151-0591-00L Control Systems I
| Semester | Autumn Semester 2022 |
| Lecturers | E. Frazzoli |
| Periodicity | yearly recurring course |
| Language of instruction | English |
| Comment | Note: The previous course title in German until HS21 "Regelungstechnik I". |
| Abstract | Analysis and controller synthesis for linear time invariant systems with one input and one output signal (SISO); transition matrix; stability; controllability; observability; Laplace transform; transfer functions; transient and steady state responses. PID control; dynamic compensators; Nyquist theorem. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Objective | Identify the role and importance of control systems in everyday life. Obtain models of single-input single-output (SISO) linear time invariant (LTI) dynamical systems. Linearization of nonlinear models. Interpret stability, observability and controllability of linear systems. Describe and associate building blocks of linear systems in time and frequency domain with equations and graphical representations (Bode plot, Nyquist plot, root locus). Design feedback controllers to meet stability and performance requirements for SISO LTI systems. Explain differences between expected and actual control results. Notions of robustness and other nuisances such as discrete time implementation. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Content | Modeling and linearization of dynamic systems with single input and output signals. State-space description. Analysis (stability, reachability, observability, etc.) of open-loop systems. Laplace transformation, systems analysis in the frequency domain. Transfer functions and analysis of the influence of its poles and zeros on the system's dynamic behavior. Frequency response. Analysis of closed-loop systems using the Nyquist criterion. Formulation of performance constraints. Specification of closed-loop system behavior. Synthesis of elementary closed-loop control systems (PID, lead/lag compensation, loop shaping). Discrete time state space representation and stability analysis. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Lecture notes | Lecture slides and additional material will be posted online. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Literature | There is no required textbook. A nice introductory book on feedback control, available online for free, is : Feedback Systems: An Introduction for Scientists and Engineers Karl J. Astrom and Richard M. Murray The book can be downloaded at https://fbswiki.org/wiki/index.php/Main_Page | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Prerequisites / Notice | Basic knowledge of (complex) analysis and linear algebra. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Competencies |
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