• Automatic Control, Semester 2, position 1

For the student to learn the basic principles and stages of mathematical modeling and identification of dynamic systems of various natures. For the student to master working with the Matlab, Simulink, Simscape simulation packages.

Getting to know, accept and master the basic principles of mathematical modeling in the sphere of electrical, mechanical, electromechanical, fluid and thermal processes. Acquiring knowledge for verification of mathematical models of dynamic systems experimentally and identification of parameters of mathematical models by working on a computer using the Matlab and Simulink packages.

Mathematical modeling of objects and processes in the form of differential equation of behavior (IO) and state space model (ISO). Dynamics of electrical systems. Dynamics of mechanical systems. Dynamics of electromechanical systems. System level dynamics. Dynamics of current-thermal processes. Linearization of nonlinear mathematical models. Simulation of dynamic systems using software packages Matlab, Simulink, Simscape. Identification of dynamic systems. Basic methods for identifying mathematical models of objects with the help of Matlab and Simulink software packages.

Application of Matlab, Simulink, Simscape. Determination of mathematical models in the form of differential equation (IO) and state space model (ISO) of dynamic systems on examples of electrical, mechanical, electromechanical (DC motor), system level dynamics (system of coupled tanks) and current-thermal processes. Identification of mathematical models of various objects based on experimentally recorded data on real objects. Simulation of continuous and discrete automatic control systems. Simulation of hybrid automatic control systems.

Defined by the curriculum of the study program/module.

Script for Dynamic systems modelling, identification and simulation. Modular educational real time control system with various control plants (DC servo motor, inverted pendulum, double inverted pendulum, heat flow experiment, coupled water tanks experiment), with acquisition hardware and software. Power source, function generator, oscilloscope, PCs. Siemens Simatic PLC.

Total assigned hours: 75

New material: 20
Elaboration and examples (recapitulation): 10

Auditory exercises: 16
Laboratory exercises: 7
Calculation tasks: 7
Seminar paper: 0
Project: 0
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 0
Review and grading of lab reports: 5
Review and grading of seminar papers: 0
Review and grading of the project: 0
Test: 5
Test: 0
Final exam: 5

Activity during lectures: 5
Test/test: 45
Laboratory practice: 5
Calculation tasks: 0
Seminar paper: 0
Project: 0
Final exam: 45
Requirement for taking the exam (required number of points): 21

D.Lj. Debeljković, A.M. Sićović, G.V. Simeunović, V.S. Mulić, Mathematical models of objects and processes in automatic control systems, Part II (in Serbian), ISBN: 86-7083-543-6, Belgrade, 2006.; D. Lj. Debeljković, Process Identification (in Serbian), ISBN: 978-86-7083-823-9, Faculty of Mechanical Engineering, Belgrade, 2014.; R. C. Dorf, R. Bishop, Modern Control Systems, ISBN: 0-13-440762-8, Pearson, Upper Saddle River, 2017.; K. Ogata, Modern Control Engineering, ISBN: 0-13-615673-8, Pearson, Upper Saddle River, 2010.; L. Ljung, System Identification, ISBN: 0-13-656695-2, Prentice Hall PTR, Upper Saddle River, 1999.