Industrial Control Systems

Course description

Introduction, life cycle of control systems, continuous and discrete control.

Continuous control. Complex approaches to design of PID controllers: optimization, self-tuning and adaptation. Practical problems – filtering, bump-less transfer manual/automatic, anti-wind up.


Multi-loop control methods: feed-forward, cascade control systems.


Analysis and design in frequency domain: Bode diagram, root locus diagram. Stability of control systems. Nyquist stability criteria. Lead and lag compensators.


Practical work with MATLAB environment and Control System Toolbox and Optimization Toolbox in analysis and design of control systems.

Discrete control. Design, ladder diagram, functional diagram. Standard program languages of programmable logic controllers. Realization.  

Course is carried out on study programme

Elektrotehnika 1. stopnja

Objectives and competences

Control is an important part of the design of modern systems in a variety of sub-areas. The main goal is to present the field in an interesting way through a number of examples and using computer tools. Students will learn basic approaches of continuous control systems as well as discrete event systems, basic approaches to design regulators, and also advanced, complex control systems that enable the control of more demanding systems and their analysis in the frequency domain. They will also develop and realize some discrete control problems on programmable logic controllers.

Learning and teaching methods

Lectures and laboratory exercises

Intended learning outcomes

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

-develop basis control systems,

-develop complex control systems

-explain the functioning of basic control systems,

-to analyse the control systems in frequency domain.

Reference nosilca

1. KARER, Gorazd, ŠKRJANC, Igor. Interval-model-based global optimization framework for robust stability and performance of PID controllers. Applied soft computing, ISSN 1568-4946. [Print ed.], 2015, vol. , str. 1-18.

2. PREGLEJ, Aleksander, REHRL, Jakob, SCHWINGSHACKL, Daniel, STEINER, Igor, HORN, Martin, ŠKRJANC, Igor. Energy-efficient fuzzy model-based multivariable predictive control of a HVAC system. Energy and buildings, ISSN 0378-7788. [Print ed.], Oct. 2014, vol. 82, str. 520-533.

3. ZDEŠAR, Andrej, CERMAN, Otta, DOVŽAN, Dejan, HUŠEK, Petr, ŠKRJANC, Igor. Fuzzy control of a helio-crane : comparison of two control approaches. Journal of intelligent & robotic systems, ISSN 0921-0296, Dec. 2013, vol. 72, no. 3/4, str. 497-515.

4. DOVŽAN, Dejan, ŠKRJANC, Igor. Control of mineral wool thickness using predictive functional control. Robotics and computer-integrated manufacturing, ISSN 0736-5845. [Print ed.], Jun. 2012, vol. 28, no. 3, str. 344-350.

5. OBLAK, Simon, ŠKRJANC, Igor. Continuous-time Wiener-model predictive control of a pH process based on a PWL approximation. Chemical Engineering Science, ISSN 0009-2509. [Print ed.], Mar. 2010, vol. 65, no. 5, str. 1720-1728.

Study materials

1. B. Zupančič. Zvezni regulacijski sistemi 1. del, 2. izdaja,  Univerza v Ljubljani, Fakulteta za elektrotehniko, 1996.

2. B. Zupančič. Zvezni regulacijski sistemi II. del, 2. izdaja,  Univerza v Ljubljani, Fakulteta za elektrotehniko, 1995.

3. S. Strmčnik, R.Hanus, Đ. Juričić, R. Karba, Z. Marinšek, D.Murray-Smith, H. Verbruggen, B. Zupančič, Celostni pristop k računalniškemu vodenju procesov, 1. izdaja, Univerza v Ljubljani, Fakulteta za elektrotehniko, 1998.

4. R. C. Dorf, H. Bishop: Modern Control Systems, Pearson Education, Inc., Publishing As Pearson Prentice Hall, Tenth Edition, 2004.

5. B. C. Kuo, F. Golnaraghi: Automatic Control Systems, 7th Edition, Prentice Hall, 2004.

6. K. Ogata, Modern Control Engineering, 4th edition, Prentice Hall, 2002.

7. J. Stenerson, Fundamentals of programmable logic controllers, sensors, and communications, 3rd ed., Pearson Prentice Hall, 2004.

8. R. W. Lewis, Programming industrial control systems using IEC 1131-3, Revised ed., London, The Institution of Electrical Engineers, 1998.

Bodi na tekočem

Univerza v Ljubljani, Fakulteta za elektrotehniko, Tržaška cesta 25, 1000 Ljubljana

E: T:  01 4768 411