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Digital Control Systems

images eth zurich

 

Lecturer: Dr. Esfandiar Shafai

Scope:

  • Introduction to system analysis and controller synthesis for discrete time signals and systems, including controller realization with microprocessors.
  • Part 1 “Signals”: sample and hold elements, Z-transform, Shannon theorems, spectral analysis, aliasing, connections to continuous time descriptions.
  • Part 2 “Systems”: descriptions, stability, controllability/observability, exact and approximate transformations from continuous to discrete time.
  • Part 3 “Design”: controller design (PID, LQG, dead-beat, …), sampling time considerations.
  • Part 4 “Realization”: hardware and software components, real time issues, input quantization, integer arithmetic and scaling.
  • Exercise: in form of a “mini-project”, control of an unstable mechatronic system, controller design, realization using a microprocessor system.

Prerequisites: 

  • Control Systems I
  • Control Systems II
  • Signals and Systems

Script: Handouts and recommended books.
Lectures: 2 hours per week for 14 weeks.
Exercises: 1 hour per week for 14 weeks.

Lecture Materials & Exercises

Exam

General Information

The exercises are held in two blocks:

  1. (23.2.2012 – 5.4.2012) theoretical exercises to be prepared at home and discussed in class (Thursdays, 10:15-11:00)
  2. (12.4.2012 – 24.5.2012) lab exercises to be solved in groups (Thursdays, 8:15-11:00)

Agenda

Date Lecture Topic Exercises / Milestones
23.2. Introduction no exercises
1.3. Controller Emulation 1.4 – 1.7
8.3. Analysis Sample-and-Hold Elements solve 2.4 & 2.5 using MATLAB Simulink and bring the plots to class – prepare 2.6 & 2.7 for discussion
15.3. Analysis Discrete-Time Systems, Part I 3.2 – 3.5, 3.7 & 3.10 (solve and prepare for discussion in class)
22.3. Analysis Discrete-Time Systems, Part II 4.9, 4.11, 4.12, 4.14 (solve and prepare for discussion in class)
29.3. Synthesis of Discrete-Time Systems, Part I 4.16, 4.18, 4.19 (solve and prepare for discussion in class)
5.4. Synthesis of Discrete-Time Systems, Part II 5.7 – 5.11 (solve and prepare for discussion in class)
End of Lectures, begin of  Lab Exercises
12.4. No Class – Spring Break
19.4. Matlab/Simulink tutorial
26.4. Laboratory I (No Class):Introduction Lab, Nonlinear Model, Linearization, Implementation in Simulink, Synthesis of Discrete-Time Controller in Simulation Milestone 1 (due 2.5., 24:00)
3.5. Laboratory II (No Class):Interfaces (Input, Output), 20ms Controller on HardwareNote: You are encouraged to bring your own laptop (one per group is sufficient). Milestone 2 (due 9.5., 24:00)
10.5. Laboratory III (No Class):Reference Tracking, Parameter Identification (optional)Note: You are encouraged to bring your own laptop (one per group is sufficient). Milestone 3 (due 23.5., 24:00)
17.5. No Class – Ascension Day
24.5. Laboratory IV (No Class):50ms Controller on Hardware, Tuning and Improvements for CompetitionNote: You are encouraged to bring your own laptop (one per group is sufficient). Milestone 4 (due 30.5., 17:00)
31.5. Lab Competition (No Class):Best Controller Wins!
7.6. Exam

 

Lecture Materials

Slides (updated: 2.1.2012)

Addendum: Steady-State Error (31.3.2011)

Sample Exam (4.6.2012; corrected question 2)

Theoretical Exercises

Simulink Files for Ex. 2.4 and 2.5

Handout “Partial Fraction Decomposition and Cramer’s Rule”

Solution to Exercise 4.8

Solution to Exercise 5.9

Practical Exercise (Pendulum)

Exercise Sheets

Milestone 1
Milestone 1, reference model
Solution to milestone 1

Milestone 2
Milestone 2, reference handout
Milestone 2, hardware overview
C# Project Files
Automatic Code-Generation Files

Milestone 3
Milestone 3.5 (optional)
Template for milestone 3.5

Milestone 4

Optional Exercise Sheets and Additional Hand-Outs

Cruise-Control Exercise

Summary of relevant Matlab/Simulink commands

MATLAB/Simulink Tutorial – Slides

Solutions

Cruise-Control Exercise: Solution

Files (download with right-click)

Software (11.4.2012)

Source:

http://www.idsc.ethz.ch/Courses/digital_control

http://www.idsc.ethz.ch/Courses/digital_control/exercises_digreg

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