Course code: wb2305

Course name: Digital Control

This concerns a Course 

ECTS credit points: 3

Faculty of Mechanical Engineering and Marine Technology

Section of Systems and Control Engineering

Lecturer(s): dr.Sj.Dijkstra

Tel.:  015 - 27 85606 /      

Catalog data:

Computer control, sampling of continuous signals, discrete-time systems, disturbance models, state-space design, pole-placement, optimal control, minimum variance control, implementational aspects

Course year:

MSc 1^st year

Semester:

1B /

Hours per week:

4

Other hours:

Assessment:

Computer test

Assessment period:

1B, 2A,

(see academic calendar)

Prerequisites (course codes):

wb2207 and wb2420

Follow up (course codes):

none

Detailed description of topics:

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.Implementational aspects of digital controllers. Minimum-variance control.

Course material:

• lecture notes are available as hard copy and on Blackboard

References from literature:

• K.J. Åström, B.Wittenmark 'Computer-controlled Systems, Prentice Hall ,1997, 3rd edition
• B.C.Kuo 'Digital Control Systems' Tokyo, Holt-Saunders, 1980
• G.F.Franklin, J.D.Powell 'Digital Control of Dynamic Systems', 1989, 2nd ed., Addison-Wesley

Remarks assessment, entry requirements, etc.:

Knoledge of classic control techniques as well as the state space theory is required

Learning goals:

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

9. describe the principle of a minimum variance controller to reduce the effect of noise like disturbances

Computer use:

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

Laboratory project(s):

Design content:

The design aspects of digital controllers are discussed

Percentage of design:  50%