The main objective of the subject is to complement the knowledge in the area of ​​automatic regulation obtained by the student through the subject of Automatic Regulation and other previous related subjects, extending it to the field of discrete control systems, through the study of their analogies. with the continuous case already known and the fundamental devices and concepts for the implementation of modern digital control systems. All from an applied point of view and with abundant practical material.

COMPETENCES

C1 - Knowledge of principles and applications of digital control systems.

C2 - Knowledge and ability to simulate and implement control systems in discrete time.

C3 - Ability to analyze and design control systems in discrete time.



LEARNING OUTCOMES

RA1 – Learn the role of computers in modern control systems.

RA2 – Delve into the Matlab tool for an understanding of the development and algorithms to work with discrete signals.

RA3 – Know how to program the Arduino microcontroller to skin programs that control the position of the MbotRanger robot, through a PID.

RA4 - Be able to choose the sampling frequency of the digital control for each application.

RA5 - Know how to obtain the equivalent discrete model of a continuous process to control.

RA6 - Know how to analyze the stability of a digital control system, and determine its expected robustness in terms of stability margins.

RA7 - Know how to choose the most appropriate control structure, and design it based on closed-loop specifications.

RA8 - Know how to specify the digital controller through its difference equations, and know how to program them in a controller device.

RA9 - Know how to tune a discrete PID controller using measurement-based techniques and model-based techniques.

THEORETICAL CONTENTS

T1 - The computer as a control element

T2 - Discrete signals and systems

T3 - Sampling and reconstruction of signals

T4 - Z Transform

T5 - Sampled Systems

T6 - Stability

T7 - Analysis in steady state

T8 - Controller Discretization

T9 - Root Locus and Controller Design



PRACTICAL CONTENT

P1 - Matlab: Introduction to Matlab

P2 - Matlab: Impulsive Response

P3 - Matlab: Effects on the choice of the sampling period

P4 - Arduino: Input and output configuration

P5 - Arduino: Timer and PWM

P6 - Arduino: Interrupts and filtering

P7 - Mbot Ranger: sensor and motor communication

P8 - Mbot Ranger: tuning a PID for robot position control

Lectures: Master classes will cover the necessary concepts to achieve learning objectives, while also serving as a tool to facilitate debate and generate student curiosity.



Classroom Practices: These sessions will be used for conducting exercises, solving problems, and presenting assignments, fostering active student participation throughout.



Laboratory Practices: Lab sessions will provide practical verification of acquired knowledge through the use of software tools for modeling and simulation.

• Final Assessment System
• Tools and qualification percentages:
  • Written test to be taken (%): 60
  • Individual works (%): 20
  • Team projects (problem solving, project design)) (%): 20

The subject has an established continuous evaluation method, so class attendance is necessary.



To pass the subject it will be necessary to obtain a 4 on the exam and have completed the practices satisfactorily.



Failure to take the written exam will result in a grade of "not presented".



Students will have the right to be evaluated using the final evaluation system, regardless of whether there has been participated or not in the continuous evaluation system. To do this, the students must present in writing to the teaching staff waiver of continuous evaluation, for which they will have a period of 9 weeks counting from the beginning of the semester or course respectively, in accordance with the center's academic calendar.



Students who request it will have a single final test that will comprise 100% of the subject: Written test to develop (60%), The practical test in the laboratory (40%) about the concepts worked during the sessions from laboratory.

Students who request it will have a single final test that will comprise 100% of the subject: Written test to develop (60%), The practical test in the laboratory (50%) about the concepts worked during the sessions Laboratory and/or Classroom Practices.



Students who have taken the subject in the current academic year will be able to maintain the eighting of the results obtained in the course, in which case the evaluation will be similar to the ordinary call.

The transparencies and notes of the subject, practice scripts, exercises, auxiliary documents will be in the classroom virtual eGela corresponding to the subject.

Basic bibliography

"Sistemas de Control en Tiempo Discreto", 2ª Edición, Katsuhiko Ogata, Pearson. Prentice Hall

In-depth bibliography

"Ingeniería de Control Moderna", 4ª Edición, Katsuhiko Ogata, Pearson. Prentice Hall (2003)
"Sistemas de Control Moderno", 10ª Edición, Richard C. Dorf, Pearson. Prentice Hall (2005)
"Sistemas de Control Automático", 7ª Edición, Benjamin C. Kuo, Pearson. Prentice Hall (2005)
"Problemas de Ingeniería de Control utilizando Matlab", Katsuhiko Ogata, Pearson. Prentice Hall

Journals

-Automatica.
-International Journal of Control
-IEEE Transactions on Automatic Control
-IEEE Control Systems Magazine (divulgación

Web addresses

http://www.ieeecss.org/
http://www.ifac-control.org/
http://www.cea-ifac.es
http://www.isa.org/
http://www.esi2.us.es/~euca/