ECTS credits ECTS credits: 6
ECTS Hours Rules/Memories Student's work ECTS: 99 Hours of tutorials: 3 Expository Class: 24 Interactive Classroom: 24 Total: 150
Use languages Spanish, Galician
Type: Ordinary Degree Subject RD 1393/2007 - 822/2021
Center Higher Polytechnic Engineering School
Call:
Teaching: Sin docencia (Extinguida)
Enrolment: No Matriculable
The design of control systems for robots and/or industrial processes is essential for the autonomous operation of this type of systems. This subject focuses on the study of the fundamentals of control systems for discrete and continuous systems, both in their analysis and design. The aim of control systems is to provide flexibility and autonomy, to allow robotic systems and/or industrial processes to adapt to changing situations in the environment and to reduce human intervention. The design and implementation of a control system involves several disciplines such as mathematics, physics, mechanics, electronics, and computer science. This course will introduce the fundamentals and basic principles to identify and analyse physical systems to design or analyse a basic control system that, coupled to the first one, allows to control it to modify its behaviour according to the desired specifications.
The degree establishes the following contents:
- Introduction to control systems.
- Identification of systems and transfer function.
- Modelling of dynamic systems.
- Stability.
- Analysis and identification of time response.
- Transient response analysis.
- Root locus.
These contents are developed according to the following structure, where an estimate of the number of classroom teaching hours (CH) and non-classroom hours (NCH) is indicated:
BLOCK I. Continuous systems
Subject 1. Mathematical model of dynamic systems (6 CH + 10 NCH)
1.1 Introduction.
1.2 Control techniques.
1.3 Design of control systems.
1.4 Mathematical modelling: Linear and non-linear systems. Linearisation.
1.5 Transfer function, block diagram and signal flow.
1.5 The concept of feedback: Closed loop vs. open loop.
1.6 Modelling of electrical and mechanical systems.
Behavioural analysis. Transient and stationary response (6 CH + 10 NCH)
2.1 Transfer function. Poles and zeros. Decomposition into simple fractions.
2.2 Continuous time elementary signals.
2.3 First and second order systems. Higher order systems: Equivalent reduced system.
2.3 Transient Response to Continuous Reference Signals.
2.4 Steady-state errors of systems with feedback.
2.5 Identification of systems by knowing their response.
2.6 Sensitivity of control systems to parameter variation.
Theme 3. Stability and Analysis of control systems in the s-plane (4 CH + 7 NCH)
3.1 Concept of Stability in Continuous Systems.
3.2 Routh-Hurwitz Absolute Stability Criterion for Continuous Systems.
3.3 Root locus method and general rules of thumb for its construction.
3.4 Root locus parameter design considerations.
Theme 4. Frequency domain analysis of a continuous system (4 CH + 7 NCH)
4.1 The concept of frequency response.
4.2 Bode diagram.
4.3 Frequency response: Specified time behaviour in the frequency domain.
BLOCK II. Discrete systems
Topic 5. Model and stability in discrete systems (2 CH + 3 NCH)
5.1 Differences between continuous and discrete-time systems.
5.2 Transfer Function of Discrete Linear Systems.
5.3 Block Diagram.
5.4 Stability in discrete systems (z-plane). Jury's stability criterion for discrete systems.
5.5 Relative stability of a sampled system.
Topic 6. Time and frequency domain analysis (2 CH + 3 NCH).
6.1 Discrete-time elementary signals and transient response of discrete systems.
6.2. Steady State Errors of Discrete Systems.
6.3. Root locus in the z-plane.
6.4. Frequency response.
Interactive sessions:
The theoretical contents are complemented with interactive sessions in which the contents of the subject will be illustrated and will allow students to develop transversal competences of the degree. The interactive sessions will take place in 2-hour sessions, with a total of 12 sessions.
The theoretical contents are complemented with a interactive sessions in which the contents of the subject will be illustrated and will allow students to develop transversal competences of the degree. Interactive sessions will be carried out in 2-hour sessions, with a total of 12 sessions.
The following laboratory practices sessions are proposed during interactive sessions:
• PRACTICE 0. Fundamentals of Matlab for the analysis of control systems (4 HP + 6 HNP).
• PRACTICE 1. Transfer function, block diagram e system modeling (4 HP + 6 HNP)
• PRACTICE 2: First and second order systems (8 HP + 12 NHP)
• PRACTICE 3: Stability of control systems (4 HP + 6 HNP)
• PRACTICE 4. Bode diagram: Frequency analysis (4 HP + 6 HNP)
• PRACTICE 5. Analysis and modeling of discrete systems (2 HP + 3 HNP)
Basic bibliography:
• OGATA, Katsuhiko, Ingeniería de control moderna, 5ª edición. Prentice Hall, Madrid, 2010
• Dorf, Richard C.; Bishop, Robert H. Sistemas de control moderno, Pearson Prentice-Hall, Madrid, 2005.
• Dorf, Richard C.; Bishop, Robert H. Modern Control Systems, Pearson Prentice-Hall, Madrid, 2022.
• OGATA, Katsuhito, Problemas de ingeniería de control utilizando Matlab, Madrid : Prentice Hall, 1999.
• NISE, Norman, Control Systems Engineering. Wiley,2019.
Complementary bibliography:
• Interactive Live Script Control Tutorials for MATLAB and Simulink. https://es.mathworks.com/campaigns/products/control-tutorials.html.
• Control tutorials for Matlab and Simulink. Carnegie Mellow University. http://ctms.engin.umich.edu/CTMS/index.php?aux=Home
• OGATA, Katsuhiko, Sistemas de control en tiempo discreto, Prentice-Hall, México, 1996
• SOLIMAN, Samir S.; SRINATH, Mandyam D., Continuous and discrete signals and systems, Prentice Hall, , 1998
• SALGADO, Mario E.; YUZ, Juan I.; ROJAS, Ricardo A. Análisis de sistemas lineales, Prentice-Hall, CEA, Madrid, 2005.
In this subject students work so that they are going to acquire basic, general, transversal and specific competences, all of which are included in the degree report:
Basic competences:
- CB2: That students know how to apply their knowledge to their work or vocation in a professional manner and possess the skills that are usually demonstrated through the development and defence of arguments and problem solving within their area of study.
- CB5: That students have developed those learning skills necessary to undertake further studies with a high degree of autonomy.
General competences:
- CG1: Knowledge of basic subjects and technologies, enabling them to learn new methods and technologies, as well as providing them with great versatility to adapt to new situations.
- GC3: Ability to use computer tools for modelling, simulation, and design of engineering applications.
- GC4: Knowing the technological needs of society and industry and being able to improve services and production processes by applying current robotics technology, through the choice, acquisition, and implementation of robotic systems in different applications, both industrial and services.
- GC5: Being able to obtain and analyse information on circuits, machine elements, automatic control, sensors, and computer systems, with the ultimate aim of achieving autonomous and flexible robotic applications.
- GC6: Conceive, calculate, design, and implement algorithms, equipment or installations in the field of robotics, for industrial or service applications, taking into account aspects of quality, safety, environmental criteria, rational and efficient use of resources.
Specific competences:
- CE6 - Knowing the basics of electrical engineering and understanding the operation of electrical machines, especially AC/DC motors, and knowing which are the most suitable energy sources for fixed or autonomous robots.
- SC10 - Analyse and understand the configuration of an automatic control system in order to modify or update it by means of techniques that allow the design, configuration and adjustment of controllers.
- SC11 - Knowledge of the functions and programming of different automatons in the field of robotics.
Transversal competences:
- CT1 - Capacity for analysis and synthesis.
- CT3 - Ability to work individually, with a self-critical attitude.
- CT4 - Ability to work in groups and deal with problematic situations collectively.
- CT9 - Ability to use information and communication technologies (ICT).
- CT12 - Ability to solve problems through the integrated application of their knowledge.
The course consists of both theoretical and practical content. In the expository sessions, the theoretical contents of the subject will be presented with the support of multimedia materials that will be completed with problems. Student participation in the lectures will be encouraged. Attendance at the lectures is compulsory.
The interactive sessions will consist of the use of control system simulation software to analyse and study the different concepts introduced in the lectures and the performance of experimental assemblies of electrical systems to analyse their modelling and response. To carry out the practical sessions, students will be provided with scripts reflecting their objectives, material and methods. Attendance to the interactive sessions is compulsory.
For the study of the subject, students will have at their disposal the basic bibliography of the subject, as well as the support material used by the teacher, which can also be accessed from the Virtual Campus of the USC.
The subject will be assessed by means of the following activities:
- Final written exam: this will account for 50% of the total mark. This test will consist of a theoretical part and a practical part of problem solving. In order to pass the exam, it will be necessary to obtain a score of 5 out of 10 in the theoretical part. An overall score in the exam of 4 out of 10 points will allow an average of the rest of the activities of the subject to be obtained.
- Evaluation of the practical work: the evaluation of the practical work carried out by the students in the interactive sessions will account for 30% of the final qualification. Attendance at the interactive sessions is compulsory. In order to pass the subject, it will be an essential requirement to have a qualification in the practical sessions of at least 50% of its total value.
- Continuous assessment activities: 15% of the total mark will be given by the continuous assessment activities proposed by the teacher during the semester.
- Participation in the lectures, tutorials and proposed activities: these will account for 5% of the total mark for the subject.
All students have the right to attend the second chance exam. The mark obtained in each of the parts: practical work, continuous assessment activities and students' active participation is maintained, as well as its weight in the final mark.
Attendance at the interactive sessions is compulsory, unless there is a justified reason. It will not be possible to pass the subject unless 80% of the practical sessions have been attended. Non-attendance at the practical sessions will prevent students from passing the subject at both the ordinary and the second opportunity.
Relationship between assessment systems and assessed competences.
Relationship between evaluation systems and evaluated competencies:
Continuous assessment activities, participation in the lectures, tutorials and proposed activities and final exam: CG1, CG5, CE10, CT1, CT12.
Practices: CG5, CG6, CE10, CT1, CT3.
The rest of the competences will be worked but not evaluated.
For cases of fraudulent performance of exercises or tests, the provisions of the "Regulations on the assessment of students' academic performance and review of qualifications" shall apply, which in article 16 states:
The fraudulent performance of any exercise or test required in the assessment of a subject will result in a failing grade in the corresponding exam session, regardless of the disciplinary process that may be followed against the offending student. Fraudulent work shall be considered to include, among others, work plagiarised or obtained from publicly available sources without reworking or reinterpretation and without citation of the authors and sources.
EVALUATION OF SECOND ENROLMENT STUDENTS
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Second enrolment students who have passed the practices in previous calls will be exempted from making the practices. As for the final exam and the continuous evaluation process, they will follow the same process as students of first registration. The qualification of the practical part will be kept for three academic years, after which the practical part must be repeated.
EVALUATION OF STUDENTS WITH DISPENSATION
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In the case of students with dispensation of attendance, they will be exempted from attending lectures, but they will have to do the practices in person. The same evaluation criteria will be applied as to the rest of the students.
The dedication to presential activities is organised into:
- 24 hours of lectures (attendance recommended).
- 24 hours of laboratory practice (compulsory attendance).
- 4 hours of individual tutorials (attendance recommended)
- 3 hours of small group tutorials (attendance recommended)
- 5 hours of assessment activities (attendance compulsory).
Non-attendance hours are also contemplated:
- 36 hours revision of theory and problems (individual work)
- 36 hours preparation of lab sessions (individual or small group work).
- 8 hours of tutorials (individual or small group work).
- 10 hours preparation and revision of the final exam (individual work).
This time distribution would be sufficient for an average student to obtain the highest possible mark.
Due to the high correlation between the concepts developed in the theory classes and the contents of the lab-sessions, students are recommended to be consistent in the study of the subject, coming to the practical sessions with the concepts already revised and worked on. The practical sessions are an important support for the theoretical concepts to settle and will facilitate the understanding of the subject. It is recommended that students have passed Physics I, Physics II, Fundamentals of Programming, Mathematics I and Mathematics II.