# Control systems

## Course description

Introduction to control systems: general, types, effects, building elements, holistic and systemic approach.

Modelling: objectives, system, process, simulation, theoretical, experimental and combined modelling, cyclic approach in modelling and simulation, examples: car suspension, room heating, pray and predator system. Presentation of models in Dymola-Modelica environment.

Model descriptions: differential equations, transfer functions, block diagrams.

Simulation: basic methods (indirect approach, transfer functions), description of Matlab-Simulink environment.

Computer-aided analysis, modelling and simulation.

Analysis of systems in the time domain: influence of poles and zeros, proportional, integral and differential systems, stability.

Control systems: open-loop, closed loop system, tracking and regulating performance, control quality indicators, working point treatment, steady state analysis, stability.

Control algorithms: PID algorithm, the determination of the parameters with setting rules, optimization of parameters by using the Matlab environment, suitable functions, computer implementation of the PID algorithm.

Analysis and design of control systems with root locus diagram.

Analysis and design of control systems in the frequency domain.

Analysis and design of control systems in state space.

## Objectives and competences

The basic objective is to present the control system’s area in an interesting way through a number of cases, the use of computer tools and practical work in a well-equipped laboratory. Acquired skills are as follows: modelling and simulation of systems that occur in automation, understanding the principles of feedback loop, PID control and more advanced control approaches: compensation methods, the state space control , …), presentation and usage of advanced software tools for system analysis, modelling, simulation and control design.

## Learning and teaching methods

Lectures, laboratory exercises.

## Intended learning outcomes

After successful completion of the course students should be able to:

– develop mathematical models of simpler processes, including laboratory set-ups,

– select a computer tool for modeling, simulation and control,

– develop simulation models in the Matlab-Simulink and Dymola-Modelica environment,

– use the Matlab-Simulink and Control Systems Toolbox tools for modeling, simulation and control,

– develop several control algorithms (PID, state controller, compensator) in a simulation environment,

– apply the methods of control in the simulation environment,

– design a computer control of a real plant, e.g. laboratory set-ups,

– control a real process (laboratory set-up) with the Arduino microcontroller.

## Reference nosilca

1. ZUPANČIČ, Borut, SODJA, Anton. Computer-aided physical multi-domain modelling : some experiences from education and industrial applications. V: ALEXÍK, Mikuláš (ur.), ŠNOREK, Miroslav (ur.), CEPEK, Miroslav (ur.). EUROSIM 2010 : special issue, Simulation modelling practice and theory, Elsevier, ISSN 1569-190X, 2013, vol. 33, str. 45-67.
2. ZUPANČIČ, Borut, SODJA, Anton. Analysis and control design of thermal flows in buildings : efficient experimentation with a room model in Matlab-Modelica environment. V: 8th EUROSIM Congress on Modelling and Simulation, Cardiff, Wales. AL-BEGAIN, Khalid (ur.). Eurosim 2013. [et al.]: IEEE = Institute of Electrical and Electronics Engineers, 2013, str. 155-160.
3. KARER, Gorazd, MUŠIČ, Gašper, ŠKRJANC, Igor, ZUPANČIČ, Borut. Feedforward control of a class of hybrid systems using an inverse model. V: 6th Vienna International Conference on Mathematical Modelling, February 11-13, 2009, Vienna, Austria. TROCH, Inge (ur.), BREITENECKER, Felix (ur.). Transactions of IMACS, (Mathematics and computers in simulation, ISSN 0378-4754, vol. 82, no. 3 (Nov. 2011)). Amsterdam [etc.]: Elsevier, 2011, str. 414-427.
4. SODJA, Anton, ZUPANČIČ, Borut. Modelling thermal processes in buildings using an object-oriented approach and Modelica. Simulation modelling practice and theory, ISSN 1569-190X, Jul. 2009, vol. 17, no. 6, str. 1143-1159.

## Study materials

Osnovna/basic:

1. B. Zupančič, Vodenje sistemov, delovna verzija učbenika,  Univerza v Ljubljani, Fakulteta za elektrotehniko, 2017.
2. Gregor Klančar, Vodenje sistemov, Praktikum, delovna verzija gradiva za laboratorijske vaje, Univerza v Ljubljani, Fakulteta za elektrotehniko, 2014.
3. S. Oblak, I. Škrjanc, Matlab s Simulinkom : priročnik za laboratorijske vaje, 1. izdaja, Založba FE in FRI, Univerza v  Ljubljani, Fakulteta za elektrotehniko, 2005.