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• 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