Control Engineering

Subject description

Linear systems and their descriptions: differential equations, state space, Laplace transform and transfer function, frequency response (Bode, Nyquist, Nichols plots), step response.

Block diagrams, open-loop, closed-loop systems and corresponding transfer functions.

Linearization and normalization.

Stability, steady state error, dynamic error.

Features of elements of control systems in power electronics and electrical drives.

PID controllers, their realization with operational amplifiers and microcontrollers.

Optimization of controllers' parameters.

Cascade control systems, process control systems.

Features of digital control, Z-transform.

Influence of nonlinearities, limit cycles, integrator wind-up.

Basics of simulations and use of appropriate tools in control system design.

Examples of control systems in power electronics and electrical drives.

The subject is taught in programs

Electrical engineering 1st level

Objectives and competences

The student will master fundamental topics in the field of control engineering, with emphasis on linear systems. He will meet a variety of methods to design control systems and learn how to use these methods with state-of-the-art software tools. The student will become aware of the modeling inadequacies and will develop a critical approach to design of control systems, especially in the field of power electronics and electrical drives.

Teaching and learning methods

Lectures (60 hours) and laboratory work (30 hours); optional: project work on R&D activities within the Laboratory of Control Engineering and Power Electronics. For foreign students: consultations in English and project work.

Expected study results

Knowledge and understanding:

The student will understand the basic concepts in the field of control engineering and know different ways to describe the electrical and mechanical systems.


Students will independently design and optimize simpler control systems in the field of power electronics, by taking into consideration one of the presented methods.


The student will be familiar with the advantages and shortcomings of different approaches to solving the control engineering problems and he will be aware of the risk of ineffective control that may result from them.

Transferable skills:

The skills acquired in this course will provide a basis for in-depth study of control in other courses covering power engineering, electrical drives and electrical technological processes. The student can upgrade the knowledge of this course and use it for the realization of complex control systems with state of the art technological solutions. In addition to control systems in technology and nature, the student will evaluate the operation of feedback systems in the society, as well as their failure in case of poor planning.

Basic sources and literature

  1. David Nedeljković: Regulacije v močnostni elektrotehniki, predvideni izid 2016.
  2. Gene F. Franklin, J. David Powell, Abbas Emami-Naeini: Feedback control of dynamic systems, Addison-Wesley, 2010.
  3. Dogan Ibrahim: Microcontroller based applied digital control: J. Wiley & Sons, 2006.
  4. Werner Leonhard: Control of Electrical Drives, Springer; 2001.
  5. Vanja Ambrožič, Peter Zajec: Električni servo pogoni, Slovensko združenje elektroenergetikov CIGRÉ-CIRED, 2016.
  6. Borut Zupančič, Rihard Karba, Drago Matko: Simulacija dinamičnih sistemov, Univerza v Ljubljani, Fakulteta za elektrotehniko in računalništvo, 1995.
  7. Rafael Cajhen: Regulacije, Univerza v Ljubljani, Fakulteta za elektrotehniko in računalništvo, 1990.

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University of Ljubljana, Faculty of Electrical Engineering Tržaška cesta 25, 1000 Ljubljana

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