Control Theory seminar
This 4-part technical seminar offers an introduction to control theory which is of value to electronic, electrical and mechanical engineers. The aim is to provide engineers with an insight into elementary control problems and their solution. An understanding of basic engineering mathematics is recommended to benefit fully from this course.
- Fundamental concepts: Linear systems, transient response, frequency analysis, classification of systems
- Feedback systems: Effects of feedback, Nyquist analysis, stability margins, phase compensation
- Transient response: Transient specifications, steady state error, PID control, root locus analysis
- Discrete time systems: Sampled systems, the z-transform, aliasing, delay & reconstruction, discrete transformations
- The course opens with a review of fundamental concepts, including linear differential equations and the Laplace transform. The behaviour of classical first and second order systems is examined in both the time and the frequency domains.
- The second section introduces closed loop control and the effects of negative feedback in the frequency domain. The Nyquist plot is introduced as a valuable tool to assess control loop stability and performance, and is applied to the design of phase compensators.
- The central theme of section three is control performance in the time domain. The design and tuning of PID controllers is explained using the step response, and various methods of assessing quality of response are presented. The root locus plot then is introduced as a method of designing complex systems to meet transient response specifications.
- Section four focuses on discrete time systems. The z-transform is introduced, and the relationship between the s-plane and z-plane explained in detail. The design of digital closed loop controllers is then described using emulation and direct design methods. Also covered are some important practical considerations when implementing discrete time controllers, including aliasing, sample rate selection, the effects of computational delay, and zero order hold.
- The material is supported by many examples and tutorials, and includes a short question & answer session at the end of each section. Matlab is used throughout the seminar to introduce new concepts and to illustrate each major topic. A printed copy of the seminar manual containing the presentation material is issued to each attendee at the start of the course.
This seminar is often taught in conjunction with the State Space Control Seminar - 4 Part Series seminar, forming a comprehensive 2-day course in control theory.
The content in these videos is directly applicable to real-time control applications that are supported by TI's C2000 Microcontrollers. For more information about Motor Control, please view the Introduction to Motors & Motor Control Series.