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Objectives |
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The first objective is for students to learn and understand the principles and the applications of control engineering based on modern control theory, which makes it possible to overcome the difficulties which arise when classical control technologies such as PID control are applied to complicated and/or large-scaled systems. Advanced control engineering has become more important because social, industrial and mechanical systems of our age are so complicated and/or sophisticated that they need to be properly and accurately controlled without a great deal of human intervention. The second objective is to master a free software 'Scilab/Scicos' for numerical calculations and simulations. The software 'Scilab/Scicos' is used in exercises in the computer laboratory (CL).
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Outline |
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This course consists of lectures in the classroom with exercises dealing with practical problems, and laboratory work in the CL. Important contents to be learned in this course are:
1. Reviews of classical control: Laplace transformation, transfer function, PID control
2. Introduction to Scilab/Scicos: basic commands, programming, simulation
3. State space, state equations, controllability and observability
4. Pole placement, state observer
5. Optimal regulator (LQ optimal control), cost function, weighing matrices
6. Optimal servo system, disturbance suppression
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Requirements (Assignments) |
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Students are expected to have a basic understanding of mathematics at the undergraduate level such as differentials and integrals, differential equations, complex numbers and linear algebra. The understanding of classical control is also necessary. Students who are ito some degree lacking in any of these fields are required to study.
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Schedule |
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1. Introduction to systems control: feedback control, classical and modern control
2. Review of basic control engineering: Laplace transformation, differential equations and transfer functions
3. Introduction to Scilab/Scicos
4. System responses in the time domain
5. Stability of the system, PID control
6. Mastering Scicos, PID control simulation
7. Laboratory work: PID control
8. State equation 1: state space, derivation of state equation
9. State equation 2: characteristic equation and stability, controllability and observability
10. Pole placement and state observer
11. Optimal regulator (LQ optimal control), cost function, weighing matrices
12. Optimal servo system 1: augmented system, disturbance suppression, robustness
13. Optimal servo system 2, simulation of optimal regulator with the observer
14. Laboratory work: Optimal servo system
15. Review and exercises
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Grading Policy |
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Grading policy is based on the results of the answer sheets of exercises and reports of laboratory work.
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Textbook and Reference |
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Text books:
(1) H. Hashimoto, et al., "Basics of systems control learned with Scilab", Ohm publishing Co. (2007) (in Japanese)
(2) H. Hashimoto, et al., "Basics of simulations learned with Scilab/Scicos", Ohm publishing Co. (2008) (in Japanese)
Reference books:
(1) H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)
(2) S. Utsui, "Mechanical control, illustrated", Ohm publishing Co. (2007) (in Japanese)
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Note |
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