MPŠ MP&Scaron MP&Scaron MP&Scaron Avtorji lukatarina

Jožef Stefan
Postgraduate School

Jamova 39
SI-1000 Ljubljana

Phone: +386 1 477 31 00
Fax: +386 1 477 31 10


Course Description

Modern Control Technologies (ICT2)


Information and Communication Technologies, second-level study programme


prof. dr. Đani Juričić
doc. dr. Damir Vrančić


Control is a " hidden" technology which ensures efficient and safe operation of systems in accordance with the requirements. The aim of the course is to acquiaint students with basic concepts and to present a number of state-of-the-art procedures for solving complex control problems. The course will provide a framework for understanding control technology in the form of a life cycle model which interconnects practical requirements, design and implementation in a concise manner. Procedures for planning self-adjusting and adaptive systems, non-linear control systems and supervision systems will be presented in greater detail. Practical examples highlighting the basic concepts will be provided as well.


1) Introduction
Life-cycle basics: technical implementation phases, the analysis of functional requirements (what the system should do), specification, design, implementation and maintenance; non-technical aspects (man-machine interface, technoeconomics, social aspects).

2) Basic building blocks of state-of-the-art control technologies
Review of sensors, actuators, signal conditioning and transmission; sampling.

3) Modern concepts of control design in time space
Basic concepts: controllability; identifiability; optimal state regulator; self-adjusting and adaptive regulators; examples from industry.

4) Intelligent supervisory systems
Reliability, efficiency and quality requirements; early error detection procedures based on models; application of signal processing methods; fault isolation by using approximate reasoning; examples of industrial applications.

5) Model based control
Practical relevance of state estimation of dynamic systems; Kalman filter; extended Kalman filter; " bootstrap" procedures for state estimation of nonlinear dynamic systems; examples of application in forecasting and navigation; predictive control

6) Predictive control
Basic concepts; solution of the quadratic cost function; tuning; robustness; application.

Course literature:

• G.C. Goodwin, S.F. Graebe and M.E. Salgado (2003). Control System Design. McGraw Hill, New Jersey.
• B. Kouvaritakis and M. Cannon (2001). Nonlinear Predictive Control: Theory and Practice. The Institution of Electrical Engineers, London.
• J. M. Maciejowski (2002). Predictive Control with Constraints. Prentice-Hall.
• M. Blanke, M. Kinnaert, J. Lunze and M. Staroswiecki (2003). Diagnosis and Fault-Tolerant Control. Springer-Verlag. Berlin.
• S. Strmčnik (Urednik) (1998). Celostni Pristop k Računalniškemu Vodenju Procesov. Založba FE in FRI. Univerza v Ljubljani, Ljubljana.
• C.F. Lin (1994). Advanced Cntrol Systems Design. Prentice-Hall, Englewood Cloffs N.J.
• E.L. Russell, L. H. Chiang and R. Braatz (2000). Data-Driven Techniques for Fault Detection and Diagnosis in Cemical Processes. Springer, London.
• D. Kaplan, L. Glass (1995). Understanding Nonlinear Dynamics. Springer, New York.

Significant publications and references:

• M. Žele, Đ. Juričić, S. Strmčnik, D. Matko, " A probabilistic measure for model purposiveness in identification for control" , Int. J. Syst. Sci., vol. 29, str. 653-662, 1998.
• M. Kinnaert, D. Vrančić, E. Denolin, Đ. Juričić, J. Petrovčič, " Model-based fault detection and isolation for a gas-liquid separation unit" , Control Engineering Practice, vol. 8, str. 1273-1283, 2000.
• S. Gerkšič, Đ. Juričić, S. Strmčnik, D. Matko, " Wiener model based nonlinear predictive control" , Int. J. Syst. Sci., vol. 31, str. 189-202, 2000.
• D. Vrančić, S. Strmčnik, Đ. Juričić " A magnitude optimum multiple integration tuning for filtered PID controller" , Automatica, vol. 37, str. 1473-1479, 2001.
• Đ. Juričić, M. Žele, " Robust detection of sensor faults by means of a satistical test" . Automatica 2002, vol. 38, str. 737-742, 2002.
• A. Rakar, Đ. Juričić, " Diagnostic reasoning under conflicting data : the application of the transferable belief model" . J. process control, vol. 12, str. 55-67, 2002.
• U. Benko, J. Petrovčič, Đ. Juričić, J. Tavčar, J. Rejec, " An approach to fault diagnosis of vacuum cleaner motors based on sound analysis" . Mech. syst. signal process., vol. 19, str. 427-445.
• B. Musizza, J. Petrovčič, D. Tinta, J. Tavčar, G. Dolanc, J. Koblar, Đ. Juričić (2006). " Implementation of a system for the automatic end-quality assessment of vacuum-cleaner motors" . Stroj. vestn., letn. 52, št. 3, str. 170-180, 2006.
• Y. Peng, D. Vrancic, R. Hanus (1996). Anti-windup, bumpless, and conditioned transfer techniques for PID controllers. Control Syst. Mag.,vol. 16, str. 48-57.
• Y. Peng, D. Vrancic, R. Hanus, R. Weller (1998) Anti-windup designs for multivariable controllers. Automatica vol. 34, str. 1559-1565.
• D. Vrancic, Y. Peng, S. Strmcnik (1999). A new PID controller tuning method based on multiple integrations. Control Eng. Pract.. vol. 7, str. 623-633.
• D. Vrancic, S. Strmcnik, D. Juricic (2001). A magnitude optimum multiple integration tuning method for filtered PID controller. Automatica , vol. 37, str. 1473-1479.
• D. Vrancic, S. Strmcnik, R. Hanus (2001). A new approach to analysing the windup phenomenon and antiwindup protection. Int. J. Syst. Sci., , vol. 32, str. 899-904.
• D. Vrecko, D. Vrancic, D. Juricic, S. Strmcnik (2001). A new modified Smith predictor: the concept, design and tuning. ISA trans., vol. 40, str. 111-121.
• D. Vrancic, S., Strmcnik, J. Kocijan (2004). Improving disturbance rejection of PI controllers by means of the magnitude optimum method. ISA trans., vol. 43, str. 73-84.


Seminar and oral exam.

Students obligations:

Seminar and oral exam.