Module also offered within study programmes:
General information:
Name:
Control theory fundamentals
Course of study:
2019/2020
Code:
RIME-2-206-WM-s
Faculty of:
Mechanical Engineering and Robotics
Study level:
Second-cycle studies
Specialty:
Wytwarzanie mechatroniczne
Field of study:
Mechatronic Engineering
Semester:
2
Profile of education:
Academic (A)
Lecture language:
English
Form and type of study:
Full-time studies
Responsible teacher:
dr hab. inż. Smoczek Jarosław (smoczek@agh.edu.pl)
Module summary

This course is designed to give students in engineering the ability to analyze and design linear and nonlinear feedback control systems. The numerous problems and examples represent the biological, ecological, economic control systems as well as electrical and mechanical.

Description of learning outcomes for module
MLO code Student after module completion has the knowledge/ knows how to/is able to Connections with FLO Method of learning outcomes verification (form of completion)
Skills: he can
M_U001 The student has ability to carry out the synthesis of linear and nonlinear feedback control system, design the robust and adaptive control scheme, evaluate the performances of a closed-loop control system and analyze the control system stability, controllability and observability. Activity during classes,
Examination,
Execution of a project,
Execution of laboratory classes,
Test results
M_U002 The student is able to apply the Matlab environment for modeling the dynamic systems, designing and simulating the automatic control system. Execution of laboratory classes
Knowledge: he knows and understands
M_W001 The student has knowledge in modeling of dynamic systems, analyzing and designing the linear and nonlinear feedback control systems, robust and adaptive control systems, and designing the control systems using soft computing techniques. Activity during classes,
Examination,
Execution of a project,
Test results
M_W002 The student has knowledge in analyzing the control system performances in the time and frequency domain and analyzing the stability, controllability and observability of control systems. Activity during classes,
Examination,
Execution of a project,
Test results
Number of hours for each form of classes:
Sum (hours)
Lecture
Audit. classes
Lab. classes
Project classes
Conv. seminar
Seminar classes
Pract. classes
Zaj. terenowe
Zaj. warsztatowe
Prace kontr. przejść.
Lektorat
60 30 15 15 0 0 0 0 0 0 0 0
FLO matrix in relation to forms of classes
MLO code Student after module completion has the knowledge/ knows how to/is able to Form of classes
Lecture
Audit. classes
Lab. classes
Project classes
Conv. seminar
Seminar classes
Pract. classes
Zaj. terenowe
Zaj. warsztatowe
Prace kontr. przejść.
Lektorat
Skills
M_U001 The student has ability to carry out the synthesis of linear and nonlinear feedback control system, design the robust and adaptive control scheme, evaluate the performances of a closed-loop control system and analyze the control system stability, controllability and observability. + + + - - - - - - - -
M_U002 The student is able to apply the Matlab environment for modeling the dynamic systems, designing and simulating the automatic control system. - - + - - - - - - - -
Knowledge
M_W001 The student has knowledge in modeling of dynamic systems, analyzing and designing the linear and nonlinear feedback control systems, robust and adaptive control systems, and designing the control systems using soft computing techniques. + + - - - - - - - - -
M_W002 The student has knowledge in analyzing the control system performances in the time and frequency domain and analyzing the stability, controllability and observability of control systems. + + - - - - - - - - -
Student workload (ECTS credits balance)
Student activity form Student workload
Summary student workload 154 h
Module ECTS credits 6 ECTS
Udział w zajęciach dydaktycznych/praktyka 60 h
Preparation for classes 30 h
przygotowanie projektu, prezentacji, pracy pisemnej, sprawozdania 32 h
Realization of independently performed tasks 30 h
Examination or Final test 2 h
Module content
Lectures (30h):

OBJECTIVES:
This course is designed to give students in engineering the ability to analyze and design linear and nonlinear feedback control systems. The numerous problems and examples represent the biological, ecological, economic control systems as well as electrical and mechanical.

Instructors:
The lectures and auditorium classes are conducted by

Prof. Marian S. Stachowicz, D.Sc., Ph.D.
Laboratory for Intelligent Systems
Department of Electrical and Computer Engineering
University of Minnesota, Duluth, MN 55812, USA

The laboratory classes are conducted by

Dr. Eng. Jarosław Smoczek
Faculty of Mechanical Engineering and Robotics
AGH University of Science and Technology

Professor Marian S. Stachowicz heads the Laboratory for Intelligent Systems at the Electrical and Computer Engineering Department, University of Minnesota Duluth. From January 8, 2014 he is Professor Emeritus at the University of Minnesota. Professor Stachowicz is also with the Warsaw School of Computer Science and a Visiting Professor in the AG-H University of Science and Technology. He received his M.S. degree in Control and Computer Engineering from LETI, Soviet Union and both his Ph.D. and D.Sc. from AGH – University of Science and Technology, Krakow, Poland. He previously held academic positions in Poland, as well as a number of appointments as visiting professor, including the University Linkoping in Sweden, the University of Sydney in Australia, the University of Canterbury, New Zealand, and the VNU University of Engineering and Technology, Hanoi, Vietnam and in several universities in the P.R. China. Professor Stachowicz has published 7 books, 130 papers in journals, conference proceedings, and 20 patents. His work centers on artificial intelligence and soft computing, decision analysis and control. He is a co-author of the Fuzzy Logic Package for Mathematica. He is a senior member of IEEE.

The general program of lecture and auditorium classes:

1. Introduction to control systems.
2. Mathematical models of systems.
3. State variable models.
4. The design of state variable feedback system.
5. Feedback control system characteristics.
6. The performance of feedback control systems.
7. The stability of linear feedback systems with time delay.
8. Frequency response methods.
9. Performance specifications in frequency domain.
10. The design of feedback control systems.
11. Robust control systems.
12. Digital control systems.
13. Introduction to intelligent control.
14. Human in the Control Loop with applications of the Fuzzy Sets Theory to mathematical modeling and control.

Auditorium classes (15h):

Practice exercises in the form of 10 quizzes: Self-pages review exercises developed to supplement chapter content and help students develop effective problem-solving strategies.

  • Matching: Intended to help students master new terminology introduced in the book.
  • True/False: Intended to ask students to think conceptually about the material presented.
  • Multiple/Choice: Intended to provide students with extra practice on a wide array of problems

Some homework and projects results will be presented in oral and written interactive reports.

Laboratory classes (15h):

Matlab/Simulink-based:
- modeling and simulating dynamic systems,
- control system design using classical, modern and soft computing-based techniques,
- control system simulation and performances analysis.

Laboratory class topics:
1. Continuous transfer function, poles location, and unit-step input function – Matlab.
2. Block diagrams reduction and modeling in Simulink.
3. The performance criteria used for characterization of the unit-step response of a linear control system.
4. Stability margin in closed-loop control system.
5. PID controller parameters tuning by using Ziegler-Nichols method and Simulink Response Optimization toolbox.
6. Controller design using root locus method.
7. Closed-loop control system design using pole placement method.

Additional information
Teaching methods and techniques:
  • Lectures: The lectures are in the form of multimedia presentations.
  • Auditorium classes: Practice exercises in the form of quizzes: Self-pages review exercises developed to supplement chapter content and help students develop effective problem-solving strategies. Some homework and projects results will be presented in oral and written interactive reports.
  • Laboratory classes: Students develop problem-solving skills by doing the lab exercises that correspond to the material given in the lectures.
Warunki i sposób zaliczenia poszczególnych form zajęć, w tym zasady zaliczeń poprawkowych, a także warunki dopuszczenia do egzaminu:

Condition of gaining credit:
Auditorium classes: participation in classes, passing quizzes and two projects
Laboratory classes: participation in classes, completion of all laboratory exercises (individual/team
reports)
Condition to take exam: passing auditorium and laboratory part

Participation rules in classes:
  • Lectures:
    – Attendance is mandatory: No
    – Participation rules in classes: Attendance to the lecture is strongly recommended, and rewarded with the student’s final grade being raised.
  • Auditorium classes:
    – Attendance is mandatory: Yes
    – Participation rules in classes: Student should study the material given in the lectures that will be practiced during the classes. Condition of gaining credit: participation in classes, passing projects and practice exercises in the form of quizzes.
  • Laboratory classes:
    – Attendance is mandatory: Yes
    – Participation rules in classes: Student should study the material given in the lectures that will be practiced during the lab classes. Condition of gaining credit: participation in classes, completion of all laboratory exercises (individual/team reports).
Method of calculating the final grade:

Final grade: the weighted average of grades from exam, 10 quizzes, 2 projects and laboratory classes.

Sposób i tryb wyrównywania zaległości powstałych wskutek nieobecności studenta na zajęciach:

Students who have missed class should contact with the instructor (during his consultation hours or
next class meeting) and ask him how to make up missed work.

Prerequisites and additional requirements:

No special requirements.

Recommended literature and teaching resources:

R. C. Dorf, R. H. Bishop, Modern Control Systems, 11th Edition, Prentice Hall, 2008.
J. J. DiStefano, A. R. Stubberud, I. J. Williams, Feedback and Control Systems, Schaum’s Outline Series, McGraw-Hill, Inc., 1995.
K. M. Passino, S. Yurkovich, Fuzzy Control. Addison Wesley Longman, Inc., 1998
M.S. Stachowicz, L. Beall, Fuzzy Logic Package for Mathematica, Version 5.2, Wolfram Research, Inc., 2003.
N. S. Nise, Control Systems Engineering, 6 Ed., John Wiley @ Sons, Inc. 2011.
K. Ogata, Modern Control Engineering, 5 Ed. Prentice Hall, 2010.

Scientific publications of module course instructors related to the topic of the module:

Additional scientific publications not specified

Additional information:

Individuals with any disability, either permanent or temporary, which might affect performance in this class are encouraged to inform the instructor at the start of the quarter. Adaptation of methods, materials, or testing may be made as required to provide for equitable participation.