Public University of Navarre



Academic year: 2023/2024 | Previous academic years:  2022/2023  |  2021/2022  |  2020/2021  |  2019/2020 
Bachelor's degree in Industrial Engineering at the Universidad Pública de Navarra
Course code: 252403 Subject title: CONTROL SYSTEMS I
Credits: 6 Type of subject: Mandatory Year: 2 Period: 2º S
Department: Ingeniería
Lecturers:
MIQUELEZ MADARIAGA, IRENE (Resp)   [Mentoring ]

Partes de este texto:

 

Module/Subject matter

Module: Common Industrial Education (MFC)
Subject matter: Electronics and Automation

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General proficiencies

  • GG1: Ability to write, sign and develop problems
  • GG2: Ability to manage activities involved in projects
  • GG3: Knowledge on basic and technological subjects
  • GG4: Ability to solve problems

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Specific proficiencies

  • CC6: Possess knowledge on the fundamentals of automation and control methods

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Learning outcomes

At the end of the course students are capable of

  • Describing the different elements of a control system, and their roles.
  • Obtaining an external representation of a system from its mathematical model.
  • Analysing the stability of a linear system and characterizing the transient response and the steady state.
  • Understanding the benefits of feedback in the reference tracking and the disturbance rejection problems.
  • Mastering the analysis tools for closed loop system.
  • Establishing control specifications based on performance requirements.
  • Designing analog linear controllers.
  • Mastering a simulation and control software.
  • Simulating dynamical systems both in open and closed loop, and analyzing the results.

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Methodology

Methodology - Activity Class hours Self-study
A-1 Classroom lectures 45  
A-2 Laboratory sessions 15  
A-3 Debates, presentations, group work    
A-4 Paper writting    
A-5 Readings   10
A-6 Self-study   70
A-7 Exams 5  
A-8 Office hours 5  
...    
Total 70 80

The subject has a theoretical/practical orientation, combining classroom lectures, laboratory sessions and autonomous learning on the part of the student. Classroom lectures will consist of theoretical explanations of the fundamental aspects of each lesson, as well as solutions to questions raised by the students based on their own self-study. There will be two kinds of laboratory sessions: simulation on a software package specialized on dynamical systems and control and real-time control of industrial devices, where the students will test the validity of the theoretical apparatus of the course.

To understand the subject and secure an adequate performance, the student must comply with the following requirements:
- Regular class attendance.
- Careful reading and thorough study of all materials provided for each lesson.
- Solving the exercises, case-studies and homework assignments suggested along the course.
- Active participation in all discussions held in the classroom.
- Adequate preparation of the laboratory sessions, according to the lecture guides.
- Use of office hours to solve any doubts that may arise during the course.

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Relationship between formative activities and proficiencies/learning outcomes

Proficiency Formative activity
CC6 A-1 Classroom lectures / discussions
CC6 CG1 CG2 CG3 CG4 A-2 Laboratory sessions
CC6 CG3 CG4 A-5 Readings
CC6 CG3 CG4 A-6 Self-study
CC6 CG1 CG2 CG3 CG4 A-7 Final and midterm exams
CC6 CG1 CG3 CG4 A-8 Office hours

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Languages

English

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Evaluation

 

Learning
outcome
Assessment
activity
Weight (%) It allows
test resit
Minimum
required grade
         
         
         
         

 

 

 

Learning outcome Evaluation system Weight(%) Retake
Obtaining an external representation of a system from its mathematical model. Describing the different elements of a control system, and their roles. Analysing the stability of a linear system and characterizing the transient response and the steady state. Short-answer exam  35  Yes
Understanding the benefits of feedback in the reference tracking and the disturbance rejection problems. Mastering the analysis tools for closed loop system. Establishing control specifications based on performance requirements. Designing analog linear controllers. Long-answer exam  55  Yes
Mastering a simulation and control software. Simulating dynamical systems both in open and closed loop, and analyzing the results. Laboratory exam  10  No

The final grade will be the best of the following options:

1- A weighted mean of the marks obtained in the exams corresponding to each part of the contents and the laboratory exam. The exams will take place along the course. The weighting is as follows: Midterm exam (Part I): 35%, Final exam (Parts I, II & III): 55%, Laboratory exam: 10%.

2- A weighted mean of the Final exam (Parts I, II & III): 90%, Laboratory exam: 10%.

To pass the subject, the aforementioned mean must be equal to or greater than five over ten.

There will be a retake exam in which the student will have the opportunity to improve the mark obtained in the Final exam, with an test with similar structure to Final exam. If the new grades are higher than those previously obtained, the mean will be recalculated. There will not be a retake for the laboratory exam.

Aspect Criteria Evaluation tool Weighting (%)
Laboratory sessions CC6 CG1 CG2 CG3 CG4 Exam 10
Theory CC6 CG1 CG2 CG3 CG4 Midterm exams 90

 

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Contents

External representation of linear dynamical systems
Time and frequency domain analysis
Feedback system analysis
Controller design based on time domain and frequency domain specifications

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Agenda

PART I: SYSTEM ANALYSIS

Lecture 1: Introduction to control systems
Systems and models. States, inputs and outputs. Signals and block diagrams. Feedback and feedforward. Open loop and closed loop. Disturbances and noise. Classical examples of control systems.

Lecture 2: Laplace transform and dynamical systems.
Laplace transform. Laplace transform of basic functions. Properties of the Laplace transform. Inverse Laplace transform. Partial fraction decomposition. Solution of initial value problems. Examples: mechanical and electrical systems.

Lecture 3: Transfer function and block diagrams
Transfer function. Impulse response. Poles and zeros of the transfer function. Block diagrams. Block algebra. Nonzero initial conditions.

Lecture 4: Stability
Standard functions for system analysis. Equilibrium. Linearization. Stability of an LTI system. Stability and transfer function poles location. Routh stability criterion.

Lecture 5: Time response of first and second order systems
Transient response and steady state. Step response parameters. Step response of first and second order systems.

Lecture 6: Time response of more complex systems
Addition zeros to first and second order systems. Higher order systems. Order reduction. Dominant dynamics and cancellation.

Lecture 7: Frequency response
Response of LTI systems to sinusoidal inputs. Graphical representations of the frequency response.

Lecture 8: Bode diagram construction
Gain. Integrators and derivative elements. First and second order elements. Delays. Bode diagram construction.

PART II: FEEDBACK SYSTEMS

Lecture 9: Properties of feedback - Experimental design
Stabilization. Disturbance rejection. Sensibility reduction. Proportional, integral and derivative action. First and second Ziegler-Nichols method.

Lecture 10: Root locus analysis
Root locus. Magnitude and angle conditions.

Lecture 11: Root locus construction
Branches. Asymptotes. Break-in and break-away points. Crossings of the imaginary axis. Angles of arrival and departure.

Lecture 12: Absolute stability in the frequency domain
Cauchy¿s argument principle. Nyquist contour. Nyquist stability criterion.

Lecture 13: Relative stability: gain and phase margins
Stability analysis using Bode plots. Gain margin and phase margin. Physical interpretation of the criterion.

Lecture 14: Steady state error and feedback loop types
Steady state error. Feedback loop types. Error coefficients. Error calculation in the Bode diagram.

PART III: CONTROLLER DESIGN

Lecture 15: Analytical design
The Guillemin-Truxal procedure. Pole placement. The Diophantine equation. Cancellation of zeros.

Lecture 16: Controller design in the root locus
Translation of specifications to the root locus. Transient response compensation. Steady state compensation. Proportional control. Phase lead compensation.

Lecture 17: Reducing the steady state error
Phase lag compensation. Addition of integrators: PI and PID controllers. Design for disturbance rejection.

Lecture 18: Frequency domain specifications
From the step response to the Bode diagram. Using models to set specifications. The problem of noise. Design guidelines: low, medium and high frequency range.

Lecture 19: Lead and lag compensation in the Bode diagram
Phase lead compensation. Phase lag compensation.

Lecture 20: PID design in the Bode diagram
PI, PD and PID controller design in the frequency domain. Design for disturbance rejection. General design: loop-shaping.

LABORATORY SESSIONS

Session 1: Time response analysis
The MATLAB control toolbox. Simulation of step and impulse response of first and second order systems. Obtainment of time response parameters.

Session 2: Higher order systems - Dominant dynamics
Changes in the response of first and second order systems by adding new elements. Conditions for application of dominance and cancellation.

Session 3: Bode diagram of a DC motor
Experimental construction of the Bode diagram. Physical interpretation of the diagram. Matlab tools for frequency domain system analysis.

Session 4: Proportional and integral control of a DC motor
Open loop response vs closed loop response. Proportional control. Steady state error. Proportional¿integral control.
252403 Automatic Control Degree in Industrial Technologies Engineering

Session 5: Steady state errors
Validation of the Routh stability criterion. Calculation of steady state errors and error coefficients. Stability analysis from the root locus and the Bode diagram pespectives.

Session 6: Design in the root locus
Phase lead and phase lag root locus design with Matlab. Relationship between the characteristics of each controlled system and their time response.

Session 7: Design in the Bode diagram
Bode diagram design with Matlab. Phase lead and phase lag. Verification of specifications.

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Bibliography

Access the bibliography that your professor has requested from the Library.


BASIC BIBLIOGRAPHY:

  • J. B. Galván Herrera. Control analógico de sistemas lineales, Ulzama Digital
  • G. F. Franklin, J. D. Powell and A. Emani-Naeini, Feedback Control of Dynamic Systems, Prentice-Hall
  • F. Golnaraghi and B. C. Kuo. Automatic Control Systems, Wiley
  • K. Ogata, Modern Control Engineering, Prentice-Hall

SUPPLEMENTARY BIBLIOGRAPHY:

  • R. C. Dorf and R. H. Bishop, Modern Control Systems, Prentice-Hall, 2011
  • N. S. Nise, Control Systems Engineering, Wiley, 2008
  • K. J. Åström and T. Hägglund, Advanced PID Control, ISA, 2006
  • G. C. Goodwin, S. F. Graebe and M. E. Salgado, Control System Design, Prentice-Hall, 2001
  • A. Tewari, Modern Control Design with MATLAB and SIMULINK, Wiley, 2002
  • H. Klee, Simulation of Dynamic Systems with MATLAB® and Simulink®, CRC Press, 2007
  • J.J. D'azzo and C.H. Houpis, Linear Control System Analysis and Design with Matlab, Marcel Dekker, 2003
  • F. G. Shinskey, Process Control Systems, McGraw-Hill, New York, 1996

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Location

Lecture room and Automation Laboratory R. C. Dorf and R. H. Bishop, Modern Control Systems, Prentice-

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