| Competences |
| Type A | Code | Competences Specific |
| RI6 | Have knowledge of the fundamentals of PLCs and control methods. | |
| EL8 | Have knowledge of the principles of automatic regulation and the application of industrial automation. | |
| Type B | Code | Competences Transversal |
| B3 | Be able to solve problems with initiative, make decisions, be creative, use critical reasoning and communicate and transmit knowledge, abilities and skills in the field of industrial engineering, specialising in electricity. | |
| Type C | Code | Competences Nuclear |
| Learning outcomes |
| Type A | Code | Learning outcomes |
| RI6 |
Design compensators in the geometric root locus: compensation due to advance and with PD, compensation due to delay and with PI, compensation with PID. Design compensators in frequency response: phase delay compensation, phase advance compensation, advance-delay compensation. Know methods of empirical PID tuning. | |
| EL8 |
Represent the linear system with block diagrams and with signal flow diagrams. Use the Mason formula. Simulate the time response of a linear system represented as a transfer function. Obtain through experiment the transfer function of first and second order systems. Calculate the parameters of the time response of first and second order systems: peak time, rise time, setting time, steady state response. Know the concept of dominant pole to evaluate the temporary response of systems of a higher order. Represent the outlines of Sp, Ts and wn constants on the s plane. Calculate the frequency response (module and phase) of first and second order systems. Know the concepts of bandwidth at 3 dB, and frequency response peak. Know the basic characteristics of feedback systems: reduction of sensitivity, disturbance rejection, modification of the poles, instability. Effects on the gain, error and bandwidth. Know and apply criteria of stability based on the Routh-Hurwitz Theorem to feedback systems. Know and apply the criteria of stability based in the geometric root locus (GRL) to feedback systems. Know and apply the Nyquist stability criterion, based on the argument principle, to feedback systems. Know how to find the margins of gain and phase in Bode, Nichols, and Nyquist diagrams. Know how to evaluate the effects of a delay in a feedback system using, for example, the Nyquist stability criterion. | |
| Type B | Code | Learning outcomes |
| B3 |
És capaç de resoldre problemes de forma enginyosa, amb iniciativa i creativitat, tenint en compte els conceptes de l'assignatura. | |
| Type C | Code | Learning outcomes |
| Contents |
| Topic | Sub-topic |
| Chapter 1. Introduction to Control Systems | 1) Basic definitions. 2) Types and examples of control systems. 3) Represent linear systems with block diagrams and signal flow diagrams. 4) Basic characteristics of feedback systems: decreased sensitivity, rejection of disturbances, modification of poles, instability. 6) Effects on gain, error and bandwidth |
| Chapter 2. Time and frequency domain response of first and second order systems. Higher orders and order reduction. | 1) Description of linear systems by means of transfer functions. 2) Calculate the parameters of the temporal response of first and second order systems: over-peak, rise time, establishment time, steady state response. 3) Know the concept of dominant pole to evaluate the temporal response of higher-order systems. 4) Represent the contours of constant Sp, Ts and wn in the s-plane. 5) Calculate the frequency response (module and phase) of first and second order systems. 8) Know the concepts of bandwidth at 3 dB, and peak frequency response |
| Chapter 3. Stability analysis. | 1) Steady-state error theory depending on the type of system. 2) Stability criteria based on the Routh-Hurwitz theorem. 3)BIBO stability criterion based on geometric place of roots (LGR). 4) Nyquist's stability criterion, based on the principle of argument. 5) Concept of gain and phase margins in the Bode, Nichols, and Nyquist diagrams. |
| Chapter 4. Control Design. Root locus and frequency-domain techniques. | Design of compensators in the geometric place of roots: compensation for advancement and with PD, compensation for delay and with PI, compensation with PID. 2) Example Design of compensators in frequency response: phase delay compensation, phase advance compensation, advance-delay compensation. 3)Know empirical methods of harmony for PID's. |
| Chapter 5. Discrete-time control systems. | ) Discrete-time signals, 2) Continuous time and discrete time duality, 3) Z-transform, 4) discrete-time stability, 5) LGA in discrete-time systems, 6) Design of discrete-time compensators. |
| Planning |
| Methodologies :: Tests | ||||||||||
| Competences | (*) Class hours |
Hours outside the classroom |
(**) Total hours | |||||||
| Introductory activities |
|
1 | 0 | 1 | ||||||
| Lecture |
|
28 | 32 | 60 | ||||||
| Problem solving, exercises in the classroom |
|
9 | 24 | 33 | ||||||
| Laboratory practicals |
|
15 | 20 | 35 | ||||||
| Personal attention |
|
1 | 0 | 1 | ||||||
| Practical tests |
|
2 | 6 | 8 | ||||||
| Mixed tests |
|
4 | 8 | 12 | ||||||
| (*) On e-learning, hours of virtual attendance of the teacher. (**) The information in the planning table is for guidance only and does not take into account the heterogeneity of the students. | ||||||||||
| Methodologies |
| Description | |
| Introductory activities | During the first class hour of the course, the operation of the subject will be explained, the structure of Moodle will be discussed and the evaluation method will be remembered. |
| Lecture | The theory included in the subject's program will be explained through lectures. The transparencies will be available to the student on Moodle. |
| Problem solving, exercises in the classroom | Every week there will be an hour of class for problem solving. The student's activity must be pro-active, and he must go to the blackboard to solve problems with the help of the teacher. The statements of the problems will be available to the student in Moodle. |
| Laboratory practicals | The internships are compulsory attendance and must be passed to pass the subject. Laboratory practices are done in groups and are of two types: (a) Simulations with Matlab (individuals) (b) With a real system (groups of 2 students) At the beginning of the year, the student will have a weekly plan of the practices he must do and the corresponding previous study that he must hand in at the start of the practice At the end of the course there is a practice exam, independent of the theory one: attendance is mandatory |
| Personal attention | The student can individually consult the doubts he has through two ways: (a) Personally, in the teacher's office during consultation hours. (b) By email or through the subject's forum |
| Personalized attention |
| Description |
|
Students can request assistance: (a) individually, the professor can give personal support in English. (b) using the discussion forum in the course website. |
| Assessment |
| Methodologies | Competences | Description | Weight | ||||
| Practical tests |
|
The evaluation of the practices takes into account the quality of the work done in the laboratory (individual) and the reports delivered (group) In addition, there will be a practical (individual) exam: you must pass this exam in order to pass the internship |
25% | ||||
| Mixed tests |
|
The evaluation is assessed by 2 exams, one in the middle of the course and another at the end. They eliminate matter. (35%+ 40%) | 75% | ||||
| Others |
| Other comments and second exam session | |||
|
To pass, students must qualify in the laboratory and theoretical parts of the course. The theoretical part is considered passed with an aggregate score of 5/10. The score is composed of two midterm exams, whose minimum individual score must to be above 4/10. The laboratory part is considered passed with an aggregate score of 5/10. The score is composed of the laboratory reports and a laboratory exam, whose minimum individual score must be above 4/10. Students who have passed the laboratory work, but have failed the theoretical part, can attend the second call. The second call consists of a theoretical exam that includes all the contents of the course. |
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| Sources of information |
| Basic |
C. Olalla, Apunts de l'assignatura, Campus Virtual,
K. Ogata , Discrete-time control systems , Prentice Hall , 1995
K. Ogata, Modern control engineering , Prentice Hall, 1997
Kuo, Automatic Control Systems, Prentice Hall, 2003 |
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| Complementary | |||||||||
| Recommendations |
| Subjects that continue the syllabus | ||
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| Subjects that it is recommended to have taken before | |||
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(*)The teaching guide is the document in which the URV publishes the information about all its courses. It is a public document and cannot be modified. Only in exceptional cases can it be revised by the competent agent or duly revised so that it is in line with current legislation.