||Digital Control Design
|Course Prerequisites and Class Restriction
||UCK 203 MIN DD
or UCK 203E MIN DD
or ELK 221 MIN DD
or ELK 221E MIN DD
|Discrete-time signals and systems. Difference equations. Z transform: unit impulse, unit step, exponential functions.
Properties of Z transform: linearity, time delay, time advance, multiplication with exponential, complex differentiation. Inverse
Z transform: long division, partial fraction expansion. Final value theorem. Z transform solution of difference equations. Time
response of discrete-time systems. Frequency response of discrete-time systems. Sampling theorem. Selection of sampling
frequency. Modeling of discrete-time systems: analog to digital converter (ADC), digital to analog converter (DAC), zero-order
hold, sampler. Systems with transport lag. Transfer function of analog subsystem with converters. Closed-loop transfer
function. Analog disturbances in digital systems. Steady-state error. Stability of digital control systems. Stability conditions:
asymptotic stability, bounded input bounded output stability, internal stability. Nyquist criterion. Bode plot. Phase and gain
margin. Control system specifications: rise time, settling time, time-to-peak overshoot, peak overshoot, steady-state error and
others. Root locus. P, PD, PI, PID controllers. Z domain root locus. Z domain implementations of analog controllers. Direct Z
domain design. Frequency response design. Direct controller synthesis. Finite settling time design (deadbeat controller).
Microcontroller based implementation application.