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




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
Midterm Exam 25 %
Final Exam (Theory Part) 45 %
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



Chapters /

Topic, description




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




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




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

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.



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).




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.




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.



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

Laboratory/Tutorials/Activity Schedule






Tutorial 1


Lab 1

Proportional Control



Tutorial 2


Lab 2

Digital PID Control Design



Tutorial 3



Tutorial 4


Lab 3

State Feedback Position Control and Observer Design



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.
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Missed Classes and/or Evaluations

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  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;
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