In the context of this diploma thesis we have tried to meet the following goals:
- Repeat or examine, and describe the most frequently used tuning methods suitable for proportional-integal-derivative (PID) controllers, which can be applied with the so-called univariable (UV or SISO) (systems with one input and one output) and multivariable (MV or MIMO) systems (systems with more inputs and outputs, and cross - couplings);
- Descriptions and chosen algorithms should include off-line design approaches, autotuning, parameters' scheduling, as well as adaptive control;
- All these approaches and methods should be illustrated and corresponding computer support should be prepared.
The second chapter of the diploma presents the selected design methods, which were chosen in such a way that they allow control system design of SISO and MIMO dynamic systems, some can be realized in off-line design, while some of them are suitable also for on-line control.
The third chapter is devoted to illustrative design examples regarding presented methods. All design was realized by the usage of MATLAB program because of the equipment and organization of the Laboratory of modelling, simulation and control, and the Laboratory of autonomous mobile systems under which this work was prepared. All designed files, which should help in the education process, have been included in the toolbox LABI (LABoratory of mathematIcal models of dynamic systems) which is being developed in these laboratories. In this way it is very simple to use the prepared files while further expansion is also rather simple. With minor changes it is possible to adapt developed files also for on-line control of pilot plants in mentioned laboratories.
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