Course content

The subject will provide an introduction and overview of control systems and their design as a discipline. Dynamic positioning for ships will be used as a case throughout the subject and lay the foundation for the project assignment. The project assignment must be demonstrated in the lab on a model vessel.

• Methods for system modeling.
• Methods of system identification.Control design methods; PID, LQR, MPC, etc.
• Methods of estimator design; Kalman filter, Luenberger observers, etc.
• Implementation of control algorithms in microcontrollers.Tuning, maintenance and practical use of control systems.

Learning outcome

Knowledge:

The candidate:

• Has knowledge of modern and classic control algorithms and design principles.
• Has knowledge of which method should be used for which purpose.
• Has knowledge of how a control system should be implemented in microcontrollers.
• Has knowledge of tuning and interaction with control systems.
• Knows aspects of the development of control systems.Skills:

The candidate:

• Can model a physical system for control.
• Can design a control system into a system model based on a control objective.
• Understands the strengths and weaknesses of different algorithms.
• Can implement and tune the most common control algorithms.General competence

The candidate:

• Has insight into control design and knows the different aspects of the field.
• Knows the general feedback control model.
• Can program a control algorithm in a control system.
• Can make a control algorithm interact with sensors and actuators.

Learning methods and activities

Pedagogical methods:

• Theme lectures on related topics.
• Exercises individually or in groups.
• Group work with a development task under supervision.

Compulsory activities

• Mandatory work requirements.
• Projects in groups
• Oral presentation

Further on evaluation

The candidates must work in groups of 2-3 members. Each group must deliver a semester assignment (counts 40%), as well as present orally (counts 60%) the work that has been carried out. The semester assignment must be passed in order to take the oral exam.

The continuation exam will be in the coming spring semester in March. The exam is only oral.

Specific conditions

Course materials

Lecture notes and powerpoint presentations.