RYERSON UNIVERSITY

Course Outline (F2019)

ELE809: Digital Control System Design

Instructor(s)Y. C. Chen [Coordinator]
Office: ENG458
Phone: (416) 979-5000 x 6090
Email: yaochen@ryerson.ca
Office Hours: Tue 1-2pm, Fri 1:30-2:30pm
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, F2019 Edition, Y.C. Chen. Available through D2L.
Reference Text(s):
  1. Digital Control Engineering, 2nd Edition, M. Sami Fadali and A. Visioli, Academic Press, 2012. Available online through Ryerson 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/tutorial per week for 12 weeks

Teaching AssistantsLei Gao, lei.gao@ryerson.ca
Course Evaluation
Theory
Midterm Exam 25 %
Final Exam (Theory Part) 45 %
Laboratory
Lab Work 20 %
Final Exam (Lab Part) 10 %
TOTAL:100 %

Note: In order for a student to pass a course with "Theory and Laboratory" components, in addition to earning a minimum overall course mark of 50%, 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 for details on the Theory and Laboratory components.


ExaminationsMidterm exam in approximately Week 7, two hours, closed-book, formula sheet provided.
 Final exam, during exam period, three hours, closed-book, formula sheet provided.
Other Evaluation InformationNone
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.
 


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.
 


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.
 


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.
 


4-8

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).
 


8-9

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.
 


9-12

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.
 


13

1

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


Laboratory/Tutorials/Activity Schedule

Week

Lab

Description

2

Tutorial

Tutorial 1

3

Lab 1

Proportional Control

4

Tutorial

Tutorial 2

5,6,8

Lab 2

Digital PID Control Design

9

Tutorial

Tutorial 3

10

Tutorial

Tutorial 4

11-12

Lab 3

State Feedback Position Control and Observer Design

13

Tutorial

Tutorial 5

Policies & Important Information:

  1. Students are required to obtain and maintain a Ryerson e-mail account for timely communications between the instructor and the students;
  2. Any changes in the course outline, test dates, marking or evaluation will be discussed in class prior to being implemented;
  3. Assignments, projects, reports and other deadline-bound course assessment components handed in past the due date will receive a mark of ZERO, unless otherwise stated. Marking information will be made available at the time when such course assessment components are announced.
  4. Refer to our Departmental FAQ page for information on common questions and issues at the following link: https://www.ee.ryerson.ca/guides/Student.Academic.FAQ.html.

Missed Classes and/or Evaluations

When possible, students are required to inform their instructors of any situation which arises during the semester which may have an adverse effect upon their academic performance, and must request any consideration and accommodation according to the relevant policies as far in advance as possible. Failure to do so may jeopardize any academic appeals.

  1. Health certificates - If a student misses the deadline for submitting an assignment, or the date of an exam or other evaluation component for health reasons, they should notify their instructor as soon as possible, and submit a Ryerson Student Health Certificate AND an Academic Consideration Request form within 3 working days of the missed date. Both documents are available at https://www.ryerson.ca/senate/forms/medical.pdf.. If you are a full-time or part-time degree student, then you submit your forms to your own program department or school;
  2. Religious, Aboriginal and Spiritual observance - If a student needs accommodation because of religious, Aboriginal or spiritual observance, they must submit a Request for Accommodation of Student Religious, Aboriginal and Spiritual Observance AND an Academic Consideration Request form within the first 2 weeks of the class or, for a final examination, within 2 weeks of the posting of the examination schedule. If the requested absence occurs within the first 2 weeks of classes, or the dates are not known well in advance as they are linked to other conditions, these forms should be submitted with as much lead time as possible in advance of the absence. Both documents are available at www.ryerson.ca/senate/forms/relobservforminstr.pdf. If you are a full-time or part-time degree student, then you submit the forms to your own program department or school;
  3. Academic Accommodation Support - Before the first graded work is due, students registered with the Academic Accommodation Support office (AAS - www.ryerson.ca/studentlearningsupport/academic-accommodation-support) should provide their instructors with an Academic Accommodation letter that describes their academic accommodation plan.

Academic Integrity

Ryerson's Policy 60 (the Academic Integrity policy) applies to all students at the University. Forms of academic misconduct include plagiarism, cheating, supplying false information to the University, and other acts. The most common form of academic misconduct is plagiarism - a serious academic offence, with potentially severe penalties and other consequences. It is expected, therefore, that all examinations and work submitted for evaluation and course credit will be the product of each student's individual effort (or an authorized group of students). Submitting the same work for credit to more than one course, without instructor approval, can also be considered a form of plagiarism.

Suspicions of academic misconduct may be referred to the Academic Integrity Office (AIO). Students who are found to have committed academic misconduct will have a Disciplinary Notation (DN) placed on their academic record (not on their transcript) and will normally be assigned one or more of the following penalties:

  1. A grade reduction for the work, ranging up to an including a zero on the work (minimum penalty for graduate work is a zero on the work);
  2. A grade reduction in the course greater than a zero on the work. (Note that this penalty can only be applied to course components worth 10% or less, and any additional penalty cannot exceed 10% of the final course grade. Students must be given prior notice that such a penalty will be assigned (e.g. in the course outline or on the assignment handout);
  3. An F in the course;
  4. More serious penalties up to and including expulsion from the University.

The unauthorized use of intellectual property of others, including your professor, for distribution, sale, or profit is expressly prohibited, in accordance with Policy 60 (Sections 2.8 and 2.10). Intellectual property includes, but is not limited to:

  1. Slides
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  3. Presentation materials used in and outside of class
  4. Lab manuals
  5. Course packs
  6. Exams

For more detailed information on these issues, please refer to the Academic Integrity policy(https://www.ryerson.ca/senate/policies/pol60.pdf) and to the Academic Integrity Office website (https://www.ryerson.ca/academicintegrity/).

Important Resources Available at Ryerson

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