TORONTO METROPOLITAN UNIVERSITY

Course Outline (F2024)

ELE809: Digital Control System Design

Instructor(s)Meranda Salem [Coordinator]
Office: ENG449
Phone: TBA
Email: meranda.salem@torontomu.ca
Office Hours: Tuesdays 10am till 11am
Calendar DescriptionThis course deals with the theory on the design of digital control systems and their implementation. Major topics include: State-space system model. Discrete-time signals and systems; z-transform. Sampling: the ideal sampler, data reconstruction, quantization effects. Discrete equivalents to continuous-time transfer functions. Stability analysis: Jury's stability test; root locus; Nyquist stability criterion. Design of digital control systems: transform techniques; stat-space techniques. Hardware and software aspects in implementation. Laboratory work will include experiments on PID controller, and sate feedback controller design of an electro-mechanical system.
PrerequisitesELE 639
Antirequisites

None

Corerequisites

None

Compulsory Text(s):
  1. ELE809 Laboratory Manual, F2024 Edition, Meranda Salem. Available through D2L.
Reference Text(s):
  1. Digital Control Engineering, 2nd Edition, M. Sami Fadali and A. Visioli, Academic Press, 2012. Also available online through TMU Library.
Learning Objectives (Indicators)  

At the end of this course, the successful student will be able to:

  1. Use control engineering knowledge to understand and design digital control systems (1d)
  2. Develop mathematical models for digital control systems design (2b)
  3. Design digital PID controller and digital state feedback controllers (4b)
  4. Design and implement various digital controllers using MATLAB to control a DC motor (5a)

NOTE:Numbers in parentheses refer to the graduate attributes required by the Canadian Engineering Accreditation Board (CEAB).

Course Organization

3.0 hours of lecture per week for 13 weeks
2.0 hours of lab per week for 12 weeks
0.0 hours of tutorial per week for 12 weeks

Teaching AssistantsLei Gao
Course Evaluation
Theory
Mid-Term Exam 25 %
Final Exam (Theory Part) 40 %
Laboratory
Lab Work 25 %
Final Exam (Lab Part) 10 %
TOTAL:100 %

Note: In order for a student to pass a course, a minimum overall course mark of 50% must be obtained. In addition, for courses that have both "Theory and Laboratory" components, the student must pass the Laboratory and Theory portions separately by achieving a minimum of 50% in the combined Laboratory components and 50% in the combined Theory components. Please refer to the "Course Evaluation" section above for details on the Theory and Laboratory components (if applicable).


ExaminationsMid-Term exam will be announced on D2L. Final exam will be held during Final Exam week for the fall term.  Lab Final Exam will be held during your lab time most probably two weeks before Final Exam week for the fall term.
Other Evaluation InformationMaterials covered by Term Test, wouldn't be covered during Final Exam.
 Lab Final Exam will cover all three labs for the course.
Teaching MethodsLecture notes as well as lab materials will be uploaded on D2L.
 Lectures are delivered in Person,
 Review before Term Test and Final Exam will be provided.
 
Other InformationLecture and laboratory schedules are tentative and subject to change.  Consult D2L for updates.

Course Content

Week

Hours

Chapters /
Section

Topic, description

1

1

1

Topic 1: Introduction
 Comparison of digital and analog control systems overview of the
 control problem and design approach.
 Sept 3rd


1-2

3

2

Topic 2: Mathematical Models for Discrete-Time Systems
 Linear difference equation z-transform and properties discrete
 transfer function systems with delay.
 Sept. 3rd & Sept. 10th


2-3

4

3

Topic 3: Sampling and Reconstruction of Continuous-Time Signals
 Sample and hold spectrum of sampled signals Nyquist sampling
 theorem and aliasing data reconstruction.
 Sept. 10th & Sept. 17th


3-4

3

3, 4

Topic 4: Analysis of Discrete-Time Signals and Systems
 Discrete-time signals response of discrete-time systems stability
 analysis techniques (Jury stability criterion root locus Nyquist
 criterion) transient and steady state characteristics.
 Sept. 17th & Sept. 24


4-7, 9

12

7, 8

Topic 5: State-Space System Model
 Concept of states state variables state vector state space state-space equations modeling of physical systems using state-space models
 stability controllability and observability similarity transformation canonical forms discrete-time state-space models (with and without input delay). Sept. 24, Oct. 1st, Oct. 8th, Oct. 15th, & Oct. 29th.
 


8

3

Midterm Exam on Oct. 22nd covering chapter 1, 2, 3, and 4 topics, during lecture time.


9-10

3

6

Topic 6: Design using Transform Techniques
 Emulation of continuous-time design (discrete equivalents by
 numerical integration/differentiation hold equivalents and zero-pole
 mapping) PID control direct digital design: z-plane design using root
 locus frequency domain design with w-transform.
 Oct. 29th & Nov. 5th
 


11-12

10

9

Topic 7: State Space Design
 Regulator design using pole placement technique Ackermann
 formula observer design reduced-order observer servo control
 system design robust control and disturbance rejection actuator and
 sensor delays.
 Nov. 12th & Nov. 19th


13

1

Topic 8: Implementation and Practical Consideration
 Sample rate selection supporting hardware and software effects of
 quantization.
 Nov. 26th
 (Lecture Notes)


Laboratory(L)/Tutorials(T)/Activity(A) Schedule

Week

L/T/A

Description

2

Tutorial

Tutorial 1
 Week of Sept. 9th during your lab section day & time.

3

Lab 1

Proportional Control
 Week of Sept. 16th during your lab section day & time.

4

Tutorial

Tutorial 2
 Week of Sept. 23rd during your lab section day & time.

5,6,7

Lab 2

Digital PID Control Design
 Weeks of Sept. 30th, Oct. 1st, Oct. 7th during your lab section day & time.

8

Tutorial

Tutorial 3 for Wednesday section
 Week of Oct. 14th thanks giving holiday on Monday, no tutorial for Monday Sections.

9-10

Lab 3

State Feedback Position Control and Observer Design
 Weeks of Oct. 21st and Oct. 28th during your lab section day & time.

11

Tutorial

Tutorial 4
 Week of Nov. 4th during your lab section day & time.

12

Lab Final Exam

Lab Final Exam
 Week of Nov. 11th during your lab section day & time.

13

Tutorial

Tutorial 5
 Week of Nov. 18th during your lab section day & time.

University Policies & Important Information

Students are reminded that they are required to adhere to all relevant university policies found in their online course shell in D2L and/or on the Senate website

Refer to the Departmental FAQ page for furhter information on common questions.

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