OPE INFORMACIJE O KURSU

NAZIV KURSA:

Projektovanje sistema automatskog upravljanja

BROJ ECTS BODOVA:

UKUPNO SATI NASTAVE:

62

BROJ SATI PREDAVANJA:

39

BROJ SATI LAB. VJEBI:

23

NASTAVNI ANSAMBL:

Adnan Tahirovi, Mehmed Brki, Haris auevi

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

NAIN POLAGANJA

PRISUSTVO: 10 (4 izostanka, nula bodova. Inace, proporcionalan broj bodova.)

LAB. VJEBE: 20 (Prisustvo OBAVEZNO - 10 bodova. Aktivnost - 10 bodova.)

SEMINARSKI RAD: 30 (Svaki student je obavezan odsluati odbranu barem 3

seminarska rada)

ZAVRNI ISPIT: 40 (Prolaz: 20 bodova)

a) 2+2+2+2+2 = 10
b) 7+7+6 =
20
c) 4+3+3 =
10

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

PROGRAM
1.
2.
3.

MOTIVATION
ROOT LOCUS DESIGN (LAB 1)
FREQUENCY DOMAIN DESIGN, LEAD and LAG COMPENSATORS
(LAB 2)
4.
PID (LAB 3), M-CIRCLES, DELAYS, SMITH PREDICTOR (LAB 4)
5.
CASCADE CONTROL (LAB 5)
6.
CONTROL PROJECTS, P&I DIAGRAMS, TERMOPOWER PLANT LOOPS
(LAB 6, 7)
7.
ROBUST CONTROL (LAB 8)
8.
STATE SPACE FEEDBACK CONTROL (OPTIMAL CONTROL, LQR, LQG)
9.
ESTIMATORS
10. ADAPTIVE CONTROL (LAB 9)
11. MODEL PREDICTIVE CONTROL (LAB 10)

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?

u (t )

x& = f ( x, u )

y (t )

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1.

MODELING ERROR

u (t )

MODEL

x& = f ( x, u )
xmod el xreal

u (t )

REAL SYSTEM
x&real = f ( xreal , u )

x& = f ( x, u ) + wmod el error

Department for Automatic Control and Electronics
Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1.

MODELING ERROR (approximation, linearization, simplification,...)

u (t )

MODEL

x& = f ( x, u )
xmod el xreal

u (t )

REAL SYSTEM
x&real = f ( xreal , u )

x& = f ( x, u ) + wmod el error

Department for Automatic Control and Electronics
Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1.

MODELING ERROR (approximation, linearization, simplification,...)

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1.

MODELING ERROR (approximation, linearization, simplification,...)

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1.

MODELING ERROR (approximation, linearization, simplification,...)

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
2.

DISTURBANCES

d (t )
u (t )

x& = f ( x, u )

y (t )

x& = f ( x, u ) + wsystem disturbances

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
d (t )

2.

DISTURBANCES

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
2.

d (t )

DISTURBANCES

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
2.

DISTURBANCES

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
2.

DISTURBANCES

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
1. MODELING ERROR
2. DISTURBANCES

x& = f ( x, u ) + wmod eling error + wsystem disturbances

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
Why not to use
an open-loop control?
3.

STABILITY

u (t )

x& = f ( x, u )

y (t )

Unstable
system

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

1. REQUIREMENTS

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

1. REQUIREMENTS
Stability margins (gain and phase),
settling time,
overshoot percentage (aperiodic response?),
rise time,
do not use too much fuel, reduce total cost, shortest path, ...
constraints on control or/and states

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

1. REQUIREMENTS
2. SELECTING SENSORS & ACTUATORS
What should be sensed and controlled?
Consider sensor noise and linearity as key disciminators
Cost
Realibility
Accuracy
Size

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

u (t )

x& = f ( x, u )

y (t )

1. REQUIREMENTS
2. SELECTING SENSORS & ACTUATORS
3. GETTING THE MODEL
Analytically derived model
Model obtained by measuring data
Model reduction

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

u (t )

1.
2.
3.
4.

x& = f ( x, u )

y (t )

REQUIREMENTS
SELECTING SENSORS & ACTUATORS
GETTING THE MODEL
DESIGNING CONTROLLER
Select technique (SISO, MIMO, classical, state-space)
PID, Robust, Adaptive, LQR, Nonlinear, MPC, NMPC, ...

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

u (t )

1.
2.
3.
4.
5.

x& = f ( x, u )

y (t )

REQUIREMENTS
SELECTING SENSORS & ACTUATORS
GETTING THE MODEL
DESIGNING CONTROLLER
MEETING REQUIREMENTS?
Analysis, simulation, experimentation, ...
Iterate if not...

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Industrial robots

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Mobile robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Humanoid robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Service robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Cooperative robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Funny robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Funny robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
u (t )

x& = f ( x, u )

y (t )

ROBOTICS:
Funny robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

Moder Control Systems, Dorf R.C., Bishop R.H.

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
PROCESSES:

Moder Control Systems, Dorf R.C., Bishop R.H.

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
PROCESSES:
minimum waste emission by controlling power plants
control of more than 90 variables for optimum power production
efficient use of energy resources
temperature
pressure
level
flow

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
RENEWABLE ENERGIES:

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
OPTIMIZATION PROBLEMS:
Using control theory in economic applications
Pruduction planning
Inventory control

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

MOTIVATION
BIOMEDICAL SYSTEMS:
Diagnosis
Prosthetics
Bilogical control systems

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
ROBOTICS:
Cooperative robotics

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
MODEL PREDICTIVE CONTROL:
Stochastic MPC

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
MODEL PREDICTIVE CONTROL:
SOLAR POWERPLANT

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES
MODEL PREDICTIVE CONTROL:
TERMO POWERPLANT

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

ASSUMPTIONS

1. SISO systems

1. MIMO systems

2. Linear systems

2. Nonlinear systems

3. Without constraints

3. With constraints

4. G(s)

4. State space

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic

DIFFERENT DESIGN TOOLS FOR LINEAR SYSTEMS

S DOMAIN

FREQUENCY DOMAIN

AF DOMAIN

STATE SPACE DOMAIN

T

1
V ( x(0), u (t )) = (q( x(t )) + u (t )T u (t ))dt + m( x(T ))
20

x& = f ( x) + g ( x)u

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014

Adnan Tahirovic