ELDI2002 - Control for Digital Electric Energy


New from the academic year 2022/2023

Examination arrangement

Examination arrangement: Aggregate score
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
Oral exam 30/100 30 minutes E
Portfolio 70/100

Course content

Linear and nonlinear state-space modelling applied to relevant modern electrical engineering examples—including but not limited to power converters, electrical machines, wind turbines, etc. Transforming steady-state time-periodic state-space models into equivalent ones with time-invariant solutions (via Park transformation). Equilibrium analysis, sets and conditions for existence. Linearization of nonlinear models. Introduction to industry-standard linear control structures: open loop equilibrium control, P, PI, PID (current) control, feed-forward control, state feedback, (nested) outer loops for voltage regulation, droop control, cascaded control, and signal synchronization (e.g.: PLLs).

Time-responses in Simulink, phase portraits analysis in Matlab, modal transformation and eigenvalue analysis (including parametric sweeps, sensitivity analysis). Frequency domain analysis via Laplace transformation and associated methods such as transfer functions, block diagrams, bode-plots, root locus and impedance modelling and Nyquist criteria. Controllability and observability.

Tuning of PID & state feedback controllers manually, and via e.g.: Ziegler Nichols, Pole placement, etc. Tuning for time-scale separation between inner and outer loops. Introduction to Lyapunov’s direct method (limited to linear systems). Robust controller design for disturbance rejection in the context of cyber-faults and attacks of electrical equipment.

Learning outcome


After completing the course, the student will have acquired knowledge about mathematical modelling of the most relevant dynamical power devices (converters, machines, turbines, etc.) in the time- and frequency-domain. The student will have gained understanding on the main differences between linear and nonlinear (electrical) systems, how to characterize their equilibrium and ensure its existence. The student will become familiar with the most relevant modelling formalisms used in modern electrical engineering practice such as state-space modelling as well as (transfer function-based) impedance methods. In addition, the student will learn three stability analysis methods based on eigenvalue analysis, Nyquist criteria and Bode plot methods as well as Lyapunov’s direct method (limited to linear systems). The student will be able to design and synthesize state-feedback and P, PI, PID (current) controllers for relevant electric engineering systems and with a sufficient degree of robustness to external disturbances (e.g.: cyber-faults and attacks). In addition, the student will also become familiar with the most common controllers in industrial use including voltage and frequency outer-loops, droop controllers as well as synchronization techniques such as the phase lock loop (PLL).


Know how to analyze stability of dynamical electrical systems, set control objectives and design and synthetize stabilizing and robust controllers for applications relevant in modern electric power engineering.

General competence:

Be able to carry out small development projects independently and contribute actively in the classroom. Increased report writing skills as well as communication skills. Increased Simulation (Simulink) skills as well as numerical computation skills (Matlab).

Learning methods and activities

Live (physical) overview and «motivational» lectures with encouraged discussions (about ongoing project) supported by offline in-depth and mathematically rigorous video tutorials combined with an (optional) presential workshop where students work on weekly assignments under the supervision of the lecturer—which allows for one-on-one interaction between students and the teacher. Assignments will be a mixture between theoretical developments, computations in Matlab as well as time-domain simulations in Simulink on relevant applications for modern electric power engineering.

Further on evaluation

30% Oral exam, 70% Assignments+Project.

Assignments and project:

Five small written assignments of 1-2 pages each, and a final report collecting all those assignments.

Assignment 1: Modelling in state-space force and open loop equilibrium control implementation in Simulink.

Assignment 2: PID and generalized state feedback control.

Assignment 3: Linearization, validation ofmodel and frequency domain analysis.

Assignment 4: Eigenvalue-based stability assessment.

Assgnment 5: Tuning of PID & State Feedback controllers.

Final Report: Control handbook with electrical engineering examples.

Each assignment will be graded along the way using a "Fail, Pass, Brilliant" scale and final project will count at lest twice the amount.

In addition, there will be a 30% oral exam at the end of the course.

Required previous knowledge

Calculus 1 (TMA4100) and 2 (TMA4105).

Course materials

Offline video tutorials.

Several options including:

Katsuhiko Ogata: Modern Control Engineering.

Chi-Tsong Chen. Linear system theory and design. Oxford University Press, New York, 4th international edition, 2014

Balchen, Andresen, Foss: Reguleringsteknikk, 2016 edition.

Richard Dorf, Robert Bishop: Modern Control Systems.

More on the course



Version: 1
Credits:  7.5 SP
Study level: Intermediate course, level II


Term no.: 1
Teaching semester:  AUTUMN 2022

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Engineering Cybernetics
  • Electrical Power Engineering
Contact information
Course coordinator:

Department with academic responsibility
Department of Electric Power Engineering


Examination arrangement: Aggregate score

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD Portfolio 70/100 INSPERA
Room Building Number of candidates
Autumn ORD Oral exam 30/100 E
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

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