Theory Examination Master Industrial Control Engineering Adaptive and Predictive Control Robin DE KEYSER

(no experiment is ever a complete failure - it can always serve as a negative example)

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Open-book exam. Write the answer in the reserved space. No extra pages!
Question 1 (Real-time Identification): explain everything that you know about the forgetting factor .

Question 2 (PID): why is derivative action sometimes used on the output y(t) only, and not on the error w(t)-y(t)? When can you do this?

Question 3 (proper/improper transfer function): why does the Nyquist curve of a real physical system always end-up in the origin (when the frequency goes to infinite)? What is the condition for the transfer function to be a proper transfer function?

Question 4 (CAD): What is meant by a robust controller? Give an industrial example which explains why robustness is an important practical design specification. Show that the distance from the Nyquist curve to the point -1 can be used as a measure for robustness.

Question 5 (FRtool)

%OS=10% Ts=20

%OS=10%

Ts=20 Ro=0.7

( s + 1) 2 Kp s

Ro=0.7
Kp

( s + 2) 2 s

SPECS: 1) robustness: Ro>0.7 2) overshoot: %OS<10% 3) settling time: Ts should be as small as possible!!! Above you see 2 designs for a PID-controller (for the same process). The figures are plotted for the default gain Kp=1; this gain can be changed. QUESTIONS: a) Which of the 2 designs would you prefer (after you change the gain)? (Left or Right? Explain WHY?) b) Calculate the best Kp for the choice that you have made.

Question 6 (Relay Autotuning): explain why the output signal y(t) [a periodic signal] can be approximated by a pure sine function.

Question 7 (IMC): prove that the IMC will have NO steady-state error in the (s) closed loop (for a step disturbance d at the output), even if the model P is different from the process P ( s )

Question 8: Derive the PID-parameters for the system below, using the KC autotuner for the spec: PM=50.

e s nominal system: s
Hint: it is not necessary to use a computer; the relay-test does not really have to be done here, because you know the system transfer function! and you can thus calculate by yourself the Kc and Tc!