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    SC4070 - Control Systems Lab: Course Information For Academic Year 2012/2013, Q3

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    makroum
    This document provides course information for the SC4070 - Control Systems Lab course offered in the third quarter of the 2012/2013 academic year. The course is intended for graduate students and involves hands-on experience designing and implementing computer-controlled systems on real laboratory processes. Students will work in groups of three on lab projects involving systems like inverted pendulums or container cranes. The course involves lectures, a lab demonstration, three lab sessions, development of a simulation model, system identification, controller design, reporting and a final presentation. The grade is based on lab participation, a written report by each group, and a final group presentation of the results.

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    SC4070 - Control Systems Lab: Course Information For Academic Year 2012/2013, Q3

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    This document provides course information for the SC4070 - Control Systems Lab course offered in the third quarter of the 2012/2013 academic year. The course is intended for graduate students and involves hands-on experience designing and implementing computer-controlled systems on real laboratory processes. Students will work in groups of three on lab projects involving systems like inverted pendulums or container cranes. The course involves lectures, a lab demonstration, three lab sessions, development of a simulation model, system identification, controller design, reporting and a final presentation. The grade is based on lab participation, a written report by each group, and a final group presentation of the results.

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    This document provides course information for the SC4070 - Control Systems Lab course offered in the third quarter of the 2012/2013 academic year. The course is intended for graduate students and involves hands-on experience designing and implementing computer-controlled systems on real laboratory processes. Students will work in groups of three on lab projects involving systems like inverted pendulums or container cranes. The course involves lectures, a lab demonstration, three lab sessions, development of a simulation model, system identification, controller design, reporting and a final presentation. The grade is based on lab participation, a written report by each group, and a final group presentation of the results.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    30 views3 pages

    SC4070 - Control Systems Lab: Course Information For Academic Year 2012/2013, Q3

    Uploaded by

    makroum
    This document provides course information for the SC4070 - Control Systems Lab course offered in the third quarter of the 2012/2013 academic year. The course is intended for graduate students and involves hands-on experience designing and implementing computer-controlled systems on real laboratory processes. Students will work in groups of three on lab projects involving systems like inverted pendulums or container cranes. The course involves lectures, a lab demonstration, three lab sessions, development of a simulation model, system identification, controller design, reporting and a final presentation. The grade is based on lab participation, a written report by each group, and a final group presentation of the results.

    Copyright:

    © All Rights Reserved
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    of 3

    SC4070 Control Systems Lab

    Course Information for Academic Year 2012/2013, Q3

    General Information

    Course year

    Msc programs

    Term

    third quarter (Feb 11th to the end of March) This course, provided by the Delft Center for Systems and
    Control, TU Delft, is intended for MSc (graduate-level) stu4 (112 hours)
    dents who already have basic knowledge of control thean undergraduate feedback control course, ory (at the BSc-level as taught, for instance, at Electrical,
    Mechanical or Aerospace Engineering and Applied Maths).
    experience with Matlab, Simulink
    The main benefit from this course will be the hands-on ex4 lectures in February:
    perience with the design and implementation of a computercontrolled system on a real laboratory-scale process. RelaMon 11th, Fri 15th, Fri 22nd, Mon 25th
    tively abstract parts of control theory will become clear and
    1 lab demo:
    tangible.

    ECTS credits
    Prerequisites

    Lectures

    Mon February 18th


    Lab sessions1

    week 9, 10 and 11 in 3mE 8f-0-420,

    Students will be working together with the same lab setups.


    The lab projects are carried out in groups of three students
    (more details are given further in this text).

    Mekelweg 2
    Lecturer

    dr. ir. Alessandro Abate


    Delft Center for Systems and Control
    tel: +31-15-27 85606
    email: [email protected]

    Lab Assistants

    ir. Hans Yoo


    Delft Center for Systems and Control
    tel: +31-15-27 84106
    email: [email protected]
    ir. Hildo Bijl
    Delft Center for Systems and Control
    tel: +31-15-27 81362
    email: [email protected]

    Examination

    written report, final presentation


    evaluating results of the lab sessions

    WWW page

    http://www.dcsc.tudelft.nl/ sc4070

    Blackboard

    search course SC4070 on


    http://blackboard.tudelft.nl

    There are three sessions of about 4 hours each. The


    exact days and times will be scheduled during the first
    lectures.

    Course Subject
    Practically all modern control systems are based on digital
    computers and specialized micro-controllers. By using digital control, better performance and improved functionality
    can be obtained than with analog systems.
    The goal of this course is to gain hands-on experience with
    the design and implementation of a computer-controlled
    system. We will use a discrete-time approach, in which the
    system to be controlled is modeled both by discretizing an
    available continuous-time physical model and by using system identification. A systematic, MATLAB-supported design methodology is followed, using a state estimator (observer) and a state-feedback controller.
    In the first two weeks, four lectures are given in order to refresh the theoretical and methodological background. Furthermore, a lab demo will introduce the students to the
    available experimental setups. Then, the students work in
    groups of three in the lab, with a setup of their choice (inverted pendulum, helicopter model, inverted wedge, or
    the container crane model). The mathematical model of
    the process to be controlled is provided. The assignment is
    to be stated in terms of the control objective. The results
    will be summarized in a report and a final presentation will
    be given. The grade is determined on the basis of lab participation, the report and the presentation.
    Keywords: Computer-controlled systems, analysis of
    discrete-time systems, practical design of sampled-data
    controllers, implementation of controllers in M ATLAB and
    Simulink.

    Instructional Objectives
    After successfully completing the course, you should be
    able to:
    - perform system identification or parameter estimation
    of the setup at hand,
    - develop a model of a (nonlinear) dynamic system in
    Simulink, linearize (trim) and discretize the model,
    - select properly the sampling period, given specifications for the closed-loop performance,
    - design a discrete-time controller and observer, using
    effectively the Control Systems Toolbox of M ATLAB,
    - implement the controller in Simulink and interface it
    to the physical process with the help of the Real-Time
    toolbox,
    - evaluate the performance of the closed loop and modify the design parameters if necessary.

    Course Material
    The material includes electronic copies of the transparencies used in the lectures, M ATLAB demos and examples.
    Books Computer Controlled Systems 3rd ed.
    by
    K.J. Astrom and B. Wittenmark (Prentice Hall, 1997)
    can be consulted, mainly Chapters 1 through 9 are
    of interest for this course. A number of supplements
    (errata list, solutions manual, etc.) are available from
    the course WWW page and also from the authors at
    http://www.control.lth.se.
    Feedback Control of Dynamic Systems 5th ed. by Franklin,
    Powell, and Emami-Naeini. Prentice Hall, 2006.
    Slides in PostScript and PDF formats are available for
    download from the course WWW page. You may want to
    print the transparencies before each lecture and use them
    for your notes.
    MATLAB scripts and demos can be downloaded from
    the course WWW page. These will help you to gain
    more insight both in the theoretical matter and the
    implementation.

    2. Implement a Simulink model of the setup as your


    home preparation. Prepare also an experiment to
    identify the parameters of the system and test the
    experiment on the Simulink model (week 7 and 8).
    3. Calibrate the model to approximately match the
    process. Carry out identification experiments, collect
    data (lab sessions, weeks 9-11).
    4. Estimate model parameters through system identification (lab sessions, weeks 9-11).
    5. Design a controller for the simulation model as your
    home preparation.
    6. Test and fine-tune the controller on the process (lab
    sessions, weeks 9-11).
    7. Write the final report (max 10 pages), prepare the
    presentation.
    8. Present the results (presentations will take place in
    week 12 of Q3 week of March 18th).
    9. Write report (week 12 and week 13). Deadline: hand
    in a printed copy by Friday AM March 29th, 2013.
    One lab session takes four hours, the exact days and times
    will be scheduled during the first two lectures, taking into
    account your preferences and constraints. If the schedule
    permits, you may, of course, spend in the lab as much
    time as you wish. Let us stress that it makes little sense
    to come to the lab sessions unprepared. For this course it
    holds perhaps more than for other ones that what you get
    out of it is directly proportional to what you yourself put in.
    Matlab and Simulink. One of the objectives is to learn to
    use M ATLAB, Simulink and the Control Systems Toolbox
    for computer-assisted design, analysis and implementation
    of control systems. It is important that you can use this
    software for your home preparation for the lab sessions.
    Matlab and Simulink including the Control Systems
    Toolbox is available via blackboard. If you have no home
    PC available you can use the computers located in the
    labs, discuss this with the lecturer. Make sure that the
    Matlab or Simulink models that you create on your home
    PC are compatible with the Matlab version installed at the
    lab-machines (R2012B).

    Course Method
    The main ingredients of this course are lectures, homework preparation, practical laboratory sessions, reporting
    and presentation.
    Lectures. There are four lectures in the first two weeks of
    the quarter, two lectures per week. The purpose of the lectures is to refresh the relevant theory and methodology.
    Lab demo. Will be given in the first two weeks and will
    introduce the experimental setups to the students.
    Laboratory sessions are the most essential part of this
    course. The purpose is to gain hands-on experience with
    the control of a real physical process. The lab sessions have
    the following structure:
    1. Choose your two partners and the laboratory setup
    (first week of education, week 7) The work is done
    in groups of three: email names, student id and
    email addresses to the Instructor .

    Final grade. The grade is determined on the basis of lab


    participation, of your report (one report per group), and of
    the final presentation. Both the report and the presentation
    are in English.
    The main criteria for the report are completeness and clarity. On the basis of the report, any educated reader should
    be able to reproduce your results with the laboratory setup.
    All choices made (such as the selection of the sampling period, design parameters, etc.) must be properly motivated.
    Evaluate critically the results obtained. Deliver the M ATLAB / Simulink files you developed per e-mail to the Lab
    Assistants. The report is max 10 pages, and must be delivered on paper. Please indicate exact contributions of
    each of the students in the group on the report.
    The presentation should take 20 minutes in total, 15 minutes the presentation itself and 5 minutes for questions both

    by fellow students and the lecturers. It is important that


    each member of the group gives a part of the presentation
    (approximately 7 minutes). A beamer will be available.
    The suggested (approximate) distribution of the study load
    over the term is given in the following table.
    Week

    Lectures

    Home prep. 10

    10

    Laboratory

    10

    11

    10

    10

    46

    15

    Report
    14

    14

    13 Total
    8

    Presentation

    Total

    12

    15

    15

    19

    11

    12

    20

    11

    12

    100

    Questions? You are welcome to ask questions and discuss


    problems before or after each lecture or during the laboratory sessions. Please, make an appointment with
    the lecturer for theoretical questions or questions on
    models;
    the lab assistants for questions on models or on lab
    experiments.

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