ME2025 Digital Control
Course Description:
The goal of this course is to enable all students to have the skills and knowledge to successfully apply digital control methods. Implementation of control systems often involves digital components, even if the controlled system consists of analog electrical, mechanical, or other continuous time processes. This course covers methods of digital control, including issues related to A/D and D/A conversion. Topics include discrete-time and sampled-data systems, the Z-transform, frequency domain properties; sampling, D/A and A/D conversion issues; controller design via discrete-time equivalents to continuous-time controllers, by direct-digital root locus, by loop shaping, and via state feedback and observers; quantization effects, LQR optimal control and an introduction to LQG optimal control.
Instructor: Jee-Hwan Ryu, F401, T: 560-1250
Prerequisite: Feedback Control System.
Text: “Digital Control Systems (Second Edition), by Benjamin C. Kuo, Oxford, 2006
References:
- Digital Control of Dynamic Systems, 3rd edition, by G.F. Franklin, J.D. Powell and M.L. Workman
- Discrete-Time Control Systems by K. Ogata
- Linear Optimal Control Systems by H. Kwakernaak and R. Sivan
Grade:
- Mid-Exam 30%
- Final Exam 40%
- Homework 20%
- Attendance 10%
Download Lecture Materials:
- Lecture 1: Introduction to Digital Control
- Lecture 2: Some Usefull Summations
- Lecture 3: Discrete Time Signals
- Lecture 4: Discrete Time Convolution
- Lecture 5: Convolution stability
- Lecture 6: Z-Transform
- Lecture 7: Solving difference equations
- Lecture 8: DT signals and dynamic response
- Lecture 9: Block Diagram Analysis of Sampled Data Systems
- Lecture 10:Discrete Equivalents to Continuous Transfer Functions
- Lecture 11:Digital PID control
- Lecture 12:Gain and Phase Margins
- Lecture 13:Z Transform in State Space
- Lecture 14:Pole Placement via State Feedback
Nguồn: http://robot.kut.ac.kr/lectures.html
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