Automatic Control II: Summary and comments Hints for what is essential ◮ to understand the course, ◮ and to perform well at the exam. You should ◮ be able to distinguish between continuous-time ( c-t ) and discrete-time ( d-t ) systems! ◮ be acquainted with basic concepts and properties of linear systems (for both c-t & d-t ): ◮ stability ◮ controllability & observability ◮ solution of the state equation ◮ etc ... 1 / 8 Summary hans.rosth@it.uu.se
Summary and comments (cont.) You should know about ◮ system sampling, a.k.a. zero-order-hold (ZOH) sampling ◮ MIMO systems ◮ disturbance models: ◮ spectrums, spectral factorization ◮ white noise ◮ state space models; the standard form, covariance matrices from Lyapunov equations ( c-t & d-t ) ◮ Kalman filters in c-t & d-t : ◮ CARE/DARE ◮ P = covariance of estimation error ◮ innovations, innovations form ◮ the m -step predictor 2 / 8 Summary hans.rosth@it.uu.se
Summary and comments (cont.) ... and about ◮ LQ & LQG (for c-t & d-t ): ◮ CARE/DARE ◮ as design technique: the meaning of Q 1 , Q 2 , R 1 , R 2 etc ◮ MPC: ◮ the basic principle ◮ the meaning and effect of ◮ the control horizon N ◮ the prediction horizon M ◮ the sampling period h ◮ other design parameters 3 / 8 Summary hans.rosth@it.uu.se
Aiding material At the exam you are allowed to bring and use ◮ Textbooks in automatic control, eg. ◮ Reglerteori — Flervariabla och olinj¨ ara metoder (red) ◮ Reglerteknik — Grundl¨ aggande teori (blue) ◮ Control Theory — Multivariable and Nonlinear Methods (English vsn.) all by Glad & Ljung ◮ Mathematical handbooks (eg. β or Physics) ◮ Calculators ◮ Handwritten comments in textbooks are not forbidden Not allowed: Exercise manuals, problem collections, old exams and similar. 4 / 8 Summary hans.rosth@it.uu.se
Related courses Some relevant courses if you want to learn more about systems and control: ◮ Reglerteknik III (Automatic Control III) 5hp: ◮ given in per. 1 for F5Is & E5 (& STS5) ◮ enhanced understanding of ◮ MIMO systems ◮ what can be achieved by use of feedback? — limitations and conflicts ◮ non-linear systems ◮ control design ◮ different approaches ◮ advanced design methods ◮ optimal control 5 / 8 Summary hans.rosth@it.uu.se
Related courses (cont.) Mathematical models are necessary for analysis, simulation and prediction of, as well as for control design for dynamical systems. Two courses where you learn about how mathematical models can be obtained are: ◮ Empirisk modellering (Empirical modeling) 10hp: ◮ given in per. 1 for ES5, STS5, W5 ◮ you learn how to construct models of dynamical systems eg. by use of experimental data ◮ learn by doing: examined (mainly) by project ◮ Systemidentifiering (System identification) 5hp: ◮ given in per. 4 for F4Is ◮ you learn how to construct models of dynamical systems from experimental data ◮ statistical methods are used for analysis of properties etc. 6 / 8 Summary hans.rosth@it.uu.se
Reglerteknik III 5hp Kursen ges i period 51 Hur bra kan man reglera? Kursen ger f¨ ordjupad f¨ orst˚ aelse om bl.a. ◮ MIMO-system ◮ vad som ¨ ar m¨ ojligt att uppn˚ a (begr¨ ansningar och ... mer om regulatordesign : konflikter) ◮ olinj¨ ◮ olika ansatser ara system (decentraliserad design, Serious Design s.g 10 frikoppling ...) ◮ mer sofistikerade Log Magnitude designtekniker (t.ex. g¨ or 1.0 S ( s ) och T ( s ) s˚ a sm˚ a som m¨ ojligt) 0.1 0.0 0.5 1.0 1.5 2.0 ◮ optimal styrning Frequency 7 / 8 Summary hans.rosth@it.uu.se
Empirisk modellering 10hp Kursen ges i period 51 Var kommer modellen ifr˚ an? Bland annat ska B˚ ade analys och regulatordesign f¨ oruts¨ atter en bra modell. modeller tas v n fram som y u ? beskriver � dynamiken hos ett soluppv¨ armt hus, samt Kursen erbjuder: modeller som kan prediktera ◮ Teori f¨ or modellbygge med vindhastigheten vid ett tonvikt p˚ a empirisk vindkraftverk. modellering. ◮ G¨ astf¨ orel¨ asare. ◮ Projektarbete: Empirisk modellering av n˚ agra energirelaterade processer. 8 / 8 Summary hans.rosth@it.uu.se
Recommend
More recommend
