The main objective of this course is to provide students with a deep understanding of automatic control by developing and implementing a design project of linear and nonlinear controllers in physical systems. This project involves several of the typical phases of control design: modeling, identification, analysis, synthesis and development and implementation of the controllers in a real time control platform (Ethercat/Etherlab/Bechoff utilizing Matlab/Simulink). Physical systems include laboratory systems by Feedback, copies of which have been developed for the Automation and Robotic Lab (e.g. magnetic levitation, D.C motor etc) as well as robotic toolkits (Lego Mindstorms etc)
1.Providing a coherent understanding of all aspects of automatic control
2.Acquiring further knowledge and developing skills regarding the discretization of control signals, the fundamental limitations which are introduced by the sensor and actuator dynamics as well as the impact of the measurement noise.
3.Students who successfully complete the course will be able to a)complete various phases of control design b) comprehensively present the results of their work orally and in writing c)collectively work and cooperate with others for the achievement of the best possible results.
Course Content (Syllabus)
Lab overview, presentation of the physical lab systems, challenges, tutorial on Ethercat/Etherlab/Simulink
Modeling and identification of the physical system, design challenges, design of linear controllers based on the linear or linearized model of the physical system, design of robust and nonlinear controller.