SC42045 Control systems lab

Design, practical implementation and evaluation of a digital control system:

• using mechatronic laboratory systems or high-fidelity dynamical models (inverted pendulum, 'helicopter' model, inverted wedge, 'acrobot' system)
• applying both standard and advanced control methods (state-feedback, output-feedback, system identification, adaptive control)
• using MATLAB/Simulink and the Real-Time toolbox

In this course you will use a discrete-time approach, in which the system to be controlled is modeled both by discretizing an available continuous-time physical model and by using system identification. A systematic, MATLAB-supported design methodology is followed, using a state estimator (observer) and a state-feedback controller.

Lectures
Lecture 1: Introduction. Course overview and goals. Description and mathematical models of the laboratory setups. System identification methods. Experiment design, model validation.
Lecture 2: Modeling and identification. Mathematical modeling of physical systems, parameter estimation and tuning, model validation, simulation.
Lecture 3: Design of digital controllers. Pole placement. Observers and output feedback. More control architectures.
Lecture 4: Design of digital controllers. Recapitulation of computer-control design methodology. Design example and implementation in MATLAB / Simulink.

Lab sessions
Laboratory sessions in times according to the students’ preference (within lab availability constraints). The scheduled lecture times can be used for consulting the approach and results with the lecturers. In case laboratory sessions cannot be held on site at the university using physical laboratory systems students will use dynamical models on their own computers. Remote sessions with the instructor and assistants will be organised.

Teachers

Last modified: 2023-11-03