Base Knowledge
The UC program was designed for the student to acquire a set of fundamental knowledge and skills. The structure adopted for the classes is sequential, and justified, in some cases, because the acquisition of certain knowledge and the development of certain competencies depend on others previously assimilated. However, in general, there are contents for which the order is irrelevant, as they do not require previous knowledge and skills.
Teaching Methodologies
In the theoretical classes, an exposition of the subject is made, complemented with practical examples and in the theoretical-practical classes, the knowledge acquired in the theoretical classes is applied, complemented by the resolution of exercises to apply the acquired knowledge.
Learning Results
The knowledge acquired within this curricular unit, complemented with the knowledge of others, should allow students to design, implement and carry out both quantitative and qualitative analyzes of control systems. Competences: Know the properties of physical signals and systems. Describe and represent physical systems through mathematical models. Know control actions and industrial automatic controllers. Analyze the responses of physical systems to test signals. Analyze and characterize physical systems represented through mathematical models. Determining the stability of feedback control systems. Analyze the behavior of a system using the root locus method. Analyze the behavior of a system by the frequency response method. As well as implementing classic and modern control solutions.
Program
1. Introduction to Automatic Control Systems.
a) Brief historical description of the evolution of Automatic Control Systems.
b) Presentation of motivating examples, particularly in the area of electrical engineering, among others.
2. Mathematical Modeling of Dynamical Systems.
a) Block diagram algebra, the canonical form of a control system, block diagram transformation, superposition of several input signals, block diagram simplification, block diagram, and mathematical models, mason’s rule.
b) Mathematical Models, forms of mathematical representation: differential equation, Laplace transform, transfer function. Linearization. Time response from the transfer function: decomposition into partial fractions, transient regime, and location of system poles. Initial and final value theorems.
c) Representations of a linear time-invariant control system in SISO form: input-output representation, transfer function, and state model; matrix A^k; homogeneous system solution and complete system solution.
3. Temporal Response of Dynamical Systems.
a) Analysis of open loop systems in the time domain, the study of the behavior of the system described by a differential equation of constant coefficients.
b) Description of a system through its transfer function, analysis of the transient response of first and second order and higher order systems, a system of order higher than two can be obtained as a linear combination of the lower order responses.
c) Routh-Hurwitz stability criterion, the effect of zeros on step response.
d) Analysis of feedback systems in the time domain. Algebra of block diagrams, steady-state analysis, the root-locus method, and rules for the construction of the root locus diagram.
4. Introduction to Controller Design.
a)Study on controllers, ways to control feedback systems, ON-OFF controllers, and linear controllers.
b) Presentation of the proportional (P), integral (I), and derivative (D) actions, saturation by the effect of the integral action. Presentation of empirical methods for the calibration or tuning of controllers, open-loop and closed-loop methods.
c) Cascade control and feedforward control, by phase advance or delay compensation and PI action.
5. Analysis of systems in the frequency domain.
a) Analysis of systems in the frequency domain, open loop analysis, graphic representation of the frequency response.
b) Polar diagrams.
c) Goat diagram.
d) Nyquist stability criterion.
6. Synthesis of Controllers in the Frequency Domain.
a) Allocation of poles.
b) Closed loop analysis, relative stability, analysis of delayed feedback systems
7 .Heuristic Controller Tuning Methods.
a) Presentation of Heuristic Methods for solving more complex optimization problems.
b) Practical examples.
8. Introduction to Discrete Time Control Systems
a) Z transform: definition and properties; inverse Z transform; application of the Z transform in determining the solution of problems with initial conditions for linear difference equations with constant coefficients
b) Know the techniques for calculating the Z transform and its inverse transform;
c) Apply these techniques in solving problems with difference equations; interpret the different representations of a linear time-invariant control system (continuous case and discrete case);
d) Use the Z transform and the Laplace transform in the analysis of the representation in a state model.
e) Implement controllers in a real system.
Curricular Unit Teachers
Internship(s)
NAO
Bibliography
J. L. Martins de CARVALHO (1993). Dynamical systems and automatic control. 444 p. New York : Prentice Hall.
Kuo, Benjamin C.. (1995). Automatic control systems. Upper Saddle River,. cop. . 897, I-8 p.. Prentice Hall.
Ogata, Katsuhiko (2003). Engenharia de controle moderno. 4ª ed. São Paulo. 788 p. Pearson/Prentice Hall.
Ogata, Katsuhiko (2008). MATLAB for control engineers. Upper Saddle River, 433 p. Pearson/Prentice-Hall.
Ogata, Katsuhiko (2000). Engenharia de controle moderno. 3ª ed. Rio de Janeiro 812 p. LTC – Livros Técnicos e Científicos.
Ogata, Katsuhiko (1996). Projeto de sistemas lineares de controle com MATLAB. Rio de Janeiro, 202 p. Prentice-Hall.
Ogata, Katsuhiko (1997). Solução de problemas de engenharia de controle com MATLAB. Rio de Janeiro , 330 p. Prentice-Hall.