Engr 9826 Advanced Control Systems

Winter 2007

 

Instructor:   Tariq Iqbal, Faculty of Engineering and Applied Science, Memorial University of Newfoundland, Email: tariq@engr.mun.ca

 

Course website:  The formal webCT based course website can be accessed at  http://webct.mun.ca  You can use your 9-digit student number and PIN (from the Student Web) to log-on to the website. If this does not work, please contact Distance Education and Learning Technologies (DELT) help desk. Their contact information may be found at http://www.distance.mun.ca/student/  The course website provides the latest course information, copies of class handouts, calendar, practice quizzes, homework assignments and a lot more.

 

Course Description:

This course covers design and applications of advanced control systems. Students will be assumed to have a working knowledge of linear control systems, fundamentals of digital control systems (topics covered in Engr 5821 and Engr 6825), Matlab and Simulink. This course will provide a solid theoretical background and practical examples of design, simulation and implementation of controllers for electromechanical systems. The aim of the course is to develop student knowledge and understanding of control system design, simulation and implementation. It also aims to help the students apply their mathematical skills and knowledge of control system theory to a number of practical examples. At the end of this course students will be able to model and linearize nonlinear systems, determine a suitable controller for the system, design a selected controller for the system, simulate and lab test the performance of the designed controller. Matlab/simulink based exercises and seven laboratories (based on Labview controlled MS150 servo system) covering rigorous examples of modeling, design, simulation and implementation of control systems are included in this course.

 

Course Outline: 

  1. A review of parameter optimized controllers
  2. Linearization
  3. Introduction to cascade control systems
  4. Optimal state controller
  5. Design of optimal state controller with integral action
  6. State estimators
  7. Design of state observers
  8. Introduction to adaptive state controller with estimator and integral action
  9. Fuzzy logic controllers
  10. Tuning of fuzzy logic controllers
  11. Hardware implementation of fuzzy logic controllers
  12. Introduction to adaptive fuzzy logic controllers
  13. Case studies

 

Reference Books:

  1. Modern Control Engineering, 4th edition, by Ogata, K., Prentice Hall Inc., 2002. (ISBN 0-13-060907-2)
  2. Digital control systems Vol-I&II by Rolf Isermann, Springer-verlag, London 1989, 1991(ISBN: 0387502661 ; 0387509976)
  3. Fuzzy Logic: Intelligence, Control, and Information, 1/e by, John Yen and Reza Langari, Prentice Hall, 1999. (ISBN 0135258170)
  4. Modern Power Electronics and AC Drives, 1/e by, Bimal K. Bose, Prentice Hall, 2002. (ISBN 0130167436)
  5. The Fuzzy Systems Handbook: A Practitioner's Guide to Building, Using, & Maintaining Fuzzy Systems by Earl Cox, 1999.
  6. Control tutorials for Matlab are available online at http://www.mame.mu.oz.au/~mcg/ctrl301/matlab/ctm/index.html
  7. Modern Control Design with Matlab and simulink, by Ashish Tewari, John Wiley, 2002

 

Lectures:  Tuesday and Thursday 10:30am to 12:00pm in room EN4020.

Lab: Every Friday 9:00am to 12:00pm in room EN1021

 

Assignments:

During this course you will be asked to design and simulate a specific controller for your practice systems. Each assignment will carry some marks out of 25. You will be required to submit your control design and simulations on the course website. Online submission of Matlab/Simulink/Labview files and description in pdf format will be preferred. All control design assignments in this course will be based on two unique student selected practice systems. Therefore, each student is required to select two practice systems for self-use. Each student should select practice systems different from the systems selected by other students in the class. Selected systems should be a single input system with an order three or more. The knowledge of systems control inputs, outputs and the disturbances is essential. A website submission of one page description of each selected system, including a brief description, a photo, a block diagram with sub-blocks transfer functions and description of the control task will be sufficient to reserve a practice system. You can post the details of your selected systems in the discussion area of the course website. I will add my comments about each submitted system on the website. Student selected systems will be allotted on the first come first serve basis. Therefore, before selecting your practice systems visit the ‘Student selected practice systems’ section in the discussion area of the website and review already submitted practice systems. During the first week of the semester, you are expected to finalize the selection of your practice systems.

 

Laboratory:

Laboratory section of this course consists of seven experiments to be performed on a Labview and PC controlled DC modular position servo system MS150. (http://www.fbk.com/control-instrumentation/ms150.asp) In first two weeks of the semester, you are required to familiarize yourself with the Labview 8.2, identify the system model, determine the calibration equations and simulate the system in Simulink. After that, every two weeks you will design and implement a new type of controller for the MS150 servo system. Labs are as follows:   

 

Lab 1: Introduction and system identification

Lab 2: PID controller design

Lab 3: Design of a cascade controller

Lab 4: Optimal state controller design

Lab 5: Design of optimal controller with integral action and estimator

Lab 6: Design of fuzzy logic controller

Lab 7: Comparison of controllers

 

In the Energy Systems Lab (EN1021) you will find four sets of MS150 modular dc position servo systems and PCs with Labview and NI PCI-6024E I/O card installed. You are expected to use the PC and Labview to control the MS150 servo system. All controllers and estimator should be implemented in the Labview with a nice looking users interface. Submit all lab reports on the course website. At the end of the semester you are expected to demonstrate and present a simulation as well as experiments based comparison of all controllers designed and tested in the lab. The final lab report should be about 20 pages long describing the control problem, designed controllers, a comparison of controllers and justification for the final controller selection. System modeling, simulation and test results are expected in the final report. Remember this is not a simple lab course. It will require a considerable time spent in the lab (40+ hours). You are expected to work in a group of two persons but each of you is expected to demonstrate and explain his/her work in the lab to the instructor.

 

Evaluation Scheme:

Mid Term Test                                     20 %

Final Exam                                           40 %

Assignments (5)                                   15 %

Labs (3+3+3+4+4+4+4)                     25 %