Dynamic Systems and Control

Lecture contents (30h)

1. Introduction. Automatic control: its role, goals and history. Basic control structures and their elements. Open-loop systems. Closed-loop control systems. Fundamental role of feedback, (2h)
2. Binary Control. Sequence control. Programmable Logic Controller (PLC): history and operation. Programming languages: Structured Text (ST) and Ladder Diagram (LD). Finite State Machines (FSM): Moore and Mealy. (8h)
3. Test 1 (2h)
4. Human Machine Interface (HMI) and Supervisory Control And Data Acquisition (SCADA) systems: role and history. The automation pyramid. Examples of systems implementation in different software environments: GT Designer, SIMATIC WinCC, Mitsubishi Adroit Process Suite (MAPS). (4h)
5. Control quality assessment: basic notions and integral indexes.On-Off controllers. PID control: history, the standard PID algorithm and its modifications. PID tuning methods: Ziegler-Nichols oscillation method, Ziegler-Nichols reaction curve method, Cohen-Coon reaction curve method, relay-based methods and other. Digital PID control. Control loop problems and solutions. (4h)
6. Servomechanism: elements, operation and typical servo applications. Servo amplifier: its role and configuration. Incremental and absolute encoders. The servo circuit block diagram: main circuit, control circuit and servo motor circuit. The electronic gear Configuration, Typical command functions in servo applications. (4h)
7. Advanced Control. Model predictive control (MPC) algorithms. (2h)
8. Test 2 (2h)
9. Test 1/2 - retake (2h)

Tutorial contents (15h)

Laboratory contents (15h)

1. Sequential control with PC. Students learn about a typical industrial system and implement a control algorithm in the form of a program executed by a PC computer. (3h)
2. Sequential control with PLC. Students implement a control algorithm in the form of a program executed on a PLC for the same industrial system presented in the first exercise. (3h)
3. HMI and SCADA systems. Students design all SCADA system screens for for a given control system and supervise the system from the position of the system operator. HMI is also used to perform part of the task of visualizing the controlled process and diagnostics. (3h)
4. PID control. Students tune the PID controller for a given control system. Different tuning methods are tested and the obtained control quality is evaluated. (3h)
5. Servomechanism. Students design a servo system with the servo amplifier as well as with an inverter and external encoder. The Homing function is implemented and various tests of different modes are performed on both servo systems. (3h)

1. P. Chaber, R. Nebeluk, A. Wojtulewicz and K. Zarzycki: Dynamical Systems and Control: Laboratory exercises (Course notes), 2022.
2. G. C. Goodwin, S. F. Graebe, and M. E. Salgado: Control System Design, Prentice Hall, Upper Saddle River, 2001.
3. L. Ljung and T. Glad: Modeling of Dynamic Systems, Prentice Hall, Englewood Cliffs, 1994.
4. K. Ogata: Modern Control Engineering, Prentice Hall, Upper Saddle River, 2010
5. J. Powell, G. F. Franklin and A. Emami-Naeini: Feedback Control of Dynamic Systems, Prentice Hall, Upper Saddle River, 2014.

Knowledge

• Knowledge of the fundamentals of modeling
• Knowledge of stability in the sense of Lyapunov and stability criterions of Hurwitz
• Knowledge of basic information about PLC programming
• Knowledge of PID controller design and available tuning methods
• Knowledge of controller design in state-space domain
• Knowledge of HMI and SCADA systems design
• Knowledge of servo systems design

Abilities

• Ability to program simple logic control tasks
• Ability to build and identify simple dynamical models, determine equilibrium points, perform linearisation, determine transfer functions, analyse the stability of automatic control systems, analyse controllability and observability of dynamic systems, design state feedback control and design full-order state observers
• Ability to design and tune PID controller using different tuning methods
• Ability to make a simple SCADA system for a given controlled process
• Ability to write basic programs for servo systems

Social Abilities

• Ability to work in a group

Attendance rules

Lectures are not obligatory, while the attendance at the tutorials and laboratory tasks is obligatory. In case of the absence, the students need to present a formal justification.

Materials and devices allowed during the tests

The tests are written without any books nor personal notes. Laptops, notepads, mobile phones are strictly forbidden. Only blank papers, pens and pencils are allowed.

Lecture/tutorials (70 pts.):

• test #1 (2 hrs. – 35 pts.)
• test #2 (2 hrs. – 35 pts.)
• retake tests (#1 and/or #2) (2 hrs.)
• The points for the tests appear in the Faculty IT system (USOS) within a week at latest.
• There may be unobligatory short tests during lecture. The points are added to the total sum.

Laboratory (30 pts.):

• 5 tasks 6 points each
• The tasks are done in groups (3 students).
• The laboratory tasks points will be known to the students at the end of each task.

Completion conditions:

• Lecture/tutorials >35 pts.
• Laboratory: >15 pts., although student attendance at all laboratories is not mandatory.
• Student attendance at the tutorials is mandatory.
• There is no possibility to repeat the laboratory tasks or improve the results. Unjustified tutorial or laboratory absence means that the class is not completed.

Repeating possibilities:

Grading:

• <51 pts..: 2
• 51-60 pts.: 3
• 61-70 pts.: 3,5
• 71-80 pts.: 4
• 81-90 pts.: 4,5
• 91-100 pts.: 5