Lecture notes and recordings for ECE4540/5540: Digital Control Systems
To play any of the lecture recording files (below), QuickTime is required. This software may be downloaded (free) from http://www.apple.com/quicktime/download/. Each of the recordings is on the order of 20 to 30 minutes long, and between about 40 and 50 Mb in size. If you are not registered at UCCS to take this course for credit, and if you wish to do so, please contact Dr. Gregory Plett using the information provided in the Section 0 notes. This course can be taken at the graduate level as part of the Masters of Science in Electrical Engineering option in Battery Controls. See the IDEATE web site for more details.- Course introduction and syllabus. [PDF]
- Introduction to Digital Control. [PDF]
- 1.1: Introduction.
- 1.2: Review: System modeling.
- 1.3: Review: Actual and desired dynamic response.
- 1.4: Review: Feedback control.
- 1.5: Review: Frequency response.
- Emulation of Analog Controllers. [PDF]
- 2.1: Control design via time-domain emulation.
- 2.2: The importance of the D2A "hold" operation.
- 2.3: Definition of the z-transform.
- 2.4: Delay properties of the z-transform.
- 2.5: Time multiplication and the
z -transform. - 2.6: Convolution, initial/final value theorem.
- 2.7: The inverse
z -transform. - 2.8: Time responses versus pole locations.
- 2.9: Emulation in frequency domain.
- 2.10: Stability and prewarping.
- 2.11: Examples and hold-based methods.
- 2.12: Design by emulation.
- Discrete and Hybrid Systems. [PDF]
- 3.1: Laplace transform of ideal sampler.
- 3.2: Properties of X*(s) and ideal reconstruction.
- 3.3: Open-loop discrete-time systems.
- 3.4: Finding G(z) from Gp(s).
- 3.5: Systems with digital filters.
- 3.6: Some more challenging examples.
- Stability Analysis Techniques. [PDF]
- 4.1: Bilinear transformation.
- 4.2: Discrete-time stability via Routh-Hurwitz test.
- 4.3: Jury's stability test.
- 4.4: Root-locus and Nyquist tests.
- 4.5: Bode methods.
- Digital Controller Design. [PDF]
- 5.1: Direct digital design; steady-state accuracy.
- 5.2: Direct digital design; other requirements.
- 5.3: Phase-lag compensation.
- 5.4: Phase-lead compensation.
- 5.5: Lead/lag tradeoffs, other compensators.
- 5.6: Root-locus design.
- 5.7: Numeric design of PID controllers.
- 5.8: Direct design method of Ragazzini.
- Digital Filter Structures and Quantization Effects. [PDF]
- 6.1: Direct-form network structures.
- 6.2: Parallel and cascade-form network structures.
- 6.3: Implications of fixed-point arithmetic.
- 6.4: Coefficient quantization effects.
- 6.5: A/D, D/A signal quantization effects.
- 6.6: DSP calculation signal quantization effects.
- 6.7: Dynamic range scaling: Criteria.
- 6.8: Dynamic range scaling: Application.
- 6.9: Zero-input limit cycles.
- Adaptive Inverse Control. [PDF]
- 7.1: The adaptive-inverse-control concept.
- 7.2: Adaptive linear filters.
- 7.3: Optimal two-sided (Wiener) solution.
- 7.4: Optimal one-sided (Shannon-Bode) solution.
- 7.5: Adapting linear filters.
- 7.6: System identification.
- 7.7: Sources of modeling errors.
- 7.8: Example of tank-temperature control problem.
- 7.9: Linear SISO adaptive feedforward control (minimum phase).
- 7.10: Linear SISO adaptive feedforward control (nonminimum phase).
- 7.11: Linear SISO adaptive feedforward control (disturbance).
- 7.12: Initializing the controller weights.
- 7.13: Disturbance canceling.
- 7.14: Analysis of disturbance-canceling architectures.
- 7.15: Examples of disturbance-canceling architectures.
- 7.16: Properties of the disturbance canceler.
- 7.17: Analysis of AIC for MIMO linear systems.
- 7.18: Unconstrained Wiener solution for MIMO systems.
- 7.19: Causal Wiener solution for MIMO systems.
- 7.20: Matrix RLS instead of LMS, for speed.
- 7.21: The fast "transpose" method.
- 7.22: Finding a filter transpose.
- 7.23: Wiener solution for MIMO AIC.
- 7.24: MIMO example, no disturbance.
- 7.25: MIMO example, disturbance.
- 7.26: Appendix: Sample RLS MIMO AIC code.
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1420 Austin Bluffs Pkwy, Colorado Springs, CO USA 80918
719-255-8227 (UCCS), 800-990-8227
