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| Semester | spring semester 2024 |
| Course frequency | Every spring sem. |
| Lecturers |
Nicolas Gerig (nicolas.gerig@unibas.ch)
Murali Krishna Karnam (murali.karnam@unibas.ch) Georg Rauter (georg.rauter@unibas.ch, Assessor) Cédric Schicklin (cedric.schicklin@unibas.ch) |
| Content | The lecture is split into a lecture part, where students learn theoretical aspects on control, use them in exercises, and a practical part where they apply their knowledge on a real robotic system in group projects. The lectures are taught in an inverted classroom setting, where videos and exercise instructions are provided ahead of time. So, students get an introduction to the theoretical aspects of control one week before the exercises. The exercises and weekly Q&A session will be performed in the lecture room during the announced times for the lecture. The lecture will build upon basics in continuous linear time-invariant systems (LTI-systems, taught in 69469-01 – Introduction to LTI-Systems and Control). Starting with standard controllers (PID-control), we will successively cover the following topics: Anti-windup measures, Analytical control synthesis (pole placement), Nyquist curves, Root-Locus plots, Nyquist stability criterium, Stability: Asymptotic- and BIBO-stability, BODE diagram, Polar plots, Time discrete systems, LTI systems in state space, Invariance of state transforms, Observability and Controllability, State models, State controllers, State observers, Kalman filter. In case there should be time, we will have a short excursion to Real-time optimization and Reinforcement learning. In the practical part of the lecture, the students will work in groups on a small basketball throwing setup using Matlab/Simulink and TwinCAT3. The basic knowledge of TwinCAT3 in combination with Matlab/Simulink from the course Hands-on Introduction to Medical Robotics Hardware, which is taught every semester (in the semester holidays due to availability of lecture rooms for an entire week), is very useful for the students. Groups that have members, who visited the prior course will profit here and can directly focus on the core task of control design instead of having to learn the basic usage of the automation setup. The task of the group project is to design controllers that allow time efficient and robust ball scoring in competition with the other groups. |
| Learning objectives | The goal is to make students aware of a variety of different control principles for linear time-invariant systems (LTI-systems), their advantages and disadvantages. The knowledge is supported by practical examples tested in Matlab/Simulink and TwinCAT3 on a real robot (inverted pendulum) |
| Bibliography | Control Systems 1 (IRT at TU-Graz, Austria) https://www.tugraz.at/institute/irt/lehre/ergaenzende-informationen/control-systems-1/ Control Systems 2 (IRT at TU-Graz, Austria) https://www.tugraz.at/institute/irt/lehre/ergaenzende-informationen/control-systems-2/ Hans Peter Geering, Regelungstechnik: Mathematische Grundlagen, Entwurfsmethoden, Beispiele, Springer Hans Peter Geering, Optimal Control with Engineering Applications, Springer The following literature exceeds the content of the lecture, but is recommended for the interested reader for his/her future lectures or work in the field of control: FiOrdOs http://fiordos.ethz.ch/dokuwiki/doku.php T. Murakami, F. Yu, and K. Ohnishi, “Torque sensorless control in multidegree-of-freedom manipulator,” IEEE Transactions on Industrial Electronics, vol. 40, no. 2, pp. 259–265, 1993. A. Kato and K. Ohnishi, “Robust force sensorless control in motion control system,” 9th IEEE International Workshop on Advanced Motion Control, 2006., pp. 165–170, 2006. J. C. Hsu, A. U. Mayer, Modern Control Principles and Applications, McGraw Hill, New York, 1968 M. Athans, P. L. Falb, Optimal Control, McGraw Hill, New York, 1966 M. Papageorgiou, Optimierung, Oldenbourg Verlag, München, 1991 O. Föllinger, Optimierung dynamischer Systeme - eine Einführung für Ingenieure, R. Oldenbourg Verlag, München, 1985 Dimitri P. Bertsekas, Dynamic Programming and Optimal Control, Athena Scientific |
| Weblink | DBE |
| Admission requirements | Students should have prior knowledge on basic control theory: required course (or equivalents): 69469 - Introduction to LTI-Systems and Control 55664-01 - Blockkurs: Hands-on Introduction to Medical Robotics Hardware (is highly recommended) |
| Language of instruction | English |
| Use of digital media | No specific media used |
| Course auditors welcome |
| Interval | Weekday | Time | Room |
|---|---|---|---|
| wöchentlich | Wednesday | 08.15-10.00 | Hegenheimermattweg 167B, Lecture Hall 02. 097 |
| Modules |
Doctorate Biomedical Engineering: Recommendations (PhD subject: Biomedical Engineering) Modul: Medical Systems Engineering (Master's Studies: Biomedical Engineering) Module Specialisation: Medical Nanosciences (Master's Studies: Nanosciences) Module: Image-Guided Therapy (Master's Studies: Biomedical Engineering (Start of studies before 01.08.2023)) |
| Assessment format | record of achievement |
| Assessment details | At the end of the semester, there will be a written exam (1h), where the students need to reach at least 10 out of 20 points to pass. The exam will focus on demonstrating the understanding basic the concepts of control that were covered in the lecture. In addition, the students have to pass the practical part (the group project) which consists of a written report per group and the practical work achieved and the participation in the competition in the last lecture of the course. The written exam and the practical part count 50% each for the final mark. However, each part needs to be passed. |
| Assessment registration/deregistration | Reg.: course registration, dereg: cancel course registration |
| Repeat examination | one repetition, best attempt counts |
| Scale | 1-6 0,1 |
| Repeated registration | as often as necessary |
| Responsible faculty | Faculty of Medicine |
| Offered by | Departement Biomedical Engineering (DBE) |