Seřizování číslicových a analogových regulátorů se dvěma stupni volnosti

Abstract

This thesis is dealing with Digital and Analog 2DOF Controller Tuning with focus on the determination of optimal weight of the 2DOF controller for integrating plants with time delay. At the beginning, the thesis is dealing with a status overview from structures of 2DOF controller until methods of design, which we can find in literature. Next topic is the determination of optimal weight of 2DOF controller for chosen methods which are for integrating plants with time delay. The determination has two ways, first is analytical from poles of transfer function, second is numerical by optimisation with function of quality of control process IAE and ITAE. The results of determination are confirmed by simulation, where were chosen the best optimal weight of the 2DOF controller for the chosen methods. From the results is established table and set general methodology procedure how to tune the 2DOF controller. Next part of thesis is focus on tuning and implementation 2DOF controller with optimal weight on the real model. In the end is conclusion of achieved results and recommendation for further research.