Lecture 1. Introduction. Systems everywhere. The structure of a control system. Negative feedback. Signals in the control system. Quality specifications set for a control system. The system and its model. (Tasks: identification, analysis, synthesis). Analysis of continuous systems in the time and in the Laplace operator domain.Â
Lecture 1. Examples.
Lecture 2. Analysis in the frequency domain. Relationships between the system descriptions in the time-, in the Laplace operator- and in the frequency domain. Nyquist and Bode diagrams. Characteristic functions of basic elements.
Lecture 2. Examples.
Lecture 3. Structure of a control system. Serial and parallel connection, negative feedback. Resulting transfer functions. Calculation of the resulting transfer functions in the control system between different output and input signals. Calculation of the steady state. The role of the integrator in the control system. Stability analysis. Quality specifications in the time- and in the operator domain. Design of PID controllers. Handling of saturation. Control structures improving disturbance rejection.
Lecture 3. Examples.
Lecture 4. The concept of state variables. Description of systems in state space. Determining the state equation based on physical considerations. Different forms of the state equation derived from the transfer function. Solution of the state equation in the time- and in the operator domain.
Lecture 4. Examples.
Lecture 5. The concepts of controllability and observability. Determining controllability and observability from the canonical form of the state equation and from the Kalman conditions. Kalman decomposition. State feedback. State feedback of the state equation enhanced with an integrator. State estimation. State feedback with state estimation.
Lecture 5. Examples.
Lecture 6. Sampled data control systems. The structure of a sampled data control system. Shannon sampling theorem. Description of a sampled signal in the timeand in the z- operator domain. Analysis of sampled data systems in the time- and the z-operator domain.
Lecture 6. Examples.
Lecture 7. Frequency function of a sampled data system and its relation to the frequency function of the continuous system. Design of discrete PID controllers. State equation of a sampled data system. State feedback in sampled data systems. State feedback with state estimation.
Lecture 7. Examples.
Lecture 8. Control of discrete dead time systems. Youla parameterization. Smith predictor. Design of dead beat controllers. Summary, outlook. (Optimal systems. Identification. Adaptive systems. Robust systems. Predictive control idea. Nonlinear systems.) Practical considerations.
Lecture 8. Examples.