In cyber-physical systems (CPSs), one of the basic tasks is to automatically control physical systems connected by information communication technologies. In this lecture, we provide an introduction to the theory of feedback control. We start with reviewing the basics of Laplace transforms and then advance to understand analysis methods of feedback control systems. For the synthesis of control systems, we further study methods based on frequency responses. Later in the course, we introduce techniques in the discrete-time domain to learn implementation issues in digital control.
To learn the basis of analysis and synthesis methods for control systems. In particular, the following issues will be emphasized:
- Advantages of feedback control
- Frequency responses
- Internal stability of feedback control systems
- Synthesis of feedback control systems: PID control, phase lead/lag compensators
- Introduction to digital control
- Matlab and its Control Systems Toolbox
Feedback control, dynamical systems, transfer functions, stability, frequency response, Bode diagram, controller synthesis, Digital control
|✔ Specialist skills||Intercultural skills||Communication skills||Critical thinking skills||✔ Practical and/or problem-solving skills|
This lecture will be given mostly in the lecture style. Participants will be given assignments, which need to be handed in by the specified dates.
|Course schedule||Required learning|
|Class 1||Introduction to control systems||History of automatic control, Current state-of-the-art technologies|
|Class 2||Systems models and transfer functions||System models and transfer functions, Criterion for systems stability, Using Matlab Control Toolbox|
|Class 3||Frequency response (1)||Characterization of systems through their responses to sinusoidal inputs, Frequency responses|
|Class 4||Frequency response (2)||Vector plots, Bode diagrams|
|Class 5||Stability of feedback systems (1)||Nyquist's stability criterion|
|Class 6||Stability of feedback systems (2)||Gain/phase margins|
|Class 7||Review of the material||Exercises|
|Class 8||Properties of feedback control systems (1)||Characterizations of sensitivity functions of feedback systems, types of control systems|
|Class 9||Properties of feedback control systems (2)||Internal model principle for the design of servo control|
|Class 10||Synthesis of feedback control systems (1)||PID control|
|Class 11||Synthesis of feedback control systems (2)||Phase lead/lag techniques|
|Class 12||Digital control (1): Introduction||Control by digital equipments|
|Class 13||Digital control (2): Discrete-time systems and their analysis||z transform, difference equations, transfer functions|
|Class 14||Digital control (3): Sampling and discretization, digital re-design||Discretization of continuous-time systems, Digital re-designs of controllers|
To enhance effective learning, students are encouraged to spend approximately 100 minutes preparing for class and another 100 minutes reviewing class content afterwards (including assignments) for each class.
They should do so by referring to textbooks and other course material.
T. Sugie and M. Fujita, Introduction to Feedback Control, Corona (1999)
Other material will be handed out during the lectures.
Assignments (40%) and Final exam (60%)
Recommended prerequisites: Systems Analysis and Dynamical Systems