ECE 5700

Digital Control Systems Digital Control Systems

Dr. Bradley J. Bazuin
Western Michigan University
College of Engineering and Applied Sciences
Department of Electrical and Computer Engineering
1903 W. Michigan Ave.
Kalamazoo MI, 49008-5329
Course/Lecture Overview
Syllabus
Personal Intro.
Textbook/Materials Used
Additional Reading
ID and Acknowledgment of Policies
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
2
ID and Acknowledgment of Policies
Textbooks structure and content
(Course direction and intent)
Chapter 1
Syllabus
Everything useful for this class can be found on Dr. Bazuins web site!
http://homepages.wmich.edu/~bazuinb/
The class web site is at
http://homepages.wmich.edu/~bazuinb/ECE5700/ECE5700_Su08.htm
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
3
The syllabus
http://homepages.wmich.edu/~bazuinb/ECE5700/Syl_5700.pdf
Who am I?
Dr. Bradley J. Bazuin
Born and raised in Grand Rapids Michigan
Undergraduate BS in Engineering and Applied Sciences, Extensive
Electrical Engineering from Yale University in 1980
Graduate MS and PhD in Electrical Engineering from Stanford University
in 1982 and 1989.
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
4
in 1982 and 1989.
Part-time ARGOSystems, Inc. (purchased by Boeing) 1981-1989
Full-time ARGOSystems, Inc. 1989-1991
Full-time Radix Technologies 1991-2000
Term-appointed Faculty, WMU ECE Dept. 2000-2001
Tenure track Assistant Professor, WMU ECE Dept. 2001-2007
Tenured Associate Professor, WMU ECE Dept. 2007-
Textbook/Materials
C.L. Phillips and H.T Nagle
Digital Control System Analysis and Design,
Prentice Hall, 1995. ISBN: 0-13-309832.
The MATH Works,
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
5
The MATH Works,
MATLAB Sttudent Version ($99)
includes Control System and Signal Processing Toolbox
http://www.mathworks.com/
Additional Books and Readings
R.C. Dorf and R.H. Bishop, Modern Control Systems,
10th ed. , Prentice Hall, 2005. ISBN: 0-13-145733.
R. H Bishop, Modern Control Systems Analysis and
Design Using MATLAB and SIMULINK, Prentice Hall,
2001.
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
6
2001.
K. Ogata, Modern Control Engineering, 4th ed.,
Prentice Hall, 2002. ISBN: 0-13-060907-2.
B.C. Kuo, Digital Control Systems, 2
nd
ed., Oxford
Univ. Press, 1992.
T. Kailath, Linear Systems, Prentice Hall, 1980.
Identification and Acknowledgement
Identification for Grade Posting,
Course and University Policies, and
Acknowledgement
Please read, provide unique identification, sign and date,
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
7
Please read, provide unique identification, sign and date,
and return to Dr. Bazuin.
Textbook Overviews
C.L. Phillips and H.T Nagle
Digital Control System Analysis and Design,
Prentice Hall, 1995. ISBN: 0-13-309832
1. Introduction
Overview of text, control system problems and examples.
2. Discrete-Time Systems and the z-Transform.
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
8
2. Discrete-Time Systems and the z-Transform.
Z-transform properties, flow graphs, state variable representation, and solving
the state equation.
3. Sampling and Reconstruction.
Ideal sampling, Fourier transform relationship, data reconstruction, zero-order
hold, and D to A and A to D converters (DAC and ADC).
4. Open-Loop Discrete-Time Systems.
Pulse transfer funcrtion, digital filters, time delay, and a review of continuous
time state variable.
Textbook Overview (2)
5. Closed-Loop Systems.
Single variable and state variable systems.
6. System Time-Response Characteristics.
Characteristic equation, mapping the s-plane into the z-plane, and steady
stateanalysis.
7. Stability Analysis Techniques.
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
9
Stability, bilinear transformation, Routh-Hurwitz criterion, root locus, Nyquist
criterion, and Bode diagrams.
8. Digital Controller Design.
Specifications, relative stability, sensitivity, disturbance rejection,
compensation, phase-lag, phase-lead, lag-lead compensation and PID
controllers.
9. Pole-Assignment Design and State Estimation.
Pole assignment, state estimation, observer models, current observers,
controllability and observability.
Textbook Overview (3)
10. Linear Quadratic Optimal Control
Quadratic cost function, principle of optimality, minimum principle, steady-
state optimal cointrol, least-squares curve fitting, Kalman filters, Filters.
Other Material in the Text
11. Sampled-Data Transformation of Analog Filters.
Numerical approximation, impulse invariance, bilinear transformation, review
ECE 5700
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle, Digital
Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
10
Numerical approximation, impulse invariance, bilinear transformation, review
of continuous time classical filters.
12. Digital Filter Structures.
Direct form, inverse direct form, cascade realization, parallel realization, PID,
and ladder realization.
13. Computer Implementation of Digital Filters.
Processor and LabView im0plementation examples.
14. Finite-Wordlength Effects.
15. Case Studies