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EM 232 - Introduction to Linear Control systems (Controlo Automático)
Introduction to automatic control system. Control system design: Open loop vs. closed loop control. Mathematical model of systems. Differential equations of physical systems; linear approximation of physical systems; the transfer function and block diagram of linear systems; analogous systems. Time response: first-order and second-order time domain systems response; the relationship between the s-plane roots location and transient response; the steady state error of feedback control systems. Root Locus: Concept and procedure; Rules for plotting the Root Locus for positive k; the closed loop response; Control analysis and design utilizing Root Locus method. Frequency response: Frequency response function; Bode diagram; Bode magnitude and phase plot straight line approximation; Nyquist diagram. Stability: Conformal mapping: Cauchy’s theorem; The Nyquist criterion; closed-loop response and Nyquist diagrams; gain and phase margins. Phase Lead, Lag and Lead-Lag compensation. Multimode controllers: P; PI; PD; PID; Ziegler&Nichols first and second method. Simulation of control systems using Matlab. Objectives The purpose of this course is to present the basic concept of the linear control systems engineering and its application to simple cases. |