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Digital Control Systems (2015)

This document provides an overview of a course on digital control systems offered at TU Berlin. It discusses the motivation for studying digital control systems, including implementing analog controllers digitally and directly designing digital controllers. It outlines the organization of the course, including meetings, assignments, exams. It lists recommended literature and covers the main topics to be discussed, including state-space methods, system identification, and controller design for a quadcopter.

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Ricardo Villalonga
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
105 views

Digital Control Systems (2015)

This document provides an overview of a course on digital control systems offered at TU Berlin. It discusses the motivation for studying digital control systems, including implementing analog controllers digitally and directly designing digital controllers. It outlines the organization of the course, including meetings, assignments, exams. It lists recommended literature and covers the main topics to be discussed, including state-space methods, system identification, and controller design for a quadcopter.

Uploaded by

Ricardo Villalonga
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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TU Berlin Digital control systems 1

Digital Control Systems


SoSe 2015

Overview

• Motivation
• Organisation
• Literature
• Contents

14th April 2015


TU Berlin Digital control systems 2

Motivation

• Implementation of controllers, designed in continuous-time, on a micro-controller or PC (digital


realisation of an ‘analogue’ controller)

Clock

r(t) e(t) e(k) u(k) u(t) y(t)


DAC &
ADC Computer Plant
ZOH

Controller

ADC - Analog-Digital-Converter, DAC - Digital Analogue Converter, ZOH - Zero Order Hold

14th April 2015


TU Berlin Digital control systems 3

Motivation

• Direct design of a digital controller for a discretised plant


– or for identified time-discrete models
– or for inherently sampled systems (e.g. control of neuro-prosthetic systems)
– enables larger sampling times compared to the digital realisation of ‘analogue’ controllers
– enables other features that are not possible in continuous time control (e.g. dead-beat
control, repetitive control)

Clock

r(k) e(k) u(k) u(t) y(t) y(k)


DAC &
Computer Plant ADC
ZOH

Dicretised Plant

14th April 2015


TU Berlin Digital control systems 4

Organisation

• Lecturer: Thomas Schauer - E-Mail: [email protected]


• 4 hours weekly
• Tuesday: 9–11 o’clock, EN656
• Thursday: 14–16 o’clock, EN656
• Integrated course (lectures, tutorials, computer exercises, labs)
• Computer exercises will be announced in advance and take place in EN656
• Labs: three weeks at the end of the semester in EN222
• Course language: German
• Material: Slides in English
• Used Software: Scilab 5.5.2 (www.scilab.org)

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TU Berlin Digital control systems 5

Organisation

• Grading: portfolio exam (100 points in total):


– two lab experiments (protocol required) (2 x 16 points)

– written test (68 points)

Literature

1. K.J. Aström and B. Wittenmark. Computer Controlled Systems: Theory and Design.
Prentice Hall (20x in library)

2. G.F. Franklin, J.D. Powell, and M.L. Workmann. Digital Control of Dynamic Systems.
Addison Wesley

3. I.D. Landau, G. Zito. Digital Control Systems: Design, Identification and Implementation.
Springer

14th April 2015


TU Berlin Digital control systems 6

Contents

• Stronger focus on control system design than before


• Less repetition of signals and systems
• Introduction to state-space methods and system identification
• Use of computer tools for design & implementation of control systems
• New: Design of a controller for a quadrocopter (live demo)
• two lab experiments

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TU Berlin Digital control systems 7

Final Remark

• Best preparation for a bachelor thesis in order to solve practical control problems in the field of
biomedical engineering!

• We offer interesting bachelor thesis projects in our running research projects!

14th April 2015

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