Duration
Theory : 26h Th, 6h Pr
Control system design in time domain and frequency domain : 20h Pr, 6h Labo.
Number of credits
Lecturer
Theory : Guillaume Drion
Control system design in time domain and frequency domain : Guillaume Drion
Coordinator
Language(s) of instruction
English language
Organisation and examination
Teaching in the first semester, review in January
Schedule
Units courses prerequisite and corequisite
Prerequisite or corequisite units are presented within each program
Learning unit contents
This course focuses on the analysis, the design and the realization of feedback controllers in the different fields of engineering. It sets the theoretical basis of control theory in the context of linear, time-invariant (LTI) systems and illustrate the benefits of the theory through the presentation of diverse applications.
The course follows the following structure:
- Introduction to closed-loop feedback systems and feedforward systems: everyday life examples.
- Control system design in time domain: controllability and observability.
- Control system analysis in frequency domain: loop transfer function, Nyquist criterion and stability of closed-loop systems, Nyquist plot.
- Control system design in frequency domain: sensitivity function and complementary sensitivity function, robustness to load disturbances and measurement noise, "gang of four" and "gang of six".
- Control system realization: pole placement method, relationships between time domain and frequency domain.
A more detailed description of the course is available on the course webpage:
http://sites.google.com/site/gdrion25/teaching/syst0003
Theory
This part presents the theoretical concepts needed for the developement of linear control systems as well as practical examples.
Time-domain: state-space modeling, controllability, observability, state feedback, output feedback (observer).
Frequency domain: open-loop transfer function, Bode plots, loop transfer function, Nyquist criterion, Nysquist plot, sensitivity margins, loop shaping (gang of four and gang of six).
Control system design in time domain and frequency domain
The student will design a controller in time domain and in frequency domain using the theoretical tools developed in the course.
Learning outcomes of the learning unit
At the end of the course, the student will be able to
- master the concepts of control and feedback.
- determine the controllability and observability of a LTI system.
- construct a state observer of a LTI system.
- design a control system in the frequency domain.
- analyze the stability of a closed-loop system from its loop transfer function (Nyquist criterion).
- sketch the Bode and Nyquist plots of the loop transfer function, and represent the gain, phase and stability margins on the different plots.
- analyze the performance of a feedback system, and its robustness to load disturbances and measurment noise.
- construct a control system from its frequency domain design.
This course contributes to the learning outcomes I.1, I.2, II.1, II.2, II.3, III.1, III.2, III.3, III.4, IV.1, IV.2, IV.3, IV.8, VI.1, VI.2, VI.3, VII.1, VII.2, VII.3, VII.4, VII.5 of the MSc in electrical engineering.
This course contributes to the learning outcomes I.1, I.2, II.1, II.2, II.3, III.1, III.2, III.3, III.4, IV.1, IV.2, VI.1, VI.2, VI.3, VII.1, VII.2, VII.3, VII.4, VII.5 of the MSc in electromechanical engineering.
This course contributes to the learning outcomes I.1, I.2, II.1, II.2, II.3, III.1, III.2, III.3, III.4, IV.1, IV.2, VI.1, VI.2, VI.3, VII.1, VII.2, VII.3, VII.4, VII.5 of the MSc in computer science and engineering.
This course contributes to the learning outcomes I.1, I.2, II.1, II.2, II.3, III.1, III.2, III.3, III.4, IV.1, IV.2, IV.3, IV.8, VI.1, VI.2, VI.3, VII.1, VII.2, VII.3, VII.4, VII.5 of the MSc in mechanical engineering.
This course contributes to the learning outcomes I.1, I.2, II.1, II.2, II.3, III.1, III.2, III.2, III.3, III.3, III.4, IV.1, IV.2, VI.1, VI.2, VI.3, VII.1, VII.2, VII.3, VII.4, VII.5 of the MSc in engineering physics.
Prerequisite knowledge and skills
Course on modeling and analysis of linear systems (SYST0002 or equivalent).
Theory
Course on modeling and analysis of linear systems (SYST0002 or equivalent).
Planned learning activities and teaching methods
This year, the course will be taught online only. It will be composed of theoretical videos including practical examples, and Q/A sessions (virtual, and face to face if needed).
Mode of delivery (face to face, distance learning, hybrid learning)
Face-to-face course
Additional information:
On site.
Recommended or required readings
The course follows the textbook 'Feedback Systems: An Introduction for Scientists and Engineers', Karl J. Åström and Richard M. Murray.
http://www.cds.caltech.edu/~murray/amwiki/index.php/Main_Page
Slides, Ipad notes and videos will be available on the course website.
Assessment methods and criteria
Two personnal homeworks and a written exam.
Work placement(s)
Organizational remarks
Detailed informations about the organisation of the course are provided on the course webpage
http://sites.google.com/site/gdrion25/teaching/syst0003
Theory
Detailed informations about the organisation of the course are provided on the course webpage
http://sites.google.com/site/gdrion25/teaching/syst0003
Contacts
G. Drion (gdrion@ulg.ac.be, Bat. B28, bureau I140).
Theory
G. Drion (gdrion@ulg.ac.be, Bat. B28, bureau I140).