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Department of Information Technology

Control design (Reglerteknisk design) [1TT492; F4, IT4]

Computer-controlled systems (Datorbaserad styrning) [1TS250; STS4]

Computer-controlled systems (Datorbaserad styrning) [1RT450; W4]

General course information fall 2009

Course material Old exams Studentportalen Kursvärdering

0. Messages

091126

Corrections to the internal course schedule:

1. Ö9 takes place Monday Nov 30, at 10-12, (not 8-10), room 2247.

2. BL4, alt 1, takes place Monday Nov 30, at 15-17, room 2315 (not 13-15)

3. FS1, alt 1, takes place Tuesday Dec 1, 8-10, room Å4003 (no changes). It will be lead by Hans Norlander. As a default he is prepared to demonstrate some of the problems in the final exam, Dec 2007.

4. F14 takes place Thursday, Dec 10, 13-15, room 2247 (no changes). Unless other request arise, I will go over the final exam Dec 2008.

5. FS2, alt 2, takes place Thursday, Dec 10, 15-17 (not 13-15), room 2247.

6. Final exam takes place Monday Dec 14, 8-13, Polacksbacken.

091123

Homework assignment 3 has now been graded. Student solutions not picked up the lecture tomorrow can be found in the course mailbox. Suggested solutions are now available to download during the course home page in Studentportalen.

091118

Homework assignment 1 has now been graded. Student solutions not picked up the lecture today can be found in the course mailbox. Suggested solutions are now available to download during the course home page in Studentportalen.

091113

Your solutions to the homework assignments HW2 and HW3 must be in English.

There is a misprint in the textbook (detected by J. J., thanks!) Eq (5.81), page 148 should end CP = 0 instead of PC = 0

091110

Hints and answers/solutions for the Computer laboratories are now available at the course homepage under Studentportalen.

091103

You have to produce individual solutions to the homework assignments.

091102

1. Contents and schedule (under Course material) has been updated.
Some lecture material will be taken in another order.

2. Copies of the OH transparencies are allowed aims at the final exam.

1. Introduction

The three courses will be partly given together. Some of the lectures will be jointly given for all students, while there are also some additional lectures addressing issues for the STS and W students. These students take one of the larger courses called Computer-controlled systems.

Further information about the Division of Systems and Control is available on the web. Our homepage is here.

The web address for this homepage is http://www.it.uu.se/edu/course/homepage/dbsregdes/ht09.

2. Teachers and supervisors

The Division of Systems and Control is located at Polacksbacken, house 2.

Name Function Room Phone Email
Torsten Söderström Main responsibility, lectures, problem solving sessions 2209 4713075 ts@it.uu.se
Björn Halvarsson Computer laboratories, Laboratories 2320 4717840 bpgh@it.uu.se
Egi Hidayat Computer laboratories, Laboratories 2339 4713395 egi.hidayat@it.uu.se
Ali Piltan Laboratories
Olov Rosén Laboratories

Note that for all administrative and practical aspects you should as a first choice contact the undergraduate office (IT-kansliet, room 4213).

3. Prerequisities and background

It is assumed that the participants have working knowledge in the following areas:

  • Continuous-time control systems.
  • The program package Matlab. The computer laboratories and most of the homework assignments assume that you are familiar with Matlab. In the homework assignments you will be expected to do your own programming. You will also use Matlab's Control Systems Toolbox frequently.
  • Some basics of random processes or signal processing is an advantage, but not fully necessary.

Links to some general background material to download is available below.

4. Literature and course material

The course is based on the textbook

  • Torkel Glad and Lennart Ljung: Reglerteori - Flervariabla och olinjära metoder. Studentlitteratur, andra upplagan, 2003 (RT). [There are no larger differences from the first edition of 1997.] It is also available in English as Torkel Glad and Lennart Ljung: Control Theory - Multivariable and Nonlinear Methods, Taylor and Francis, 2000.

Course material for sale at UTH-gård:

  • Exempelsamling i reglerteori (2006 edition; includes solutions). This is sold for a reduced price of 50 SEK.
  • OH transparencies. Price 25 SEK.

Further course material include

  • Computer laboratories
  • Laboratories ['LQ control of the seesaw/pendulum process'; 'Model predictive control of the tank process']
  • Homework assignments [HW1, HW2 for F and IT; HW1, HW2, HW3 for STS and W]

We have a limited edition of this material. It will be handed out during the first lectures in the course. You can also get access to this material through the web, see below.

5. Computer facilities

For completing the homework assignments you will need access to Matlab and its Control Systems Toolbox.

The software is available in our PC lab (room 2315). To have access to the computers in the PC lab, a student account at UpUnet-S is required. You will need your UpUnet-S user name and the C password in order to login. Information about how to get a UpUnet-S account can be found here. When solving the homework assignments you may need to use Matlab and the Control Systems Toolbox. For more information see the document 'Matlabs Control Systems Toolbox och LTI-object' which is handed out at UTH-gård, or can be found under 'Background material' below. You can of course use the software in the PClab. Another alternative is to run the software over the web. In that case you will need to use your UpUnet-S identity. How to get media and access to the license is described here.

6. Some hints

The course contains a lot of useful stuff, that is also practically important. You may think that there is a lot of theory to penetrate. Here are some friendly advice for how to facilitate the learning.

  • If you read the chapters in advance before each lecture (even if you skim through them), you will find it easier to both follow the presentation, and to improve your understanding during the lectures.
  • The Computer laboratories as well as the Laboratories are aimed to be good vehicles for deepening your knowledge and understanding. We assume that you have prepared yourself accordingly, so that you can take full use of these parts of the course. Take the oppurtunity to attend the computer laboratories and ask for help with issues you find difficult in the labs. A considerable part of the computer laboratories are aimed as preparations for the Laboratories.

7. Examination

The structure of the exam is the following:

  • One final exam, max 50 units. (N.B. different exams for the F4/IT4 and STS4/W4 courses).
  • The laboratories, pass or fail (no gradings).
  • Homework assignments ('inlämningsuppgifter'; 2 for F4/IT4, 3 for STS4/W4), max 3 units each.

The units gained from the homework assignments will give the corresponding credit in the final exam. The final exam will contain one problem [6 units (for F4, IT4) or 9 units (for STS4, W4) out of the total 50] that can be used as an alternative option. For each homework assignment there will be a strict deadline when you can hand in its solution.

Note that the solutions to the last homework assignment (due on December 3) has to be given in English!

Preliminary grades: 3 = 23-32, 4 = 33-42, 5 = 43-50.

During the exam, the course literature, mathematical handbooks and tables, and calculators are allowed. No set of exercises and solutions is allowed.

Some further policy for the examination:

  • New versions of the final exam are given in April 2010 and August 2010. If only few persons registrate at these occasions, we may arrange an oral examination instead.
  • The results of the homework assignments that are handed in during fall 2009 are valid until August 2010. Passed Laboratories are valid without any time limit.

8. Structure

The course consists of

  • 13 lectures ('föreläsningar') + 2 additional lectures for STS+W
  • 10 problem solving sessions ('räkneövningar') + 2 additional sessions for STS+W
  • 2 discussion sessions ('frågestunder')
  • 4 computer laboratories, 2 hours each ('beräkningslaborationer')
  • 2 laboratories, half a day each ('laborationer') (compulsory)

Due to the need of adopting the scheduled teaching time to the funding, there will not be any parallel sessions for the problem solving. Instead we have chosen to include two discussion sessions in the end of the course. You will be most welcome to give any types of questions related to the course (or the subject area in general) during these sessions.

The computer laboratories will take place in room 2315. The laboratories take place in room 2314. Please note that you need to use your student account at UpUnet-S (user name and C password are required) in order to run the computer labs.

The detailed schedule for the laboratories will be arranged later. You will have to sign up for the two half-day laboratories. The signing lists will be posted on the door of the control lab (room 2314) on November 24, 12.00.

The computer laboratories and the regular laboratories are essential parts of the course. They contain many tasks to carry out. In order to pass them, it is necessary that you prepare yourself carefully in advance according to the instructions for the individual laboratories.

Homework assignments (and when needed also Laboratories) are to be handed in at the marked mailbox (no 26) in the row of mailboxes, (second floor, house 2). We will also hand out your corrected homework assignments and laboratories there. Returned solutions that are not collected by January 23, 2009 will be thrown away.

Updated  2009-12-17 12:40:11 by Hans Norlander.