
| 5 | Discrete-time signal processing (Computer session) | 2.4, 2.5, 2.6 | 2.7 |
| 6 | Discrete-time signal processing | 2.3, 2.1, 2.2, 2.10 | 2.8, 2.9 |
| 7 | Feedback, PID controller | 3.5, 3.6 | 3.4 |
| 8 | PID controller of a DC-motor (case study), tuning a PID controller | 3.1(d-f), 3.2(a), 3.3(a-b), 3.7 | 3.1(a-c), 3.2(b-c), 3.3(c), 3.8 |
| 9 | PID controller, simulation of feedback systems, implementation (Computer session) | 4.1, 4.2, 4.3 | 4.4 |
| 10 | State feedback | 5.6, 5.5(a-b), 5.4(a-b) | 5.5(c-d), 5.4(c), 5.1, 5.2, 5.3 |