COURSE GOALS: Familiarizing with basic ideas of automatic control systems. Influence of the feedback on entire closed loop dynamic system behavior. Understanding of basic elements of open and close loop systems. Understanding of time-domain, s-domain (Laplace Transform, Inverse Laplace Transform) and frequency-domain dynamic system analysis. Familiarizing with controllers design methods and basics of robotics.
LEARNING OUTCOMES AT THE LEVEL OF THE PROGRAMME:
1. KNOWLEDGE AND UNDERSTANDING
1.1. demonstrate a thorough knowledge and understanding of the fundamental laws of classical and modern physics
1.2. demonstrate a thorough knowledge and understanding of the most important physics theories (logical and mathematical structure, experimental support, described physical phenomena)
1.3. demonstrate a thorough knowledge and understanding of basic concepts in techniques
2. APPLYING KNOWLEDGE AND UNDERSTANDING
2.1. identify and describe important aspects of a particular physical phenomenon or problem
2.2. identify and describe important aspects of techniques and their applications
2.4. use mathematical methods to solve standard physics problems
2.6. use information and communication technology efficiently (to foster active enquiry, collaboration and interaction in the classroom)
3. MAKING JUDGMENTS
3.1. develop a critical scientific attitude towards research in general, and in particular by learning to critically evaluate arguments, assumptions, abstract concepts and data
3.3. reflect on and evaluate their own practice of teaching
4. COMMUNICATION SKILLS
4.2. present complex ideas clearly and concisely
5. LEARNING SKILLS
5.1. search for and use professional literature as well as any other sources of relevant information
5.2. remain informed of new developments and methods in physics, informatics, technology and education
LEARNING OUTCOMES SPECIFIC FOR THE COURSE:
Upon passing the course on Control Systems, the student will be able to:
1. use the basic dynamic system analysis methods,
2. explain and analyze dynamic system in time-domain,
3. explain and analyze dynamic system in s-domain,
4. explain and analyze dynamic system in frequency-domain,
5. define and propose the basic elements of close loop control systems,
6. analyze the controller behaviour,
7. specify the open-loop and closed-loop control systems
8. propose the type and parameters of the controller,
9. explain the possibility of robot applications,
10. identify the basic kinematic and dynamic robot models.
COURSE DESCRIPTION:
Lectures per weeks (15 weeks in total):
1. History of automation, basics of system theory, open-loop and closed-loop control systems.
2. Mathematical description of dynamic systems. Methods of dynamic analysis.
3. Time-Domain analysis of control systems. Typical tests signals for time-continuous systems.
4. Time Response of time-continuous systems. Unit-step response and impulse response of control systems.
5. Laplace transform, inverse Laplace transform, transfer function, block diagrams algebra
6. Stability of linear systems
7. Routh-Hurwitz stability criterion
8. Frequency-domain analysis
9. Sinus transfer function
10. Nyquist diagram, Nyquist stability criterion
11. Control plants.
12. Controllers
13. Steady-state error
14. Design of P, PI, PD and PID controller, Ziegler-Nichols method,
Chien-Hrones-Reswick method
15. Basics of robotics
REQUIREMENTS FOR STUDENTS:
Active students participation in lectures, exercises and laboratory exercises. Students must solve 50% of the written exams (two times in the semester) and 50 % of the final oral exam.
GRADING AND ASSESSING THE WORK OF STUDENTS:
Grading and assessing the work of students during the semester:
* Two written exams as a replacement for the final written exam.
Grading at the end of semester:
* Final written exam for the students who didn't pass two written exams during the semester.
* Final oral exam.
Contributions to the final grade:
* 10% of the grade will be based on presence,
* 45% of the grade is carried by the results of the two written exams, or final written exam
* the oral exam carries 45% of the grade.
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- 1) T. Šurina, AUTOMATSKA REGULACIJA, Školska knjiga, Zagreb, 1981.
2) V. Kecman, OSNOVE AUTOMATIKE, Zadaci iz automatske regulacije, Školska knjiga, Zagreb, 1988.
3) T. Šurina, M. Crneković, INDUSTRIJSKI ROBOTI, Školska knjiga, Zagreb, 1990.
- 1) B. Novaković, REGULACIJSKI SISTEMI, Sveučilišna naklada, Zagreb, 1985.
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