Introductory Digital Introductory Digital ControlControl SystemsSystems

Juhng-Perng Su, Ph.D.Juhng-Perng Su, Ph.D.

Department of Department of ElectricalElectrical Engineering Engineering

National Dong-Hwa UniversityNational Dong-Hwa University

Office: Room # D202Office: Room # D202

Tel: 03-8634079Tel: 03-8634079

Email: sujp@mail.ndhu.edu.twEmail: sujp@mail.ndhu.edu.tw

Text BookText Book

自編講義自編講義 (Prof. Su’s Handout)(Prof. Su’s Handout)

Important ReferencesImportant References

1.1. Charles L. Philips and H. Troy NagleCharles L. Philips and H. Troy Nagle

Digital Control System Analysis and Digital Control System Analysis and

Design,Design, 3 3rdrd Ed., Pearson Inc., NJ, 1998 Ed., Pearson Inc., NJ, 1998

(( 滄海圖書代理滄海圖書代理 ).).

Important ReferencesImportant References

2.2. M. GobalM. Gobal Digital Control and State Variable Methods: Digital Control and State Variable Methods: Conventional and Intelligent Control Systems, Conventional and Intelligent Control Systems, 44thth Ed., McGraw-Hill, 2012 ( Ed., McGraw-Hill, 2012 ( 全華圖書代理全華圖書代理 ) )

Important ReferencesImportant References

3.3. Charles L. Philips and John M. ParrCharles L. Philips and John M. Parr

Feedback Control Systems, Feedback Control Systems, 55thth Ed., Ed.,

Pearson Inc., NJ, 2011 (Pearson Inc., NJ, 2011 ( 高立圖書代理高立圖書代理 ))

Important ReferencesImportant References

4.4. Norman S. Nise Norman S. Nise

Control Systems Engineering, Control Systems Engineering, 44thth Ed., Ed.,

John Wiley & Sons Inc., 2004 (John Wiley & Sons Inc., 2004 ( 蒼海圖書蒼海圖書 代理代理 ) )

Course OutlineCourse Outline1.1. IntroductionIntroduction

1)1) MotivationMotivation2)2) What is aWhat is a Control System?Control System?3)3) Control System DesignControl System Design4)4) Examples of Automatic Control SystemsExamples of Automatic Control Systems5)5) Why Use Digital Control?Why Use Digital Control?6)6) Configuration of the Basic Digital Control SchemeConfiguration of the Basic Digital Control Scheme7)7) Signal ConversionSignal Conversion

2.2. Discrete-Time Systems Discrete-Time Systems 1)1) Discrete-Time SystemDiscrete-Time System2)2) Transform MethodsTransform Methods3)3) Theorems of z-TransformTheorems of z-Transform4)4) Solution of Difference EquationsSolution of Difference Equations5)5) Inverse z-TransformInverse z-Transform6)6) Simulation Diagrams and Flow GraphsSimulation Diagrams and Flow Graphs7)7) State Space DescriptionState Space Description

Course OutlineCourse Outline3.3. Sampled-Data SystemsSampled-Data Systems

1)1) Sampled DataSampled Data

2)2) Ideal SamplerIdeal Sampler

3)3) Properties of Starred TransformProperties of Starred Transform

4)4) Data ReconstructionData Reconstruction

5)5) Pulse Transfer FunctionPulse Transfer Function

6)6) Open-Loop and Closed-Loop Discrete-Time SystemsOpen-Loop and Closed-Loop Discrete-Time Systems

7)7) Transfer Functions for Closed-Loop Discrete-Time Transfer Functions for Closed-Loop Discrete-Time SystemsSystems

8)8) State Space Models for Sampled-Data SystemsState Space Models for Sampled-Data Systems

Course OutlineCourse Outline

4.4. Analysis of Digital Control SystemsAnalysis of Digital Control Systems1)1) Discrete-Time System StabilityDiscrete-Time System Stability

2)2) Jury’s TestJury’s Test

3)3) Mapping the s-Plane into the z-PlaneMapping the s-Plane into the z-Plane

4)4) Root LocusRoot Locus

5)5) Nyquist CriterionNyquist Criterion

6)6) Bilinear TransformationBilinear Transformation

7)7) Bode PlotBode Plot

8)8) Steady-State AccuracySteady-State Accuracy

Course OutlineCourse Outline

5.5. Design of Digital Control SystemsDesign of Digital Control Systems

Transfer Function MethodTransfer Function Method①① Emulation Design MethodsEmulation Design Methods

②② Phase-Lag DesignPhase-Lag Design

③③ Phase-Lead DesignPhase-Lead Design

④④ Digital PID ControllersDigital PID Controllers

⑤⑤ Root-Locus DesignRoot-Locus Design

Course OutlineCourse Outline

6.6. Design of Digital Control SystemsDesign of Digital Control Systems

State Space MethodState Space Method ①① Pole AssignmentPole Assignment

②② State EstimationState Estimation

③③ Reduced-Order ObserverReduced-Order Observer

④④ Controllability and ObservabilityControllability and Observability

⑤⑤ Systems with InputsSystems with Inputs

Grading PolicyGrading Policy

i/o Performance: i/o Performance: 5%5% Home-Work Assignments: Home-Work Assignments: 40%40% Mid-Term Examination : Mid-Term Examination : 25%25% Final-Term Examination : Final-Term Examination : 30%30%Remark:Remark: Each Examination is Composed ofEach Examination is Composed of

2 Parts :2 Parts :

Part I: 10 ~ 20 points (difficult)Part I: 10 ~ 20 points (difficult) Part II: 80 ~ 90 points (fair)Part II: 80 ~ 90 points (fair)

Office Hours Office Hours

Wednesday 10:00 ~ 12:00 am & 14:00 ~17:00 pmWednesday 10:00 ~ 12:00 am & 14:00 ~17:00 pm Office Number: D202Office Number: D202 Tel: 03-8634079 Tel: 03-8634079

Cell: 0932968505Cell: 0932968505 Email: Email: sujp@mail.ndhu.edu.tw FTP file server: to be set upFTP file server: to be set up

IP : 134.208.0.196IP : 134.208.0.196 UN: digital_controlUN: digital_control PW: studentPW: student Port: 1111Port: 1111

No Feedback, No Control!No Feedback, No Control!

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