Course detail

Control Theory 2

FEKT-CRR2Acad. year: 2011/2012

Analysis and synthesis of advanced control systems, especially nonlinear, is discussed in this course. Basic methods for nonlinear systems stability analysis, state trajectory behaviour evaluation and nonlinear control design are presented. Methods for robust control design and system parameters estimation are also described.

Language of instruction

English

Number of ECTS credits

6

Mode of study

Not applicable.

Guarantor

prof. Ing. Pavel Václavek, Ph.D.

Department

Department of Control and Instrumentation (UAMT)

Learning outcomes of the course unit

Knowledge provided by this course allow nonlinear systems behaviour understanding and ability to design nonlinear control systems.

Prerequisites

The subject knowledge on the secondary school level is required.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations.

Assesment methods and criteria linked to learning outcomes

70 points written exam
30 points projects and tests done on seminars

Course curriculum

Introduction.
Nonlinear systems description, basic nonlinearities, linearization.
Nonlinear systems state trajectories, equilibrium points, state trajectory of the first and second order systems.
Phase trajectory, time computing using phase trajectory, limit cykle existence determination using index theorems.
Describing function method, harmonic balance method.
Nonlinear systems stability.
Nonlinear systems stability analysis using Lyapunov method.
Popovov's stability criterion, instability theorems. Nonlinear systems control using linear controllers, wind-up.
Nonlinear systems control - gain scheduling, exact feedback linearization.
Relay control systems, switched structure systems, time optimal relay control. Nonlinear systems solution existence.
Sliding mode control.
Robust control.
Identification of controlled plants parameters.

Work placements

Not applicable.

Aims

Linear system control knowledge improvement. Learning of basic methods of nonlinear systems analysis and synthesis. Nonlinear systems control design, linearization, exact linearization, robust control.

Specification of controlled education, way of implementation and compensation for absences

The content and forms of instruction in the evaluated course are specified by a regulation issued by the lecturer responsible for the course and updated for every academic year.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Khalil, H.K.: Nonlinear Systems. Prentice Hall, 1996. (EN)

Recommended reading

Slotine, J., Weiping, L.: Applied Nonlinear Control. Pearson Education, 1990. (EN)

Classification of course in study plans

  • Programme EEKR-BC Bachelor's

    branch BC-AMT , 3. year of study, winter semester, compulsory

Type of course unit

 

Lecture

39 hours, optionally

Teacher / Lecturer

prof. Ing. Pavel Václavek, Ph.D.

Syllabus

Introduction.
Nonlinear systems description, basic nonlinearities, linearization.
Nonlinear systems state trajectories, equilibrium points, state trajectory of the first and second order systems.
Phase trajectory, time computing using phase trajectory, limit cykle existence determination using index theorems.
Describing function method, harmonic balance method.
Nonlinear systems stability.
Nonlinear systems stability analysis using Lyapunov method.
Popovov's stability criterion, instability theorems. Nonlinear systems control using linear controllers, wind-up.
Nonlinear systems control - gain scheduling, exact feedback linearization.
Relay control systems, switched structure systems, time optimal relay control. Nonlinear systems solution existence.
Sliding mode control.
Robust control.
Identification of controlled plants parameters.

Fundamentals seminar

10 hours, compulsory

Teacher / Lecturer

prof. Ing. Pavel Václavek, Ph.D.

Syllabus

Excercise in previous knowledge.
Linearization, equilibrium points.
Harmonic balance method
Nonlinear systems stability analysis.
Exact feedback linearization.

Exercise in computer lab

10 hours, compulsory

Teacher / Lecturer

prof. Ing. Pavel Václavek, Ph.D.

Syllabus

Discrete time controller design.
Phase portrait contruction and its verification using simulation.
Equilibrium points and limit cycles stability.
Sliding mode control design and its testing on simulation examples.
Controlled plants parameters estimation in Matlab environment.

Laboratory exercise

6 hours, compulsory

Teacher / Lecturer

prof. Ing. Pavel Václavek, Ph.D.

Syllabus

Sliding mode control design for the plant with uncertainties.
Gain scheduling controlled design.
Linear controller design for nonlinear plant control using exact feedback linearization.