# ASE-2116 Systems and Control, 5 cr

Terho Jussila

#### Opetus

 Toteutuskerta Periodi Vastuuhenkilö Suoritusvaatimukset ASE-2116 2018-01 3 - 4 Terho Jussila Exam(s), 4 PC sessions (each taking 2h).

#### Osaamistavoitteet

Thinking, concepts, analysis and synthesis needed to control deterministic systems of various complexity, especially for LTI (Linear Time Invariant) systems in DT (Discrete-Time) but also for CT (Continuous-Time). The student should (for grade 3/5): 1. Recognize the basic concepts and elements of systems control needed and relate the methods studied to them. 2. Master identification of ARX models and model conversions (between CT and DT models, between state-space models and transfer function models.) 3. Know the similarities and differences in the CT and DT time domain and frequency domain theory of systems (due to elementary knowledge from a course of CT control) 4. Master Root-Locus Theory exluding angle rules. 5. Perform analysis of stability, controllability (reachability) and observability of a DT LTI state-space model. 6. Design and analyze LTI State-Feedback Controllers and LTI State Observers for LTI DT state-space plants 7. Recognize and handle obvious risks of poor control or computations. Grade (1/5): At least four of the goals listed are reached

#### Sisältö

 Sisältö Ydinsisältö Täydentävä tietämys Erityistietämys 1. The concept system and elements of systems control. Natural DT systems. DT models for computer control of CT plants. Limitations of DT models. Sampling Theorem. Computation of the Intersample response. Equilibrium analysis. Introduction to identification. Construction of DT controllers, compensators and filters from CT ones using transfer function and state-space procedures. Basics of non-linear dynamics 2. Response, natural response, forced response, impulse response, step response, stability, controllability, observability, pulse transfer function, poles, zeros of a DT LTI system. polynomial models, Kalman decomposition, Jordan and Schur forms. 3. Z transform, Z transfer function from equations and those of the subsystems. Frequency Response. Final Value Theorem. Comparison of CT and DT analysis of stability, relative stability and sensitivity. Initial Value Theorem 4. Root Locus. Möbius-Routh stability Test. Sensitivity of poles. stability tests: Jury, Schur-Cohn 5. State-Feedback Control and State Observers using pole placement designs and with analysis of relative stability. Sensitivity of eigenvalues of a state-space model. 6. Synthesis of DT controllers: Dead-Beat, Dahlin, Smith Predictor, IMC. Optimal PID Control. Implementation of DT controllers, compensators and filters. 7. SEMINAR: Non-linearities. Non-linear control of non-linear systems. Introduction to Predictive control. Anti-windup.

#### Oppimateriaali

 Tyyppi Nimi Tekijä ISBN URL Lisätiedot Tenttimateriaali Book Advanced Engineering Mathematics James Partly Yes Book CRC Handbook Levine et. al. Partly Yes Book Digital Control Systems Landau & Zito Parts of this may replace parts of FPW. Yes Book Digital Control of Dynamic Systems Franklin & Powell & Workman No Book Feedback Systems ... Karl J. Åström & Richard M. Murray No Lecture slides TJ In slides.zip Yes Summary of lectures DT Terho Jussila DT.pdf Yes Summary of lectures ÅWÅ Åström & Wittenmark & Årzen Partly Yes

#### Esitietovaatimukset

 Opintojakso P/S Selite ASE-1130 Automaatio Mandatory ASE-1258 Introduction to Control Mandatory

Tietoa esitietovaatimuksista
Even the older courses ASE-1257 and ASE-1256 as well as any 1st control course of university level on analog control form a sufficient background.

#### Vastaavuudet

 Opintojakso Vastaa opintojaksoa Selite ASE-2116 Systems and Control, 5 cr ASE-2110 Systems and Control, 5 cr ASE-2116 Systems and Control, 5 cr ASE-2117 Systems and Control, 5-7 cr

 Päivittäjä: Kunnari Jaana, 20.03.2018