Main Topics: Control Theory
| 1. Part1- System
Theory: Models of systems. Continuous and discrete
time domain models. State space models. Laplace plane
transfer function models. Poles and zeroes. Stability.
Linearizing non-linear models (analytic and numerical
2. Part2- Classical feedback systems:
PID controllers.The SIMC method for tuning PID
controllers. Model reduction and the half rule. Laplace
plane formulation of the PID controller. Continuous Time
domain and discrete time domain state space formulation of
the PID controller. Implementation of the PID controller.
Practical aspects as anti-windup (reset windup) and
Bumpless transfer between manual and automatic control.
Velocity/deviation form of the PID controller, trapezoid
and Euler methods. Non-Minimum phase systems and Bandwidth
of a control system. Controlling Integrating Plus Time
delay (IPTD) plants and Double Integrating Plus Time Delay
3. Part3- Frequency analysis: Phase crossover frequency. Gain crossover frequency. Gain Margin (GM), Phase Margin and interpretation. Bode and Nyquist stability criterion. PID control with Ziegler Nichols method and similar. Design of PID controllers for prescribed relative time delay error, GM etc.
4. Part4- Special: Time delay
compensation and multivariable systems. The Smith
predictor. Relative Gain Array (RGA) analysis.
Feed-forward control, ratio control and Cascade control.
Split Range Control.
1. The figures are from Di Ruscio and Dalen (2017)