| Competences |
| Type A | Code | Competences Specific |
| A2 | Have knowledge of taking measurements, calculations, evaluations, valuations, surveys, studies, reports, work plans and other similar studies. | |
| EI7 | Have the knowledge and the ability to model and simulate systems. | |
| EI8 | Have the knowledge of automation regulation and control techniques and their application in 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 |
| A2 |
Obtain through experiment the transfer function of first and second order systems. 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. Design compensators for single-loop feedback discrete-time systems using the geometric root locus method. | |
| EI7 |
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. Represent discrete-time signals and calculate the impulse response of discrete-time LTI systems. Calculate the Z-transform from the definition or by using the properties. Obtain the inverse z transform by direct division and breakdown into partial fractions. Apply the Z-transform for equation solving in finite differences. Calculate the time response of a LTI discrete time system represented as a transfer function. Calculate and interpret the frequency response of discrete time systems. | |
| EI8 |
Calculate the parameters of the time response of first and second order systems: peak time, rise time, setting time, steady-state response. Use the dominant-pole method in case of higher-level systems. Represent the outlines of Sp, Ts and wn constants on the s plane. Know the characteristics of feedback systems: reduction of sensitivity, disturbance rejection, modification of the poles, instability. Analyse and calculate the steady-state accuracy in single-loop feedback systems using the concept of system type. Simulate the time and frequency response of linear single-loop feedback systems and establish relationships between the s-plane and the Bode diagram. Know the Nyquist stability criterion based on the argument principle. Trace the Nyquist diagram based on the transfer function of the gain of the loop. Analyse the relative stability in pure delay systems based on the Nyquist diagram. Relate the Nyquist diagram with the Bode diagram and calculate the gain and phase margins. Analyse the steady-state accuracy in single-loop feedback discrete time systems. Analyse the stability of discrete time systems based on the Jury criterion. Apply the root locus method in the z-domain. | |
| 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 |
| Continuous-Time Linear Systems | Fundamentals of control systems. Linear systems and time-invariance (LTI). Bloc diagrams. Mason's rule. Transient response of first order and second order systems. Time-domain specifications. Control-system characteristics. Stability analysis: Root locus, Routh-Hurwitz criterion, Nyquist plot. Steady-state error. Dynamic controllers: PD, phase-leading, phase-lag, PI. Design in the root locus. Design in the frequency domain. PID controllers. |
| Discrete-Time Linear Systems |
Discrete-time signals and systems. Linear systems and time-invariance (LTI). Impulse response. Convolution. Z-transform: definition and properties. Inverse Z-transform. Use of the Z domain in the solution of systems of equations. Time-domain response. Frequency-domain response. Steady-state error. Stability analysis: Jury's criterion. Root locus in the Z domain. Design of dynamic controllers in the root locus. Bilinear Transform. Design of dynamic controllers in the frequency domain. Pre-warping. |
| Planning |
| Methodologies :: Tests | ||||||||||
| Competences | (*) Class hours |
Hours outside the classroom |
(**) Total hours | |||||||
| Introductory activities |
|
1 | 1.5 | 2.5 | ||||||
| Laboratory practicals |
|
14 | 21 | 35 | ||||||
| Lecture |
|
27 | 40.5 | 67.5 | ||||||
| Problem solving, exercises in the classroom |
|
14 | 21 | 35 | ||||||
| Personal attention |
|
0.4 | 0.6 | 1 | ||||||
| Extended-answer tests |
|
3 | 4.5 | 7.5 | ||||||
| Practical tests |
|
0.6 | 0.9 | 1.5 | ||||||
| (*) 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 | The first lecture is devoted to introduce the objectives, methodologies and planning of the course. Use of the 'Campus Virtual' will also be discussed. |
| Laboratory practicals | Laboratory sessions are mandatory. Passing the activities related to these sessions is a requisite. Laboratory work will be carried out in groups: (a) Matlab sessions (groups of 1-2 students) (b) Motor control sessions (groups de 2-3 students) The schedule for these sessions and the deadlines of the corresponding reports will be available at the beginning of the course. At the end of the course, a mandatory laboratory exam may be scheduled. |
| Lecture | In these lectures, the professor will explain the concepts and provide examples that illustrate tools and methods. Although the annotated slides will be available at the end of each lecture, students are encouraged to follow, and annotate the developments in the handouts, which will be available for download before the lectures. |
| Problem solving, exercises in the classroom | There is a one-hour per week session devoted to problem solution and discussion of examples. Students are encouraged to participate in these sessions and solve parts of the problems in front of the class. The statements of these problems will be available in the 'Campus Virtual' of the course. |
| Personal attention | On-campus meetings during office hours (appointment is required), by videoconference (appointment is required), forum messages in the Campus Virtual, and e-mail. |
| Personalized attention |
| Description |
|
On-campus meetings during office hours (appointment is required), by videoconference (appointment is required), forum messages in the Campus Virtual, and e-mail. |
| Assessment |
| Methodologies | Competences | Description | Weight | |||||
| Problem solving, exercises in the classroom |
|
Two assignments will be posted during the course. This is an individual task. | 10 | |||||
| Extended-answer tests |
|
Three mid-term exams will be carried out, with the following weights: 10%, 50% i 40%. The two first exams correspond to the contents of continuous-time systems. The third exam covers the contents of discrete-time systems. | 60 | |||||
| Practical tests |
|
The assessment of laboratory work considers: 1. Preliminary work (group): 10%. 2. Quality of work in the laboratory (individual) and in the report (group): 20%. A laboratory test can be scheduled at th end of the course (individual): passing this test is mandatory to pass the laboratory of the course. |
30 | |||||
| Others |
| Other comments and second exam session | |||
|
To pass this course, a weighted average of 5/10 is required. The weighted average is considered only if the student has a minimum grade of 4/10 in the tests and 5/10 in the laboratory. In case a laboratory exam is scheduled, passing the test is mandatory for the weighted average to be considered. There is no second-call of the laboratory test. In the case of passing the laboratory but falling the on-course exams, students can pass the course in the second-call exam. |
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| Sources of information |
| Basic |
K. Ogata , Discrete-time control systems , Prentice Hall , 1995
K. Ogata , Modern control engineering , Prentice Hall, 1997
Golnaraghi, F.; Kuo, B.C.;, Automatic Control Systems, Prentice Hall, 2009
Olalla, C., Material docent disponible al Campus Virtual, cada curs, cada curs |
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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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| Other comments | |
| This course requires previous knowledge of several concepts, given in courses that are recommended to have been taken before: - Use of the Laplace transform in dynamical systems. - Routh-Hürwitz criterion. - Root locus. - Plot of frequency responses: Bode diagram. |
(*)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.