Learning Objective:This course is intended to facilitate the students to gain: familiarity with sample theory, z-transform, and other analysis tools that are used to analyze and design digital control systems; familiarity with the state space and input/output representation, modeling and analysis of digital control systems; familiarity with modern control design methodologies for continuous-time and discrete-time systems that may include but not limited to: state feedback control, state observer design, observer based compensator design, LQ optimal control, Kalman filtering, LQG design, internal model based design; understanding the issues regarding digital controller implementation.
Description:This course is the second in a two course series, ME575 and ME578. It is intended to facilitate the students to gain understanding in: sample theory, z-transform, and other analysis tools that are used to analyze and design digital control systems; Analysis: state space and input/output representation, modeling and analysis of digital control systems; Synthesis: emulation, I/O mapping design, state feedback control, state observer design, observer based compensator design, LQ optimal control, Kalman filtering, LQG design; Implementation: quantization, sampling and noise; of linear time-invariant (LTI) control system design. It is intended to bridge between theory and application by bringing implementation issues into the consideration of controller design. Spring 2017 Syllabus (PDF)
Topics Covered:Introduction: Issues relating to digital control; Design process. Sample Theory: Sampling Theory; Aliasing; Zero-Order Hold (ZOH); Transform and Difference Equations; Properties; Difference Equation. Representation of Sample Data Systems: Pulse Transfer Function Representation; State Space Representation. Analysis of Sampled Data Systems: Stability; Sensitivity and Robustness; Controllability/ Observability; Pole/Zero Cancellation. Design of Discrete-Time Controller, Input/Output Approach: Emulating Continuous-Time Controller; Invariant Methods; Direct Design. Design of Discrete-Time Controller, Polynomial Approach: Problem Formulation; Pole Placement Design; Model Matching Problem. Design of Discrete-Time Controller, State Space Approach: State Feedback; State Estimation (Observer); Observer Based Compensator. LQ Optimal Control. LQG Control. LMI formulations of control will be shown toward the end of the course. Special Topics. Implementation Issues.
Prerequisites:Modeling of (low-order, linear) continuous time physical systems. Laplace transform and related properties (IVT, FVT), transfer function representation. Block diagram and its algebra. Definition of poles/zeros and I/O Stability. Routh-Hurwitz criterion. Analysis and synthesis of continuous-time control systems using Root locus, Bode diagram, and Nyquist plot techniques. Design of classical control algorithms such as PID and lead-lag compensators. State space models and the definitions of controllability and observability.
Applied / Theory:50 / 50
Web Content:Syllabus, grades, lecture notes, solved problems, solutions, quizzes, and a message board.
Homework:There will be a weekly quiz and a weekly or biweekly project update for the duration of the course, with grading as given in the syllabus and schedule.
Projects:The course project will involve the modeling, analysis, design, realistic simulation or experimental verification (optional) of a physical system under digital control. There is no project presentation required. The student will need to submit an in-depth project updates and supporting data electronically. Will not visit off campus locations. Project updates (50% of overall grade) will be weekly or biweekly with ten updates over the semester due on the dates listed in the syllabus.
Exams:1 quiz/week. Must get passing quiz grade to pass course. Quizzes should be an individual effort. Best 10 quizzes will contribute to grade (50%).
Textbooks:Official textbook information is now listed in the Schedule of Classes. NOTE: Textbook information is subject to be changed at any time at the discretion of the faculty member. If you have questions or concerns please contact the academic department.
Tentative: There is no textbook for the course. Course and lecture notes can be downloaded from the course web site. References will be made available by the course instructor.