The
main objective of the course is to provide students with a core
understanding of the role of control systems in industrial plants; in
particular, what are the fundamental problems of control and what are
the design methodologies that can be used to solve them. The first part
of the course covers the basics of modelling and control of simple
dynamical systems. These basics are then applied to simple
single-variable control applications, such as level and temperature
controllers, frequency control in power systems, etc. Finally, a broad
overview of the principles for the analysis and design of more complex
industrial applications is given. Open-source simulation tools are
thoroughly used during the course for a better understanding of the
role of the presented theory in practical applications.
Course Programme
Introduction:
Basic principles of control. Open-loop and closed-loop control systems.
Dynamical systems:Analysis
of linear and non-linear dynamical systems. Equilibria and stability.
Transfer function, step response, frequency response of linear systems.
Block diagrams.
Linear SISO controllers:
Analysis and design of linear single-input, single-output systems in
the frequency domain. PID controllers. On-off controllers. Applications
in the field of energy systems.
Industrial control systems: Advanced
control strategies: cascade control, Smith predictor, feed-forward
compensation, 2-d.o.f. controllers. ISA-PID controllers. Basic concepts
in multivariable control systems and digital control. Applications in
the field of energy systems.
Lab sessions
For lab sessions, bring your laptop to the class. Please install the OpenModelica
suite in advance. The software is available for Windows, Linux and MacOS (with some limitation).
Please install the latest stable release (currently 1.9.2), or the
latest nightly build. Note that the size of the installation file is
over 400 MB, so you need a good network connection, or some friend with the installation files. We will use the OMNotebook
tool, which allows to build interactive documents containing
models of dynamical systems written in the Modelica language, run
simulations and plot simulation results. We will make a limited use of
the Modelica language, that you can learn from the examples. If you get
interested in Modelica and want to probe further, I recommend the excellent online
book Modelica by Example, by Mike Tiller.
The OMNotebook files for the lab sessions are posted here.
LAB1: Introduction to system simulation using OMNotebook
LAB2: Verification of control system performance using OMNotebook
It is advisable to decompress the files in a directory without spaces in the pathname, avoiding the Desktop in Windows systems.
Course organization and exams
The course is organized with classroom lectures, exercise
sessions, and hands-on simulation-based lab sessions. The course can be
successfully passed in two alternative ways: the first is meant for
people attending classes regularly, who want to spread the workload
throughout the entire semester, the second is a standard written test
during the regular exam sessions.
Mode A
One mid-term written test with open questions and exercises, covering points 1 and 2 of the programme, beginning of May.You can get up to 12 points (plus bonus), you need at least 6 to pass the exam.
Hand in a small assignment dealing with the design of a control
system and the verification of its performance by simulation. The
assignment can be carried out individually or in small teams of up to 3
people, and needs to be handed in by the end of the summer exam
session. You can get up to 6 points (plus bonus).
One final written test with open questions and excercises, covering
points 3 and 4 of the programme, at the end of the course. You can get
up to 12 points (plus bonus), you need at least 6 to pass the exam.
It is not possible to re-take the two tests if you fail them or
cannot show up. However, if you have handed in the assigment, this can
be used to determine 6/30 of the final score in mode B.
It is also not possible to sit the first regular exam session if you have handed in the final midterm exam paper.
Mode B
Written test with open questions and excercises covering the entire
course programme, during the regular exam sessions. You can optionally
hand in the assignment, in which case 24/30 of the final course is
determined by the written test, and 6/30 by the assignment.
Leonardo Campus: Dipartimento di Elettronica, Informazione e Bioingegneria, main building (ed. 20), via Ponzio 34/5, 2nd floor (how to get there). Please check the official website for the office hours.
