6 ECTS; 1º Ano, 1º Semestre, 28,0 T + 28,0 PL + 5,0 OT + 2,0 O , Cód. 30192.
Lecturer
- Paulo Manuel Machado Coelho (2)
(1) Docente Responsável
(2) Docente que lecciona
Prerequisites
Not applicable.
Objectives
The objectives are to provide knowledge on several digital control systems structures; and to be able to design and
analyse digital control designs. Be able to discretize a continuous-time plant to design a digital control system.
Program
1 Introduction to digital control: discrete systems analysis; computer controlled systems.
2 Z-transform and Inverse Z-Transform.
3 Discrete systems analysis using Z-transform;
4 Sampling: ideal sampler; sample and hold. Mapping between the s-plane and the z-plane.
5 Digital controller design by numerical approximation of an analog controller. Digital PID controller.
6 Direct design of digital controller: methods; choice of the sampling period.
7 Stability of digital control systems: stability, Routh modified criterium, Jury criterium, steady state error, root
locus in the z-plane.
8 State-space models: discretization of continuous-time state-space equations.
9 Controllability, attainability and observability.
10 State-space design: design of state feedback and output feedback control; Ackermann's formula; pole
placement using. Deadbeat control.
11 Introduction to estimators.
Evaluation Methodology
Exam (50%) and practical coursework (50%).
Bibliography
- Franklin, G. e Workman, M. e Powell, J. (1998). Digital Control of Dynamic Systems. USA: Addison-Wesley
- Ogata, K. (1994). Discrete-time Control Systems. USA: Prentice-Hall
- Wittenmark, B. e Astrom, K. (1997). Computer-controlled systems: theory and design. USA: Prentice-Hall
Teaching Method
Lectures incorporating illustrative cases. Theoretical-practical lessons focused on concept application and problem-solving.Practical exercises.
Software used in class
Matlab / Simulink
