Digital Control




Responsible Instructor: T. Keviczky (Tamas)

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Expected prior knowledge:

SC42015, SC42000 or similar.
Knowledge of classical control techniques (systematic and realistic PID design, frequency domain approaches) as well as state space theory is required.

Course Contents:

Computer control. Sampling of continuous-time signals. The sampling theorem. Aliasing. Discrete-time systems. State-space systems in discrete-time. The z-transform. Selection of sampling-rate. Analysis of discrete-time systems. Stability. Controllability, reachability and observability. Disturbance models. Reduction of effects of disturbances. Stochastic models. Design methods. Approximations of continuous design. Digital PID-controller. State-space design methods. Observers. Pole-placement. Optimal design methods. Linear Quadratic control. Prediction. LQG-control. Implementation aspects of digital controllers.

Study Goals:

The student must be able to:
1. describe the essential differences between continuous time and discrete-time control
2. transform a continuous time description of a system into a discrete-time description
3. calculate input-output responses for discrete-time systems
4. analyse the system characteristics of discrete-time systems
5. employ a pole-placement method on a discrete-time system
6. implement an observer to calculate the states of a discrete time system
7. apply optimal control on discrete-time systems
8. describe the functioning of the Kalman-filter as a dynamic observer

Education Method:

Lectures and computer exercises

Computer Use:

Matlab/Simulink is used to carry out the exercises of this course.

Literature and Study Materials:

Course material:
Lecture notes are made available on Blackboard

K.J. Astrom, B. Wittenmark 'Computer-controlled Systems', Prentice Hall ,1997, 3rd edition
L. Keviczky et. al 'Control Engineering', Szechenyi University Press, 2011 (only available at Leeghwater Student Association)

References from literature:
B.C. Kuo 'Digital Control Systems', Tokyo, Holt-Saunders, 1980
G.F. Franklin, J.D. Powell 'Digital Control of Dynamic Systems', 1989, 2nd edition, Addison-Wesley


Final quiz in class + project assignment


Old course code: WB2305
The project assignment can be completed only during the quarter when the course is offered (i.e. the project has no resit during other periods).


3mE Department Delft Center for Systems and Control
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