Psau Intro

• NAZIV KURSA: Projektovanje sistema automatskog upravljanja

• BROJ ECTS BODOVA: 7

• UKUPNO SATI NASTAVE: 62

OPĆE INFORMACIJE O KURSU

• BROJ SATI PREDAVANJA: 39

• BROJ SATI LAB. VJEŽBI: 23

• NASTAVNI ANSAMBL: Adnan Tahirović, Mehmed Brkić, Haris Čaušević

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

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

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

• SEMINARSKI RAD: 30 (Svaki student je obavezan odslušati odbranu barem 3seminarska rada)

NAČIN POLAGANJA

seminarska rada)

• ZAVRŠNI 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 Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

1. MOTIVATION2. ROOT LOCUS DESIGN (LAB 1)3. 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)

PROGRAM

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. ESTIMATORS10. ADAPTIVE CONTROL (LAB 9) 11. MODEL PREDICTIVE CONTROL (LAB 10)

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

Why not to use an open-loop control?

),( uxfx =&)(tu )(ty

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

),( uxfx =&

MOTIVATION

)(tu

1. MODELING ERROR

MODEL

Why not to use an open-loop control?

),( uxfx =&

),( uxfx realreal =&

)(tu

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

errorelwuxfx −+= mod),(&

realel xx ≠mod

REAL SYSTEM

MOTIVATION

)(tu

1. MODELING ERROR (approximation, linearization, simp lification,...)

MODEL

Why not to use an open-loop control?

),( uxfx =&

),( uxfx realreal =&

)(tu

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

errorelwuxfx −+= mod),(&

realel xx ≠mod

REAL SYSTEM

MOTIVATION

1. MODELING ERROR (approximation, linearization, simp lification,...)

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

1. MODELING ERROR (approximation, linearization, simp lification,...)

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

1. MODELING ERROR (approximation, linearization, simp lification,...)

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

)(tu )(ty

2. DISTURBANCES )(td

Why not to use an open-loop control?

),( uxfx =&)(tu )(ty

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

esdisturbancsystemwuxfx −+= ),(&

MOTIVATION

2. DISTURBANCES

)(td

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

2. DISTURBANCES

Why not to use an open-loop control?

)(td

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

2. DISTURBANCES

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

2. DISTURBANCES

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

1. MODELING ERROR2. DISTURBANCES

Why not to use an open-loop control?

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

esdisturbancsystemerroreling wwuxfx −− ++= mod),(&

MOTIVATION

)(tu )(ty

3. STABILITY

Why not to use an open-loop control?

),( uxfx =&)(tu )(tyUnstable system

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

1. REQUIREMENTS

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, 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� constraints on control or/and states

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, 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� Size

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

),( uxfx =&)(tu )(ty

1. REQUIREMENTS 2. SELECTING SENSORS & ACTUATORS2. SELECTING SENSORS & ACTUATORS3. GETTING THE MODEL

� Analytically derived model� Model obtained by measuring data� Model reduction

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

),( uxfx =&)(tu )(ty

1. REQUIREMENTS 2. SELECTING SENSORS & ACTUATORS2. SELECTING SENSORS & ACTUATORS3. GETTING THE MODEL4. DESIGNING CONTROLLER

� Select technique (SISO, MIMO, classical, state-space)� PID, Robust, Adaptive, LQR, Nonlinear, MPC, NMPC, ...

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

FEEDBACK CONTROL APPROACH

),( uxfx =&)(tu )(ty

1. REQUIREMENTS 2. SELECTING SENSORS & ACTUATORS2. SELECTING SENSORS & ACTUATORS3. GETTING THE MODEL4. DESIGNING CONTROLLER5. MEETING REQUIREMENTS?

� Analysis, simulation, experimentation, ...� Iterate if not...

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Industrial robots

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Mobile robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Humanoid robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Service robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Cooperative robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Funny robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Funny robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLES

),( uxfx =&)(tu )(ty

ROBOTICS:

� Funny robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

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

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

PROCESSES:

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

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, 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� level� flow

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATIONRENEWABLE ENERGIES:

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

OPTIMIZATION PROBLEMS:

� Using control theory in economic applications� Pruduction planning� Inventory control

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

MOTIVATION

BIOMEDICAL SYSTEMS:

� Diagnosis� Prosthetics� Bilogical control systems

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLESROBOTICS:

� Cooperative robotics

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLESMODEL PREDICTIVE CONTROL:

� Stochastic MPC

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLESMODEL PREDICTIVE CONTROL:

� SOLAR POWERPLANT

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

SOME EXAMPLESMODEL PREDICTIVE CONTROL:

� TERMO POWERPLANT

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

ASSUMPTIONS

1. SISO systems 1. MIMO systems

2. Linear systems

3. Without constraints

4. G(s)

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

2. Nonlinear systems

3. With constraints

4. State space

DIFFERENT DESIGN TOOLS FOR LINEAR SYSTEMS� S DOMAIN � FREQUENCY DOMAIN

� AF DOMAIN � STATE SPACE DOMAIN

Department for Automatic Control and Electronics Department for Automatic Control and Electronics

Faculty of Electrical EngineeringFaculty of Electrical Engineering

University of SarajevoUniversity of SarajevoSarajevo, October, 2014

Adnan Tahirovic

� AF DOMAIN

))(())()())(((2

1))(),0((

0

TxmdttututxqtuxVT

T ++= ∫

uxgxfx )()( +=&

� STATE SPACE DOMAIN