Electric Circuits & Systems
Semester: 2nd, Spring/Summer
Models of circuit discrete elements. Resistors and energy storage elements. Sources. Systems of elements. Transformers. Linear circuit analysis via the linear graph method. Voltage division. Kirchhoff laws. Thevenin and Norton theorems. Linear system properties. Superposition. Stability. Circuit time response and sinusoidal steady state response. Frequency response. Transfer functions, filters. Three-phase networks. Average and reactive power. Balanced and unbalanced loads. Lab exercises: circuit time and frequency response, parameter identification.
Electromechanical Power Conversion Systems
Semester: 3rd, Autumn/Winter
Fundamental principles of electromagnetism. Magnetic circuits and permanent magnets circuits. Electromechanical power conversion, development of torque and voltage. Electromagnetic actuators, electromagnets, voice coils. Generators, motors and loads. Torque-speed characteristics. Basic equations, equivalent circuits, characteristic curves, power flow, efficiency and losses in electric machines. DC generators and motors. Synchronous generators and motors. Three-phase and single-phase induction motors. Stepper, universal, and brushless motors. Introduction to drives and motor control. Lab exercises: motor response, parameter identification and characteristics of motors/generators.
Introduction to Electronics
Semester: 6th, Spring/Summer
Analog Circuits: Diodes (Zener, Photo-diodes, applications: inversion). Bipolar Transistor (CB, CC, CE). Low frequency Amplifiers. Operational Amplifiers (Applications to signal conditioning and control). Digital Circuits: Gates (hardware realization, Boolean Algebra). Medium Scale Integration Circuits (decoders, multiplexers, adders, ROM, PLAs). FLIP-FLOP. Sequential Circuits (Introduction, counters). Applications: Signal Conditioning & Transmission, TRIAC & Thyristors. Industrial control systems.
Modelling and Automatic Control of Systems
Semester: 6th, Spring/Summer
Introduction, brief history, control system principles, mathematical models of physical systems, transfer functions, state equations, block diagrams, properties of feedback control systems, transient response, basic feedback controllers, root locus, methods for control system design, frequency response, compensator design, applications.
Advanced Control Systems
Semester: 7th, Autumn/Winter
Modeling of dynamical systems, power state variables, bond graphs, derivation of state space equations, linear systems analysis, solution of state space equations, controllability and observability, classical and modern control, state feedback control, optimal control & the general optimal control problem, linear-quadratic optimal control problem, optimal regulator, relation to classical control, optimal control and reference input tracking systems, state reconstruction - observers, applications.
Microprocessors Based Control
Semester: 8th, Spring/Summer
Introduction to control systems using microprocessors -μP and microcontrollers –μC (ADC, DAC, Sampling & Hold–S/H). Introduction to microprocessor and microcontroller architecture and programming. Assembly and interfacing of MC86HC11. Signal representation in digital systems, Z-transform, frequency domain analysis, state equations of sampled systems, time domain analysis. Stability, Controllability & Observability. Design and Implementation of Sampled Data control systems. State observation (observers – Kalman filtering) Model Identification. Introduction to Adaptive Control. Laboratory sessions: (a) design and simulation of a digital control system for a medium scale plant (e.g. aircraft), (b) assembly programming for μP & μC and simple controller implementation (e.g. alarm, servo-motor control), (c) on-line identification of the dynamic parameters of 2-DOF manipulator.
Robotics
Semester: 9th, Autumn/Winter
Introduction to robotic systems (manipulators, vehicles, underwater, aerial): Direct and inverse kinematics in three dimensions: position and orientation. Direct and inverse differential kinematics: Jacobians, singularities, workspace. Dynamics of serial arms. Kinematics and dynamics of wheeled robots. Linear and nonlinear position control of robotic systems. Force control. Actuators and sensors. Motion and trajectory design. Programming, architecture and integration of robots. Demonstrations of modern robotic systems. Control and Programming.