Spring 2014
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Spring 2014. EE582 Digital Control Myung Jin Chung. EE 582 Digital Control (3:1:3) Instructor: Myung Jin Chung Office: 5-2222 (Tel: 350-3429) Office Hours: by Appointment Text Book: Katsuhiko Ogata, "Discrete-time Control System," Prentice-Hall, 2nd edition, 1995

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Spring 2014

Spring 2014

EE582 Digital Control

Myung Jin Chung


Spring 2014

EE 582 Digital Control (3:1:3)

Instructor: Myung Jin Chung

Office: 5-2222 (Tel: 350-3429)

Office Hours: by Appointment

Text Book:

Katsuhiko Ogata, "Discrete-time Control System,"

Prentice-Hall, 2nd edition, 1995

References:

1. G.F. Franklin, J.D. Powell, and M. Workman,

"Digital Control of Dynamic Systems,"

Addison-Wesley, 3rd edition, 1998

2. C.T. Chen, "Linear System Theory and Design,"

Oxford University Press, 3rd edition, 1999

Course Outlines:

I) Introduction

II) Discrete Systems Analysis

III) Sampled-Data Systems

IV) Discrete Equivalents


Spring 2014

V) Design Using Transform Techniques

VI) Design Using State-Space Methods

VII) Multivariable and Optimal Control

–LQ, LGQ, Kalman Filter

Grading:

Midterm Exam 30%

Final Exam 35%

Homework 20%

Experiment as Term Project 15%

A : 30 ∼ 40%

B : 60 ∼ 70 %

C : 0 ∼ 10 %

Teaching Assistant:

Park, Sang Un (350-8029)

Cho, Young Gun (350-5429)

Homepage URL:

http://rr.kaist.ac.kr/~ee582


Chapter 1 introduction

Chapter 1Introduction


Continuous time control systems vs digital control systems

plant

u(t)

r(t)

e(t)

y(t)

D(s)

G(s)

+

-

y(t)

1

sensor(transducer)

Continuous-time Control Systems vs. Digital Control Systems

plant

u(t)

r(t)

r(kT)

e(kT)

u(kT)

y(t)

Difference Eq.

G(s)

A/D

D/Ahold

+

-

clock

y(kT)

y(t)

A/D

1

sensor(transducer)


Spring 2014

010

100

011

001

010

001

S/H

and

A/D

converter

D/A

converter

Hold

circuit

Plant or

process

Actuator

Digital

computer

+

-

clock

Transducer


Types of signals

Types of Signals

x(t)

x(t)

t

t

Continuous-time

quantized signal

Continuous-time

analog signal

x(t)

x(t)

111

110

101

100

011

010

001

t

t

000

Discrete-time

digital signal quantized both in time and in amplitude

Discrete-time

sampled-data signal (AM pulse)


Types of systems

Types of Systems

  • Lumped system vs. Distributed system

  • Deterministic system vs. Stochastic system

  • Continuous-time system vs. Discrete-time system

  • Linear system vs. Nonlinear system

  • Time-invariant system vs. Time-varying system

  • Non-homogenous system vs. Homogeneous system


Remarks

Remarks:

  • The term “discrete-time” is broader than the term “digital” or the term “sampled-data”.

  • The term “discrete-time” is frequently used in theoretical study, while “digital” is used in connection with hardware or software realization.

  • “continuous-time” and “analog” are interchangeable.

  • “discrete-time” and “digital” are interchangeable.


Characteristics of digital control

Characteristics of Digital Control

  • Time dependence ( T : sample period, 1/T : sample rate )

  • Approximation

  • Quantization

  • More flexibility in programming

  • No internal noise or drift effects

  • More compact and light weight

  • Less expensive

  • Sampling and quantizing errors

  • Much more complex for compensating such degradation

Advantages

Disadvantages


Remarks1

Remarks:

  • In a digital control system, the analog electronics used for compensation in a continuous system is replaced with a digital computer(microprocessor), A/D converter and D/A converter

  • The design of a digital control system includes determining the effect of the sampling rate and selecting a rate that is sufficiently fast to meet all specifications - As long as the sampling rate is on the order of 30 BW (Bandwidth) or faster, the digitally controlled system will behave close to its continuous counterpart.

  • Most designs today are carried out using computer-aided methods. However, the designer needs to know hand-based methods in order to intelligently guide the computer design as well as to have a sanity check on its results.


How were theories developed

How Were Theories Developed

  • Shannon – sampling theory in 1949

  • Oldenberg – difference equation in 1948

  • Jury – transform method in 1950’s

  • Kalman – state space theory in 1960

  • Bellman – optimal/stochastic control in 1960

  • Rosenbrock and Wonham – algebraic system theory in 1970

  • Astrom/Goodwin – system identification in 1970’s

  • Astrom/Wittenmark – adaptive control in 1970’s~1980’s

  • Goodwin/Sin – adaptive filtering, prediction, control in 1980’s

    How Has Hardware Been Developed

  • Microprocessor – 1960’s (Intel 4004)

  • Programmable microcontroller – 1970’s

  • Digital Signal Processor(DSP) – 1980’s (TI TMS32010)

  • Embeddedsystems are for some specific task– 1990’s


Spring 2014

Course Outlines:

I) Introduction

II) Discrete Systems Analysis

III) Sampled-Data Systems

IV) Discrete Equivalents

V) Design Using Transform Techniques

VI) Design Using State-Space Methods

VII) Multivariable and Optimal Control

–LQ, LGQ, Kalman Filter


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