Prowadzący: Ryszard Gessing
Wymiar 45 godzin: 15 wykładów każdy po 3 godziny lekcyjne.
  1. Introduction to the course. Watt centrifugal governor. Feedback Control Systems -basic notions, dynamic and static elements, block diagrams. Control system classification. Models of physical systems. Differential equations, state space models, linearization, transfer function.
  2. Systems with multiple inputs and multiple outputs (MIMO), matrix transfer function. . State space versus transfer function description. Frequency responses: Nyquist, Bode plots, minimum phase systems.
  3. Basic elements and their responses. Time and frequency responses of the basic elements: first order lag, second order, ideal integrator and differentiator, system with delay.
  4. Fundamental matrix derivation. Canonical form. Controllability – definition, conditions. Observability – definition conditions.
  5. Feedback control systems. Voltage stabilization system. Closed-loop (CL) system description. CL frequency response – Nichols chart. Properties of the system with feedback.
  6. Control system structure: Systems with feedback, with feedforward, with feedback and feedforward, cascade systems. Block diagrams transformation.
  7. Closed-Loop system stability. Characteristic equation of the CL system. Applying of Hurwitz criterion. Nyquist criterion, derivation and calculation usage.
  8. Stability analysis using Bode plots –the case of regular and irregular frequency response characteristics. Stability of the systems with delay. Smith predictor.
  9. Quality of control. Steady-state analysis – system of type 0 and type I. Account of nonlinearities. Method based on roots placement.
  10. Root locus method. Methods based on integral indices. Methods based on frequency responses. Phase and gain margin. Criterion of maximum magnitude.
  11. Compensators and controllers. Lead, lag, lead-lag compensators. Recommendation for compensator choice. PID controller. Regulator implementations.
  12. Discrete-time systems. Z-transform. Sampling data system, ideal sampler, Digital control systems, zero order hold, first order hold. Discrete-time (DT) transfer function.
  13. DT transfer function of the systems with ideal sampler and zero order hold. CL system description. Stability analysis. Design. Digital implementation of the DT controllers.
  14. Multivariable systems. Matrix transfer function of the MIMO systems. Stability analysis. Characteristic equation using state space and matrix transfer function models. Inputs and outputs paring.
  15. Stability analysis of a two variable system with starred thank. Applying of Hurwitz criterion. Design using the method of successive closing of control loops.
     Bibliography
1         Gessing R. Control Fundamentals. Wydawnictwo Politechniki Śląskiej, Gliwice 2004. Franklin G. F., J.
2         D. Powell and A. Emami-Naeini   Feedback Control of Dynamic Systems. (3-rd ed.) Addison-Wesley, 1994. .
3         Goodwin G. C., S. F. Greabe and M. E. Salgado. Control System Design. Prentice Hall 2001.
4         Skrzywan-Kosek A., Świerniak A., Baron K., Latarnik M. Zbior zadań z teorii liniowych układow regulacji.     Wyd. Pol. Śl., Gliwice 1999, Wydanie IV (in Polish).