TecnoCampus Foundation
eCampus
University Business
eCampus

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General information

Subject type: Mandatory

Coordinator: Joan Triadó Aymerich

Trimester: Third term

Credits: 4

Teaching staff: 

Salvador Alepuz Menendez

Academic year: 2025

Teaching course: 2

Languages ​​of instruction

  • Catalan

Competencies / Learning Outcomes

Specific skills

  • K12. Identify the fundamentals of automation and robots that are applied in the management of robotic industrial machinery.

  • S13. Analyze industrial control and automation systems.

  • S33. Apply different techniques to address multiple learning situations, making a critical judgment of their behavior and that of others based on the results obtained and/or the consequences of the actions presented to them.

  • S45. Detect the best sources of information based on their needs and use information technologies to share and generate information.

  • C7. Write texts with a structure appropriate to the communication objectives.

  • C16. Carry out the assigned work based on basic guidelines given, deciding how much time to spend on each section, including personal contributions and expanding the sources of information indicated.

Presentation of the subject

This course is a first introduction to automatic control and feedback systems.

It includes the modeling of linear systems in the form of transfer functions in the Laplace domain and their representation with block diagrams and signal flow graphs. It also includes the study of the time and frequency response of these systems, the analysis of stability and the design of PID type controllers.

The classroom (physical or virtual) is a safe space, free of sexist, racist, homophobic, transphobic and discriminatory attitudes, either towards students or towards teachers. We trust that together we can create a safe space where we can make mistakes and learn without having to suffer prejudice from others.

 

Contents

1. Characteristics of Control Systems. Mathematical models of Linear Systems. 

1.1 Automatic Control Systems. Basic terminology: open loop, closed loop, error, controller, control action, reference, sensor, actuator ...

1.2 Mathematical Models of Systems

1.2.1 Linear differential equations with constant coefficients,

1.2.2 Laplace Transform, Transfer Functions,

1.2.3 Nonlinear systems and linearization of nonlinear systems.

1.3 Block diagrams, simplification of block diagrams, signal flow graph, Mason formula ... Examples: Mechanical, electrical, motor systems, tank systems.

2. Temporary response.

2.1 First order systems,

2.2 Second order systems, higher order systems.

2.3 Temporary response specifications.

3. Study of the error. Static error coefficients.

3.1 Study of the dynamic error of a closed loop system.

3.2 Type of system. Open loop transfer function.

3.3 Static error coefficients.

4. PID type controllers. Operating indices. (Internships)

4.1 PID type controllers: Proportional control, integral control, derivative control, PI, PD and PID.

4.2 Error-based operating indices (ISE, ITSE, IAE, ITAE)

4.3 Tuning method. Empirical tuning, in closed loop and in open loop. Tuning tables.

5. Stability of closed loop systems.

5.1 Concept of stability. Stability and plan s.

5.2 Geometric Place of Roots (LGA) Method. Drawing of the LGA. Module condition and angle condition. Other rules. Design with LGA according to time specifications. 

5.3 Design of PID controllers with the LGA

5.4 Frequency methods. Drawing and interpretation of Bode and Nyquist diagrams. Frequency response and stability.

5.5 Design of PID controllers with Frequency Response.

Activities and evaluation system

The final grade (QF) of the subject is calculated as follows:

QF = EX 0,7 + P 0,3

where EX = Ex1 0,3 + Ex2 0,7

Ex1 and Ex2: exams

Q: internships

Minimum grades:

In case the EX activity rating is less than 3,0, QF = EX.

In case the activity rating P is less than 3,0, QF = P.

If the subject is not passed in the ordinary assessment, there will be an extraordinary recovery session of activities Ex1 and Ex2 in a single exam (ExR). The grade for this recovery will replace that of activity EX within the subject assessment. Activity P is not retrievable.

Bibliography

Basic

Dorf, Richard C. - Bishop, Robert H. Modern Control Systems. 10ª. Pearson - Prentice Hall, 2005. ISBN 8420544019.

Ogata, Katsuhiko. Modern Control Engineering. 5ª. Pearson - Prentice Hall, 2010. ISBN 9788483226605.

Complementary

Ogata, Katsuhiko. Control Engineering Problems. 1ª. Prentice Hall, 1998. ISBN 9788483220467.