To enable the participants to use Matlab for simulation of the methods applied to a simple system with time delay.
Therefore the course introduces the relay method for automatic tuning of PID-controllers for specified phase and amplitude margins. For many time invariant systems this method will give a sufficient robust controller. The technique is also useful for providing pre-tuning of more complicated adaptive systems
The concept of self-tuning control is given, as well as theories and methods for design of model reference adaptive controllers.
An important part of a Self-tuning Regulator is the system parameter estimator. The course therefore puts emphasis on filters and weight functions for estimation of parameters in a slowly time varying transfer functions using least square methods.
The course will be a combination of lectures and 'hands on' exercises using Matlab as a simulation tool.
|1.||Auto-tuning of PID-controllers: Auto-tuning of PID-controllers, Ziegler-Nichols tuning, The Relay method, Tuning with specified phase and amplitude margin|| (375-388)
|2.||Estimation of linear small signal models: The least square method, Prediction models, Performance functions, Algorithms, Exponential weight function, Filtering of input and output|||
|3.||Self-tuning pole placement controllers: Pole placement design, Self-tuning regulators|| (90-101)
|4.||Model reference adaptive controllers: The MRAS- design method, The MIT rule, Examples|| (185-199)
|5.||Adaptive control in process control systems: Distributed process control systems, Auto-tuning, Self-tuning regulators, Model reference adaptive systems, Gain scheduling, Parameter Feed forward/feedback adaptation|| (1-34)|
FP6-1 Analog and digital control II