Systems and Control 2

Question hour: Monday 7.3.2016 in room 01-012 in building 102 from 14:00 to 15:00.

 

Prof. Dr. Moritz Diehl (moritz.diehl (at) imtek.uni-freiburg.de) and Dr. Jörg Fischer (joerg.fischer (at) imtek.de)

Systems and Control 2 (SC2) is based on the Bachelor's course Systems and Control 1 (SC1, Systemtheorie und Regelungstechnik 1) and discusses advanced methods to describe, analyze, and control dynamic systems.
 

Contents

The course consists of three parts:

In the first part, different control structures and design methods for linear SISO systems are discussed which go beyond the standard control loop presented in the course SC1. Concepts for feedforward control and disturbance attenuation are presented and the basic structure of a cascaded controller is discussed . In addtion, model-based control methods such as the internal model controller, controller design by model matching, and the Smith predictor are treated and basics of robust controller design are discussed.

The second part of this course discusses discrete systems and digital control. In particular, the structure of a digital control systems using analog-to-digital and digital-to-analog converters is introduced. Furthermore, methods to characterize discrete-time systems are treated such as difference equations, z-transformation, and z-transfer function. For controller controller design, direct design approaches and approaches using discrete equivalents of continous-time controllers are introduced and the influence of the sampling frequency on the control performance are discussed.

In the third part of the lecture, linear multi-input multi-output (MIMO) systems are treated. The Kalman decomposition is introduced in state space as an important principle to describe the observability and controllability of MIMO systems. Controller design for directly observable systems using pole placement and LQR (Linear Quadratic Regulator) are presented. Addressing not directly observable systems, the Luenberger observer and the Kalman filter are introduced for state estimation.
 

Time and place

  • Lecture: Mondays 16:15-18:00 in SR 00-014, Building 078
  • Exercises: Thursdays 15:00 - 16:00 in SR 00-14, Building 078


Teaching assistant

Jochem De Schutter (jochem.de.schutter (at) uranus.uni-freiburg .de)

 

Exercises

The exercise sheets treated in the exercises on Thursday will be published here.

Exercises 1.pdf
Exercises 2.pdf (Exercises_2_solution3.pdf)
Exercises_3.pdf
Exercises_4.pdf
Exercises_5.pdf​ (Excercise_5_matlabSolutions.m)
Exercises_6.pdf (we will also discuss exercise 5.3 on the Smith Predictor)
Exercises_7.pdf
Exercises_8.pdf
Exercises_9.pdf
Exercise_10.pdf
Exercise_10_Solutions.pdf
Exercises_11.pdf
Exercises_12.pdf
Exercises_13.pdf
Exercises_14.pdf
Solutions_14.pdf


Literature

  • Lecture notes "Systems and Control 1 (Systemtheorie und Regelungstechnik 1)"
    (only in german, available on course webpage)

  • G. F. Franklin, J. D. Powell, A. Emami-Naeini (2015). Feedback Control of Dynamic Systems. Pearson

  • J. Lunze (2014), Regelungstechnik 1 + 2, Springer (only in german, available online)

  • G. F. Franklin, J. D. Powell, Michael L. Workman (1998). Digital Control of Dynamic Systems, Prentice-Hall