Introduction to Control Systems Winter term 2019/20

Stand: 08.10.2019 Group Exercise in PC pool

Place Lecture Plan Group Exercises Plan
&
Dates No Time Topic No. Prob. DC Topic
Pre-Term

Audi II DC: Motor Exercises (○ Theory and simulation, ● experiment)

Mi 09 th Intro A 14:00- Introduction to Laplace transform and transfer functions
17:00 Exercises: Consultion-hour: Wed, 8:00-9:00. N 1.057
Audi I Introduction to control theory, Testat concept, DC motor - In order to maximize the benefit from the - Prepare yourself, to ask specific questions regarding,
Fr 18 th 01 exercise classes, prepare the exercises before lecture, exercises and exams
8:00 experiment and schedule
Week 1

Review of LTI transfer function models, Example: Step Response

Audi 1
02 of 2nd order systems, transient and steady state response, pole
15:00
October

locations

1.1 Laplace transformation

Audi 1 State space models, physical realizability, first order systems, second
Chapter I

Fr 25 th 03 1.2 Proof of convolution theorem

8:00 order systems, damping and natural frequency,
Week 2

1
1.3 Step response of first order differential equation
1.4 Step response of second order differential equation
Audi 1
Intro B
15:00
Introduction to MATLAB and Simulink 1.5 ○ Modelling a DC motor

1.6 ○ Simplification of the DC motor model

Audi 1 Time domain specifications, higher order systems and dominant 1.7 ● Identification of DC motor constants
Fr 01 st 04
Week 3

8:00 pole pairs, transfer function zeros 1.8 ● Model verification

2
Audi 1 Feedback systems: open-loop vs. closed-loop, example DC motor,
05 1.9 State space representation
15:00 Tracking and disturbance rejection
1.10 Differential equation with non-zero initial values
Audi 1 Types of feedback, P control vs. PD control, PID control, Ziegler-
Fr 08 th 06 1.11 Initial value theorem
Chapter II

8:00 Nichols rules, Realizable PD/PID control

1.12 Electrical low pass circuit, RC model
Week 4

3 1.14 Mass-spring-damper system

Audi 1 Actuator saturation and anti-windup, steady state error and system 1.15 Peak overshoot
07
15:00 types, error constants 1.16 Identification of mass-spring-damper system
2.1 ○ Speed control of a DC motor with proportional feedback

Audi 1 Internal model principle, root locus: principle of argument, 2.2 ● Speed control of a DC motor with proportional feedback
November

Fr 15 th 08
8:00 construction rules ●
Week 5

2.3 Angle control of a DC motor with proportional feedback

4
2.4 ● Angle control of a DC motor with PD controller
Chapter III

Audi 1
09 Root locus construction rules, examples, P control vs. PD control
15:00 2.5 ● Angle control of a DC motor with PID controller
2.8 Internal model principle
Audi 1
Fr 22 nd 10
8:00
Root locus: Integral feedback, time delay systems 2.9 ○ Ramp tracking
Week 6

5 3.1 Root locus curves

Audi 1 3.2 Root locus curves 2.0

Intro C Introduction to frequency response and Bode diagrams
15:00 3.3 PD-Controller for a valve
2.6 Integrator windup effect
Angle control of a DC motor with PID controller and anti-windup
●
Week 7

Audi 1 Smith predictor, negative root locus, Padé approximation, Bode 2.7
Fr 29 th 11 6 compensator
8:00 diagram: review, systems types
3.4 PD-Controller for a valve
3.5 Lead-Lag compensator
3.6 Internal model principle 2.0
Audi 1 Complex pole pairs, bandwidth, minimum and non minimum
Fr 06 th 12 3.7 Time delay systems and approximation
8:00 phase systems, Nyquist diagrams
Week 8

Chapter IV

7 3.8 Smith predictor

Audi 1 3.9 Smith predictor 2.0

13 Nyquist stability test, stability margins
15:00 3.10 Smith predictor at input disturbance
December

Week 9

Audi 1
Fr 13 th Midterm No Exercise
8:00

4.1 Bandwidth and speed of response

Week 10

Audi 1 Compensator design: loop shaping, lead compensation, lead-lag 4.2 Bode plot of a time delay
Fr 20 th 14 8
8:00 compensation 4.3 Transfer function from Bode plot
4.4 Velocity error constant from Bode plot
4.6 Nyquist criterion
Week 11

Audi 1 Comparison with PID control, digital control: Discrete-time 4.7 Nyquist criterion for systems with time delay
Fr 10 th 15 9
8:00 systems,difference equations and shift operator 4.8 Nyquist criterion with MATLAB (Conditional stability)
Chapter V

4.9 Lead compensator

4.10 ● Experimental Bode plot for the DC Motor
Week 12

Audi 1 4.11 ● Lead-lag compensator design for the DC Motor

Fr 17 th 16 Tustin approximation, choice of sampling rate 10
8:00 4.12 Controller analysis in frequency domain
January

4.14 Lead-lag compensator desing using Systune

4.13 ○ Shaft-angle controller analysis for the DC Motor
Week 13

4.15 Resonance peak

Fr 24 th No lecture 11
4.16 Resonance peak 2.0
4.17 Resonance peak 3.0
5.1 Controller discretization
Week 14

Fr 31 st No lecture 12 5.2 Comparison of discrete-time and continuous-time controller

5.3 ● Discretization of DC Motor controller

Introduction to Control Systems Lecture Plan WS 2019/20 Page 1 of 1