Automatic Control II: Summary and comments Hints for what is - - PowerPoint PPT Presentation

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 hans.rosth@it.uu.se Summary

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 hans.rosth@it.uu.se Summary

Summary and comments (cont.)

... and about

◮ LQ & LQG (for c-t & d-t):

◮ CARE/DARE ◮ as design technique: the meaning of Q1, Q2, R1, R2 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 hans.rosth@it.uu.se Summary

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 hans.rosth@it.uu.se Summary

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 hans.rosth@it.uu.se Summary

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 hans.rosth@it.uu.se Summary

Reglerteknik III 5hp

Kursen ges i period 51

Hur bra kan man reglera? Kursen ger f¨

• rdjupad f¨
• rst˚

aelse

• m bl.a.

◮ MIMO-system ◮ vad som ¨

ar m¨

• jligt att

uppn˚ a (begr¨ ansningar och konflikter)

◮ olinj¨

ara system

10 0.1 Log Magnitude 1.0 2.0 0.0 0.5 1.0 1.5 Frequency Serious Design s.g

... mer om regulatordesign:

◮ olika ansatser

(decentraliserad design, frikoppling ...)

◮ mer sofistikerade

designtekniker (t.ex. g¨

• r

S(s) och T(s) s˚ a sm˚ a som m¨

• jligt)

◮ optimal styrning

7 / 8 hans.rosth@it.uu.se Summary

Empirisk modellering 10hp

Kursen ges i period 51

Var kommer modellen ifr˚ an? B˚ ade analys och regulatordesign f¨

• ruts¨

atter en bra modell.

• ?

u y v n Kursen erbjuder:

◮ Teori f¨

• r modellbygge med

tonvikt p˚ a empirisk modellering.

◮ G¨

astf¨

• rel¨

asare.

◮ Projektarbete: Empirisk

modellering av n˚ agra energirelaterade processer. Bland annat ska modeller tas fram som beskriver dynamiken hos ett soluppv¨ armt hus, samt modeller som kan prediktera vindhastigheten vid ett vindkraftverk.

8 / 8 hans.rosth@it.uu.se Summary