Course Outline (F2019)
ELE809: Digital Control System Design
|Instructor(s)||Y. C. Chen [Coordinator]|
Phone: (416) 979-5000 x 6090
Office Hours: Tue 1-2pm, Fri 1:30-2:30pm
|Calendar Description||This 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.
- ELE809 Laboratory Manual, F2019 Edition, Y.C. Chen. Available through D2L.
- 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:
- Use control engineering knowledge to understand and design digital control systems (1d)
- Develop mathematical models for digital control systems design (2b)
- Design digital PID controller and digital state feedback controllers (4b)
- 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).
3.0 hours of lecture per week for 13 weeks
2.0 hours of lab/tutorial per week for 12 weeks
|Teaching Assistants||Lei Gao, firstname.lastname@example.org|
|Midterm Exam|| 25 %|
|Final Exam (Theory Part)|| 45 %|
|Lab Work|| 20 %|
|Final Exam (Lab Part)|| 10 %|
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.
|Examinations||Midterm 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 Information||None|
|Other Information||Lecture and laboratory schedules are tentative and subject to change. Consult D2L for updates.|
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.
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.
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
Topic 8: Implementation and Practical Consideration
Sample rate selection supporting hardware and software effects of
Digital PID Control Design
State Feedback Position Control and Observer Design
Policies & Important Information:
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instructor and the students;
- Any changes in the course outline, test dates, marking or evaluation will be discussed in class prior to being implemented;
- 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
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.
- 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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- 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);
- An F in the course;
- More serious penalties up to and including expulsion from the University.
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