Modelling and Control:
Lecture Notes for the Project Oriented Course in Process
Report UPTEC 94025K, 130 pp, March 1994.
Earlier version, in Swedish: Report UPTEC 89004K,
- From the Preface:
The present lecture notes have been developed for use in
the project oriented course in
within the Engineering Physics program at
Alternative approaches to modelling, identification and
controller design are presented briefly.
The focus is almost exclusively on main results and
on their interpretation and practical relevance.
Theoretical derivations are mostly excluded, but
references are given for the interested reader.
The course ``Processreglering'' on advanced
control methods is project oriented.
One of its aims is to fortify knowledge that
has been introduced in previous courses.
This is done by active learning in a goal-oriented
project, which requires a major effort
by all participants.
A further goal is to cover important topics which
are discussed only briefly, or not at all,
in the basic courses on
control and identification.
This includes physical modelling, LQG control,
direct and indirect adaptive control,
decoupling of multivariable processes, implementation
aspects, the interface between process and computer,
the human-computer interface, and more.
Finally, the course provides the opportunity to
master programming tools which are becoming
increasingly widespread in industry;
the control programs are written in
Matlab under Linux. Real-time facilities are provided.
The user interface utilizes
Netscape Navigator and it is developed in HTML
and Java. Indirect adaptive controllers will be implemented
as compiles Matlab routines.
Last, but not least: this is (finally) a course
in which you will have time to explore
and to use your creativity.
The different project variants are all centered
around the control of a single type of laboratory
the Coupled Electric Drives by Tecquipment Ltd.
Different groups use different methods for
modelling and controlling this process.
Some of the alternatives for obtaining process
Methods for obtaining models are discussed in Part I of the notes.
Part II covers some strategies for controller design.
Direct adaptive control algorithms are discussed in
separate lecture notes.
- physical modelling
- frequency domain identification
- parametric time domain identification
- recursive identification, used in adaptive control.
- Contents of Part I:
Modelling and Identification
- 1. Introduction: the laboratory process
- 2. Modelling
- 3. Modelling of the laboratory process: Physical modelling
- 4. Modelling of the laboratory process: Frequency domain
- 5. System identification with prediction error methods
- Contents of Part II:
Methods for Regulator Design
- 1. Introduction
- 2. PID Control
- 3. State feedback with observers
- 4. Linear quadratic optimization: state space methods
- 5. Regulator and servo synthesis by polynomial methods
- 6. Linear quadratic optimization: polynomial methods
- 7. Robustness analysis and robust design
Home Page for 1999.
Home Page for 2000.
Course introduction for 2000 (in Swedish).
- Book Chapter related to the themes
of Chapter 5 and 6 of Part II.
- Matlab Conference paper describing
our computer system.