Course details

Control Theory 1

BPC-RR1 FEKT BPC-RR1 Acad. year 2022/2023 Winter semester 7 credits

Current academic year

Basic terms is Control Theory .Feedforward and feedback control. Simple on-off and proportional control(continuous and discrete type). Performance evaluation of feedback controllers. Stability of feedback systems. Steady state and dynamics errors. Root locus method and frequency analysis. PID controllers. PID controllers design methods. Systems with multi feedback loops. Digital PSD controllers. Multivariable feedback control.


Language of instruction




Time span

  • 39 hrs lectures
  • 14 hrs exercises
  • 12 hrs pc labs




Subject specific learning outcomes and competences

Ability to apply measuring and control systems. Ability to design, use and maintain systems of applied infromatics. Automation of industrial technologies.

Learning objectives

Designing, using and managing of control systems (feedforward as well as feedback)

Prerequisite knowledge and skills

The subject knowledge on the secondary school and appropriate mathmatics are requested.

Study literature

  • Distefano, J. J., Stubberud, A. R. and Williams, I. J.: Feedback and Control Systems. McGraw-Hill Companies, 1994.
  • Skogestad, S., Postlethwaite, I.: Multivariable Feedback Control - analysis and design. Wiley, 2005, ISBN: 978-0-470-01167-6.

Syllabus of lectures

1. Introduction. Control Systems and their examples.
2. Controllers, basic components and properties.
3. Anaysis of feedback control system. Basic transfer functions in feedback control systems, steady state error behavior.
4. Dynamical properties of closed-loop systems. Integral criterion for control performance evaluation.
5. Stability of feedback control systems, Hurwitz, Routh-Schur and Nyquist stability criterion.
6. Root locus analysis.
7. Analysis of control loops in frequency domain. Gain, phase and modulus margin.
8. Controller synthesis in frequency domains. Bode loop shaping method.
9. Optimal module design, method of optimal time response, Ziegler-Nichols method.
10. Controller design methods based on suitable closed loop poles placement and on standard shapes of characteristic polynomials.
11. Digital controller synthesis. Conversion of continuous time PID to discrete PSD controller.
12. Control Systems with additional loops. Cascade control, model based control, Smith predictor (time delay compensation).
13. Multivariable feedback control. Diagonal and disturbance decoupling problem.

Syllabus of numerical exercises

1. Basic systems, stability, block algebra. Dynamic systems, notations, all in continuous and discrete time domain.
2. Transfer functions in feedback control circuits. Initial and final value theorems. Selection of the controller type - steady state error (during tracking and disturbance attenuation).
3. Closed loop system stability - Nyquist stability criterion. Analysis and synthesis using root locus method.
4. Ziegler-Nichols tuning method.
5. Design of controllers using the optimal module method. Controller design in frequency domain.
6. PSD controller, discretization of continuous controllers. Multivariable control system design.

Syllabus of computer exercises

1. Introduction, MATLAB, functions in Control System Toolbox and Simulink
2. Influence of feedback and controller parameters on control system performance.
3. Integral criterias as a metrics for control performance evaluation – IAE, ISE, ITAE, MSE. Optimal controller design.
4. Ziegler-Nichols tuning method. Sisotool in MATLAB.
5. Open loop frequency response loop shaping controller design. PSD controller.
6. Dead-beat control problem.

Progress assessment

30 points from tests and activity during seminars and computer exercises
70 points from final written exam

Teaching methods and criteria

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations. Materials for lectures and exercises are available for students from web pages of the course. Students have to write a single project/assignment during the course.

Controlled instruction

The content and forms of instruction in the evaluated course are specified by a regulation issued by the lecturer responsible for the course and updated for every academic year.

Course inclusion in study plans

  • Programme BIT, 3rd year of study, Elective
  • Programme IT-BC-3, field BIT, 3rd year of study, Elective
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