PhD in Mechatronic Engineering (English) with a master's degree
PhD	TR-NQF-HE: Level 8	QF-EHEA: Third Cycle	EQF-LLL: Level 8

General course introduction information

Course Code:

MCHT626

Course Name:

Theory and Design of Advanced Control Systems

Course Semester:

Fall
Spring

Course Credits:

Theoretical	Practical	Credit	ECTS
3	0	3	10

Language of instruction:

Course Requisites:

Does the Course Require Work Experience?:

Type of course:

Department Elective

Course Level:

PhD

TR-NQF-HE:8. Master`s Degree

QF-EHEA:Third Cycle

EQF-LLL:8. Master`s Degree

Mode of Delivery:

Face to face

Course Coordinator :

Assoc. Prof. ÖMER CİHAN KIVANÇ

Course Lecturer(s):

Öğr.Gör. B.Öğretim Elemanı
Dr.Öğr.Üyesi ŞİRİN KOÇ

Course Assistants:

Course Objective and Content

Course Objectives:	The objective of this course is to teach advanced design and analysis methods for closed-loop linear control systems under the effects of model uncertainty, disturbance and time delay by focusing on dynamic system applications.
Course Content:	The following main topics will be covered: Control System Structures, Analytical Design of SISO LTI Control Systems in Frequency Domain, Parameter Space Approach based Robust Control Methods, Disturbance Observer (DOB) based Control Systems, Time Delay in Control Systems and its Compensation, Input Shaping Control, Rapid control prototyping and Hardware-in-the-loop Simulation.

Learning Outcomes

The students who have succeeded in this course;

Learning Outcomes

1 - Knowledge
Theoretical - Conceptual
2 - Skills
Cognitive - Practical
3 - Competences
Communication and Social Competence
Learning Competence
Field Specific Competence
1) Students will be able to learn analytical control system design methods for SISO LTI systems in frequency domain.
2) Students will be able to design and analyze robust control systems by using parameter space approach based methods.
3) Students will be able to learn the effect of time delay in control systems and design disturbance based control systems for delay free and delayed systems.
4) Students will be able to learn different input shaping control methods for feedforward control system design.
5) Students will be able to learn the fundamentals of rapid control prototyping and Hardware-in-the-loop Simulation.
Competence to Work Independently and Take Responsibility

Lesson Plan

Week	Subject	Related Preparation
1)	Introduction, Overview of Control System Structures	Course Notes
2)	Analytical Design of SISO LTI Control Systems in Frequency Domain: Error Constants, Phase lead compensator, PD control	Course Notes
3)	Analytical Design of SISO LTI Control Systems in Frequency Domain: Phase lag compensator, PI control, Phase lag-lead compensator, PID control	Course Notes
4)	Parameter Space Approach based Robust Control Methods: Hurwitz Stability, D-Stability	Course Notes
5)	Parameter Space Approach based Robust Control Methods: Mapping Frequency Domain Requirements	Course Notes
6)	Parameter Space Approach based Robust Control Methods: Singular Frequencies, Case Studies	Course Notes
7)	Disturbance Observer (DOB) based Control Systems: Continous-time DOB, Discrete-time DOB, Case study	Course Notes
8)	Time Delay in Control Systems: Effect of time delay, Smith Predictors, Communication Disturbance Observer (CDOB) for Time Delay Compensation	Course Notes
9)	Time Delay in Control Systems: Double Disturbance Observer (DDOB), Case Study	Course Notes
10)	Input Shaping Control: Discrete-time NMP zeros, Zero phase (ZP) compensation, Zero phase gain (ZPG) compensation	Course Notes
11)	Giriş Şekillendirme Kontrolü: Sıfır Faz Genişletilmiş Genlik Kompazyonu (ZPGE), Sıfır Faz Optimal Genlik Kompanzasyonu (ZPGO), Uygulama Örneği	Course Notes
12)	Rapid control prototyping and Hardware-in-the-loop Simulation	Course Notes
13)	Rapid control prototyping and Hardware-in-the-loop Simulation	Course Notes
14)	Rapid control prototyping and Hardware-in-the-loop Simulation	Course Notes

Sources

Course Notes / Textbooks:	L. Güvenç, Bilin Aksun-Güvenç, B. Demirel, M. T. Emirler, Control of Mechatronic Systems, the IET, London, 2017. J. Ackermann, P. Blue, T. Bünte, L. Güvenç, D. Kaesbauer, M. Kordt, M. Muhler, D. Odenthal, Robust Control: The Parameter Space Approach, Springer-Verlag London, 2002.
References:	L. Güvenç, Bilin Aksun-Güvenç, B. Demirel, M. T. Emirler, Control of Mechatronic Systems, the IET, London, 2017. J. Ackermann, P. Blue, T. Bünte, L. Güvenç, D. Kaesbauer, M. Kordt, M. Muhler, D. Odenthal, Robust Control: The Parameter Space Approach, Springer-Verlag London, 2002.

Course-Program Learning Outcome Relationship

Learning Outcomes	1	2	3	4	5
Program Outcomes
1) Knowledge and ability to apply the interdisciplinary synergetic approach of mechatronics to the solution of engineering problems
2) Ability to design mechatronic products and systems using the mechatronics approach
3) Knowledge and ability to analyze and develop existing products or processes with a mechatronics approach
4) Ability to communicate effectively and teamwork with other disciplines
5) Understanding of performing engineering in accordance with ethical principles
6) Understanding of using technology with awareness of local and global socioeconomic impacts
7) Approach to knowing and fulfilling the necessity of lifelong learning

Course - Learning Outcome Relationship

No Effect	1 Lowest	2 Low	3 Average	4 High	5 Highest

	Program Outcomes	Level of Contribution
1)	Knowledge and ability to apply the interdisciplinary synergetic approach of mechatronics to the solution of engineering problems	2
2)	Ability to design mechatronic products and systems using the mechatronics approach	3
3)	Knowledge and ability to analyze and develop existing products or processes with a mechatronics approach
4)	Ability to communicate effectively and teamwork with other disciplines
5)	Understanding of performing engineering in accordance with ethical principles
6)	Understanding of using technology with awareness of local and global socioeconomic impacts	2
7)	Approach to knowing and fulfilling the necessity of lifelong learning

Learning Activity and Teaching Methods

Lesson
Project preparation

Assessment & Grading Methods and Criteria

Written Exam (Open-ended questions, multiple choice, true-false, matching, fill in the blanks, sequencing)
Individual Project

Assessment & Grading

Semester Requirements	Number of Activities	Level of Contribution
Project	1	% 50
Final	1	% 50
total		% 100
PERCENTAGE OF SEMESTER WORK		% 50
PERCENTAGE OF FINAL WORK		% 50
total		% 100

Workload and ECTS Credit Grading

Activities	Number of Activities	Duration (Hours)	Workload
Course Hours	14	3	42
Project	1	175	175
Final	1	80	80
Total Workload			297