Digital Control System Design (MSc)

Learning Outcomes

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

Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

• A suite of techniques for digital controller design
• Z transform analysis of sampled data feedback loops
• Optimal control design method
• Stability theorems and root locus techniques

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

Summative

This is how we’ll formally assess what you have learned in this module.

Referral

This is how we’ll assess you if you don’t meet the criteria to pass this module.

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.