الرحيم الرحمن الله بسم

Islamic University of GazaElectrical Engineering

Department

2

Advanced Digital Control Systems

EELE 6312

By

Basil Hamed, Ph. D.

Control Systems Engineering

http://site.iugaza.edu.ps/bhamed/

E-Mail: bhamed@iugaza.edu

By

Basil Hamed, Ph. D.

Control Systems Engineering

http://site.iugaza.edu.ps/bhamed/

E-Mail: bhamed@iugaza.edu

3

Islamic University of GazaFaculty of Engineering

Department of Electrical and Computer Engineering

Advanced Digital Control Systems EELE 6312Prerequisite: EELE 3360 or consent of instructor

Instructor : Basil Hamed, Ph.D. Control Systems Engineering

Office : B228e-mail : bhamed@ iugaza.edu

bahamed@hotmail.comWebSite : http://site.iugaza.edu.ps/bhamed/Phone

: 2860700 Ext. 2874Meeting : (Sat & Mon) 2:00-5:00 (K 418)

2:00-5:00 (L 307)

Course Syllabus

4

Course Syllabus

Course Description: Classical & Modern controls approach to the analysis and design of digital control systems. Subjects for this course include: discrete data and digital control systems, signal conversions and processing(Sampling theory), the Z transform and state variable techniques applied to digital control system, time and frequency domain analysis techniques, stability of digital control systems, controllability, observability. The course also considers principles of design of digital control systems, including computer control

5

Course Syllabus

Text Book: Digital Control Engineering Analysis and Design By M. Sami Fadali and Antonio Visioli (2009)

References:• Digital Control Systems by Benjamin C. Kuo, Second edition.• Feedback Control Systems by C.L. Phillips, R.D. Harbor, Third edition• Computer Controlled Systems, by R.A. Paz, to be published by John

Wiley & Sons.• Feedback Control of Dynamics Systems, G.F. Franklin, J.D. Powell

and A. Emami-Naeini• Linear Control Systems: Analysis and Design..J. D’Azzo and

C.H.Houpis, • Linear Systems Theory, F. Szidarovszky and A. Terry Bahill• Problem Solvers, Automatic Control Systems/ Robotics. • Modern Control Engineering, 4th Edition, K.Ogata,• Automatic Control Systems by Benjamin C. Kuo, Seventh edition

6

Course SyllabusCourse Aim:• To develop an understanding of discrete ¬time signals and systems, along with sampled ¬data signals and systems. This includes linear, time¬ invariant systems using digital ¬to ¬analog and analog ¬to ¬digital converters. This includes understanding how to obtain a mathematical model of a system with such components. •To understand the essential properties of discrete¬ time systems including stability, and performance characteristics.•To develop a basic feel for the time-domain and frequency domain responses for digital systems.•To understand the essential properties of discrete¬ time systems including stability, and performance characteristics.•To learn how to design a digital controller to meet time-domain specifications. These specifications include settling time, overshoot, steady state error, and maximum control effort.•Design of a digital control system using computer aided tools•To provide the students an opportunity to apply the knowledge of above material in a practical (project) experience

7

Course SyllabusMaterials Covered:• Introduction: The need for a theoretical background, naturally

discrete systems, a comparison of discrete and continuous systems, the design process

• Sampling and reconstruction of signals: S/H circuit, A/D, and D/A conversions, digital sensors.

• Review of the z-transform and its properties, modified Z-transform.• Transfer Functions, Block Diagrams, and SFG for digital control

systems.• State-Variable Technique applied to digital control systems.• Controllability, Observability, and Stability.• Time-Domain and Z-Domain Analysis, comparison between

continuous-data and sampled-data system responses are made, steady-state analysis and root locus.

• Frequency-Domain Analysis of digital control systems (Nyquist criterion, Bode plot).

• Design of Discrete-Data Control Systems (PID design, Phase-Lead and Phase Lag Controllers, Disturbance rejection, Pole-Zero cancellation, Deadbeat-response design, Pole Placement, state estimator design).

8

Course SyllabusGrading System:

Homework 10 %

Project & Presentation 20 % Mid term Exam 30 %Final Exam 40 %

HomeworkHomework assignments are to be returned on time. No excuses will be accepted for any delay.

Office HoursOpen-door policy, by appointment or as posted.

Background Material Important to this Class

• Polynomial and rational function manipulation

• Elementary linear algebra

• Laplace transform analysis

• Linear state-space models

• Linear system representations

• Linear system analysis

9

Computer Usage

Extensive use of MATLAB for computer aided analysis and simulation. The digital computers used are IBM PC Pentium compatible, these are available in the Department of Electrical Engineering. Students are required to use these tools and equipment for special project and homework development.

10

11

Signals

LTI System

H(z)

G(z)

+

12

What is a System?

System: Block box that takes input signal(s) and converts to output signal(s).

• Continuous-Time System:

SystemInput Output

13

What is a Control System

• A Process that needs to be controlled:– To achieve a desired output– By regulating inputs

• A Controller: a mechanism, circuit or algorithm– Provides required input – For a desired output

RequiredInput

DesiredOutput

ProcessOutput

Controller

14

Closed Loop Control

• Closed-loop control takes account of actual output and compares this to desired output

Measurement

DesiredOutput

+-

ProcessDynamics

Controller/Amplifier

OutputInput

• Open-loop control is ‘blind’ to actual output

15

Model of Control System

Environment

Sensors

ActuatorsSignal Capture

Control

Mechanical System

Disturbances

Noise

Desired SystemPerformance

16

Digital Control SystemConfiguration

17

18

Types of Closed Loop Controller

19

See You next Monday