Module overview
This module is taught together with ELEC3206 Digital Control System Design. ELEC6240 has higher requirements on the desired learning outcomes which will be assessed by a different set of coursework.
Aims and Objectives
Learning Outcomes
Knowledge and Understanding
Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:
- Optimal control design method
- A suite of techniques for digital controller design
- Stability theorems and root locus techniques
- Z transform analysis of sampled data feedback loops
Subject Specific Intellectual and Research Skills
Having successfully completed this module you will be able to:
- Demonstrate awareness of the key implementation issues in digital control systems design
Syllabus
Introduction
Basics of z transform theory
- Inverse z transform
- Convolution
- Recursion relation
- Realisability
Sampling and reconstruction of signals
- Zero order hold/D->A conversion
- Shannon's sampling theorem; aliasing and folding
- Choice of the sampling period in sampled-data control systems
- Pulse transfer function and analysis of control systems
- Mapping of poles and zeroes
Case study: PID digital control
Continuous-time state-space systems and their discretisation
- Controllability and observability under discretisation
- Intersample behaviour
Realisation theory
- Canonical forms
- Minimality
- Internal- and BIBO-stability, and relation between the two
Controller design via pole placement
- Continuous-time-based design techniques
- Deadbeat control
Case study: root-locus based digital control design
Observers and their use in state-feedback loops
- Observer-based controllers
- The separation principle
Optimal control design
- Finite Horizon LQR
- Infinite Horizon LQR
Learning and Teaching
Type | Hours |
---|---|
Wider reading or practice | 46 |
Preparation for scheduled sessions | 18 |
Follow-up work | 18 |
Lecture | 36 |
Tutorial | 12 |
Revision | 10 |
Completion of assessment task | 10 |
Total study time | 150 |
Resources & Reading list
General Resources
Computer requirements. The students require access to Departmental PC's with MATLAB 6.1 plus control toolbox in order to experiment with and verify the codes given
Textbooks
Ogata. Discrete time control systems. Prentice Hall.
Assessment
Summative
This is how we’ll formally assess what you have learned in this module.
Method | Percentage contribution |
---|---|
Examination | 80% |
Coursework | 20% |
Referral
This is how we’ll assess you if you don’t meet the criteria to pass this module.
Method | Percentage contribution |
---|---|
Examination | 100% |
Repeat
An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.
Method | Percentage contribution |
---|---|
Examination | 100% |
Repeat Information
Repeat type: Internal & External