Course detail

Control Theory 1

FEKT-BPC-RR1Acad. year: 2023/2024

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


Number of ECTS credits


Mode of study

Not applicable.

Entry knowledge

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

Rules for evaluation and completion of the course

30 points from tests and activity during seminars and computer exercises (mid semester test 15 points, individual project 15 points)
70 points from final written exam

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.


Designing, using and managing of control systems (feedforward as well as feedback)
Ability to apply measuring and control systems. Ability to design, use and maintain systems of applied infromatics. Automation of industrial technologies.

Study aids

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Blaha, P., Vavřín, P.: Řízení a regulace I: Základy regulace lineárních systémů - spojité a diskrétní. Elektronické skriptum VUT, pp. 1-214, 2019. (CS)
Blaha, P.: Řízení a regulace I: Sbírka příkladů. Elektronické skriptum VUT, pp.1-30, 2020. (CS)

Recommended reading

Not applicable.


Classification of course in study plans

  • Programme BPC-AMT Bachelor's, 3. year of study, winter semester, compulsory
  • Programme BIT Bachelor's, 3. year of study, winter semester, elective

  • Programme IT-BC-3 Bachelor's

    branch BIT , 3. year of study, winter semester, elective

Type of course unit



39 hours, optionally

Teacher / Lecturer


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.

Fundamentals seminar

14 hours, compulsory

Teacher / Lecturer


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.

Exercise in computer lab

12 hours, compulsory

Teacher / Lecturer


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.