Control systems are very present in our daily life. Examples of its applications can be found at home (temperature control, anti-theft system or mobile phone apps), in transportation systems (such as ABS or traction control of a car, or cruise control of planes), in industry (pharmaceutical, machine tool or process industry) or in the control of the traffic over the Internet. Areas such as economics, biology or medicine have also a wide range of applications that require the use of control systems.



A synthesized automatic control system has a clear goal: to achieve a system (machine, process or device) to behave in a certain way with minimal human intervention. If the control system has “feedback”, then it is able to measure the behaviour of the controlled system and correct it if it deviates from the desired one. Feedback is a feature of life, as every organism share the ability to measure their own state, and make the required changes if necessary. Feedback determines how we grow, how we respond to stress or how we regulate body temperature, blood pressure or cholesterol level. Hence, control does not only make our life easier, but it is critical to our own existence.



Automatic control systems are inherently multidisciplinary. It is typically formed by sensors (to measure), actuators (in order to make changes on the system), computers and software (to calculate and make decisions).



The analysis and design of control systems requires the following knowledge:

-Knowledge of the domain of the process to be controlled (in this case, Engineering areas)

-Knowledge of control techniques

-Knowledge of the actuator and sensor technologies

-Knowledge of Real-Time systems

-Knowledge of actuator and sensor networks



This subject focuses on how to use knowledge of processes from different disciplines (physics, chemistry, mechanical, electrical, ... ) acquired in other subjects previously studied and the use of previously studied mathematical tools (differential equations and Laplace transform) in the analysis and design of control systems.



This aim is achieved by the following contents:



THEORETICAL contents to address modelling examples of real systems, their mathematical representation and their model-based dynamic behaviour analysis.

METHODOLOGY contents to address the different phases of a feedback control system design which ensures that the behaviour of a system lies always within some bounds.

EXPERIMENTAL contents to show the effect of controller design in real systems (scale models of simple industrial systems).



This subject is related with the following ones in the Bachelor studies: the controller design techniques for computer implementation are studied in the pre-intensification subject “Computer-based Control”, while the more technological subject “Industrial Automation” is focused on the logic control and sequential control of Industrial Processes”.



The Real-Time programming concepts, networks, robotics and advanced control techniques are studied in several subjects in the Master.

As the verified report of the Degree in Industrial Technology Engineering states, the skills and learning outcomes to be developed in this subject are:



-M02R6 Knowledge of the basics of automatic systems and control methods.



-LO Automatic and control Systems design for machines and industrial facilities.

LECTURES:



Lesson 1 Introduction. Open and Closed Loop control. Automatic and Manual Control. Main variables identification. Block Diagram of a system. Feedback Loop. Elements of the control loop.

Lesson 2 Dynamic System Modelling and External Representation. System Mathematical Modelling. Linearization. Laplace transform. Differential equations and transfer function.

Lesson 3 Time Domain Analysis. Test signals. Time response of first order, second order and great order systems. Experimental system identification.

Lesson 4 Feedback System Analysis. Feedback Systems. Stability of Feedback Systems. Definition and creation of the Root Locus. Steady state error analysis.

Lesson 5 Control System Design. PID Control: actions and parameters. Common algorithms. PID design and tuning approaches. Experiment-based design methods. Model-based analytical design methods.

Lesson 6 Frequency Domain Analysis. Transfer Function and Frequency response relationship. Identification of systems based on the frequency response.





LABORATORY SESSIONS:



The laboratory sessions are essential to acquire the knowledge on control systems and emphasize the basic concepts of Automatics and Control subject.

P1: Experimental indentification (with real scale models)

P2: Feedback systems and Root Locus (in simulation)

P3: Experimental Design of PID Controllers (in simulation)

P4-5: Analythical Design of PID Controllers (with real scale models)

The aim of the subject is to provide the student with the necessary tools to design a control system, applying the basic control concepts to each step of the design process: modelling, analysis and design.



The lectures are used to explain the theoretical concepts while emphasizing their importance and their application context.



The seminars are used to strengthen the theoretical concepts by means of the resolution of practical exercises. In some sessions, concepts related with the laboratory sessions will be analysed, so that the preparation work required for the Laboratory Sessions is reinforced. Moreover, students are encouraged to work in teams to discuss their design results.



The laboratory sessions are focused on the different stages of a control system design and validation. Some of these sessions are focused on using real scale processes in which students work in teams, while others are based on the use of simulation software that will be handled individually.



In order to get the most of the seminars and the laboratory sessions, a proper preparation work is mandatory. The Seminar and Laboratory Notebook is the required tool to achieve this goal.



This way, students will fill the exercises and questions proposed in this notebook prior and during these sessions. This Notebook could be required by the lecturers at any time to analyse the progression of the students and provide with feedback.



All the information related with the subject (theory, simulation software) is available in the virtual platform eGELA: https://egela.ehu.es/. Hence, students should access regularly to the web page, as it will, in addition, be used to notify students with all matters related to the subject.



NOTE: If the sanitary conditions fue to the pandemic do not allow in-person activity or evaluation, a telematic mode will be activated.



SOFTWARE USED:



-Labview based tool:Analysis, simulation and control tool for real scale models

-Virtual Platform (eGELA):Communication platform in which students will find the information related with the subject.

-MATLAB: Control and Simulation tool

• Continuous Assessment System
• Final Assessment System
• Tools and qualification percentages:
  • Written test to be taken (%): 50
  • Multiple-Choice Test (%): 40
  • Realization of Practical Work (exercises, cases or problems) (%): 10

The course introduces concepts related to the analysis of systems in the time domain and the effect of feedback (T1-4), to later combine all the concepts together with analytical and experimental techniques that allow the definition of controllers for this system (T5) and even extend it to the frequency domain (T6).



Therefore, the subject has an incremental development of concepts, in which it is essential that students have correctly internalised the concepts of the first topics, in order to be able to tackle the final objective of the subject: the design of controllers.



In order to promote learning, the assessment of the subject is established continuously throughout the course by means of three main milestones:



-Intermediate Written Exam (40%): Evaluates the basic concepts and fundamentals of Topics 1 to 4. This test will be in the format test+ justification. Given the importance of the basic concepts to progress in the subject, a minimum of 40% will be required for the test to count towards the average.

-Controller design practice in the laboratory (10%): The final practical session of the course will allow students to face the design of several controllers with one of the real mock-ups in the laboratory. The controllers designed and validated by the students will be evaluated at the end of the practical session.

-Final Written Exam (50%): It will evaluate if the student has achieved the learning outcome associated to the subject, the ability to design control systems. For this, the student will have to apply the techniques of T5-6, in addition to the concepts of topics T1-4. This exam will take place on the official date set by the centre for the exam associated with the ordinary call. A minimum of 40% will be required for this exam to count towards the average.



In order to pass the subject in the ordinary exam, a total score equal to or higher than 5 points must be achieved by means of the three instruments indicated above, in addition to a mark higher than 40% in the intermediate written exam and the final written exam.



In the event that a student does not achieve the required 40% in the Intermediate Written Exam, the continuous assessment mentioned above will not be taken into account and the Final Assessment mechanism detailed in the section on Resignation to the continuous evaluation will be applied directly.



In the event that in the Final Written Exam a student does not pass the required 40%, the maximum mark that may appear in the ordinary call will be a 4.5 out of 10.



RESIGNATION TO THE CONTINUOUS EVALUATION



The resignation will be materialised by the student's NON-APPEARANCE to the Intermediate Written Exam.



Those students who resign to the continuous evaluation will have to accredit the achievement of knowledge and competences of the whole subject through the Final Written Exam (50% of the final grade) and a Complementary Exam (50% of the final grade). The Complementary Exam may be a multiple-choice test, short answers, problems or a combination of the above.



In the event that in the Final Written Exam a student does not pass the required 40%, the maximum mark that may appear in the ordinary call will be a 4.5 out of 10.



This structure will be maintained in both the ordinary and extraordinary calls.



RESIGNATION TO THE EVALUATION



The unattendance to the official final exam, will automatically imply a resignation to the call. The resignation to the ordinary or extraordinary call will imply a “No-Show” mark.

The final mark in the extraordinary exam will be awarded following the Final Assessment mechanism detailed in the Resignation to the Continous Evaluation of the Ordinary Call:



-Extraordinary Final Written Exam (50%): It will have similar characteristics to those of the ordinary exam. In this test a minimum of 40% will be required to count towards the average.

-Complementary Exam (50%): It will be able to evaluate concepts and techniques of the whole subject by means of multiple-choice questions, short answers, development of problems or a combination of the previous ones.



Students who have not resigned to the continuous evaluation and have a mark of at least 40% in the Intermediate Written Exam, will keep the grade of the Intermediate Written Exam (40%) and the grade related to the Controller design practice in the laboratory (10%), so they will not have to take the Complementary Exam. In any case, if a student wishes to evaluate 100% of the course, he/she can do so by sending an e-mail to the Course Coordinator at least one month before the Extraordinary Final Written Exam.



In order to pass the course in the Extraordinary Call, a total score equal to or higher than 5 points must be achieved by means of the above-mentioned assessment instruments, and it is compulsory to obtain 40% in the Extraordinary Final Written Exam. In case of not achieving it, the grade that will appear in GAUR application will be a maximum of 4.5 (out of 10).



RESIGNATION TO THE EVALUATION

The unattendance to the official final exam, will automatically imply a resignation to the call. The resignation to the ordinary or extraordinary call will imply a “No-Show” mark.

All the mandatory materials are available in eGela virtual room.

The Laboratory and Seminar Notebook is also available at the Faculty publication Service platform.

SOFWARE TOOLS:

-Labview-based software tool for simulation and control of real time systems such as the processes analyzed in the laboratory.

-eGELA virtual platform for subject notes, information and general issues, available for all students

-Matlab: Students have acccess to the corporate educational license as members of the UPV/EHU.

Matlab software

Basic bibliography

Modern Control Systems, Dorf, Richard C., Bishop, Robert H.

Modern Control Engineering, K. Ogata. Pearson Prentice Hall.

In-depth bibliography

The Art of Control Engineering. K. Dutton, S. Thompson, B. Barraclough. Addison Wesley (1997).

Journals

Control Engineering Practice. A Journal of IFAC, the International Federation of Automatic Control. http://www.elsevier.com/

Web addresses

IFAC-International Federation of Automatic Control. http://www.ifac-control.org/
Comité Español de Automática- Spanish Automatic Control Comitee http://www.cea-ifac.es/