Course content

Mathematical modelling of physical systems (electrical-, mechanical-, electromechanical-) in both frequency and time domain (transfer functions, differential equations, state space) Analysis of the properties and performance of first-, second-, and higher-order systems by examining the time response (stability, steady state error, integral error, percentage overshoot, settling time, rise time) and frequency response (amplitude, phase, gain margin, phase margin, stability, bandwidth, steady state error, time delays, Bode plots, Nyquist criterion, Nyquist diagram, relation between transient response and closed-loop frequency response). Systems theory, system of systems, equivalent systems, block diagrams, reduction of systems. Controllability and design of control systems using PID-, feedforward-, and state feedback control. Observability and state estimation. Simulation and visualisation of systems as tools for aid and verification of control systems modelling, analysis, and control design.

Learning outcome

Læringsutbytte - Kunnskap: explain strengths and weaknesses of modelling physical processes as linear time-invariant systems. qualitatively explain changes in the properties and performance of the dynamics of a closed-loop system. compare strengths, weaknesses and prerequisites by various kinds of PID control and state feedback control.  Læringsutbytte - Ferdigheter: model dynamical systems as linear and time-invariant in both the frequency and the time domain. analyse both qualitatively and quantitatively properties and performance of dynamical systems. design control systems using various kinds of PID control, feedforward control, and state feedback control, as well as verify whether the desired design criteria of the controlled system has been achieved. design state estimators for systems where the states are not directly available for measurement and use the estimated states in synthesis with state feedback control. Læringsutbytte - Kompetanse: use computer tools for simulation (modelling, analysis, control design) and visualisation of system dynamics. present problems, solutions, and results in a professionally clear and concise manner, both in writing and orally.

Learning methods and activities

Pedagogiske metoder: Workshops consisting of lectures, problemsolving in groups or independently, case studies, presentations, and discussion, with a focus on simulation, practical applications, and research-based and constructive learning. Compulsory weekly labs with exercises that must be collected in a lab report for submission. Compulsory mid-semester test. Labs and mid-semester test must be passed to be granted access to the exam. This motivates students to work steadily and remain focused from day one. Feedback from the labs and mid-semester test provide an opportunity to adjust during the course for both the teacher and the student.   Obligatoriske arbeidskrav: Lab exercise that must be given a pass grade.

Compulsory assignments

• Mandatory assignment

Specific conditions

Recommended previous knowledge

IR102412 Physics and Chemistry with respect to modelling of physical systems and processes, numerical calculations, and use of computer tools. IE203312 Measurement with Statistics with respect to stochastic processes.

Credit reductions