EE-561-Spring2020

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EE-561: Digital Control Systems
Spring 2020

Instructors

Talha Manzoor, Assistant Professor, Center for Water Informatics & Technology (WIT)

Email: talha.manzoor@lums.edu.pk

Office: 9-252, Tesla Wing, 2nd Floor, SSE Bldg

TA: Muhammad Mateen Shahid, MS Electrical Engineering

Email: 18060020@lums.edu.pk

Office: Control Systems Lab, Tesla Wing, 2nd Floor, SSE Bldg

Course Details

Year: 2019-20

Semester: Spring

Category: Graduate

Credits: 3

Elective course for electrical engineering majors. Core course for electrical engineering students pursuing an MS in the "Systems and Controls" stream.

Course Website: http://cyphynets.lums.edu.pk/index.php/EE-561-Spring2020

Course Description

This course involves the design and analysis of control to be implemented by digital computers for systems that operate on continuous signals. The first part of the course focuses on the analysis of sampled-data systems and the tools employed to study them. These include the language of difference equations, the z-transform, discretization methods for continuous-time systems, dynamic response of discrete-time systems and the effects of sampling and quantization. The second part of the course covers the design of feedback control in discrete time domain which includes emulation of controllers designed in continuous time domain and direct design in discrete-time domain using both transform based and state space techniques.

Learning Outcomes

Represent and describe discrete-time systems using difference equations and z-transforms
Analyze discrete-time and sampled-data systems in order to deduce system behavior
Implement controllers designed using continuous-time techniques for application to discrete-time systems
Apply and evaluate different techniques for controller design directly in the digital domain

Pre-requisites

EE-361. Feedback Control Systems (for undergrads)
A working knowledge of ordinary differential equations and linear algebra will be assumed while delivering the lectures.
Experience in programming with MATLAB will be required to solve some components of the assignments.

Text book

The course will be taught from the following textbook.

(Franklin) Digital control of dynamic systems by Franklin, Powell and Workman (3rd edition), Addison Wesley, 2000.

Other references

(Strang) Computational Science and Engineering, Wellesley-Cambridge Press, 2007

(FranklinF) Feedback Control of Dynamics Systems, Pearson Prentice Hall, 2013

(Astrom) Computer Controlled Systems, Prentice Hall, 1997

(Ogata) Modern control engineering, Pearson Prentice Hall, 2010

Grading Scheme

Homeworks+Quiz : 20%

Course project: 25%

Midterm: 25%

Final : 30%

General Guidelines

Quizzes will be announced. There will be no makeup quiz.
Homework will be due at the beginning of the class on the due date. Late homework will not be accepted.
You are allowed to collaborate on homework. However, copying solutions is absolutely not permitted. Offenders will be reported for disciplinary action as per university rules.
Any appeals on grading of homeworks, quiz or midterm scores must be resolved within one week of the return of graded material.
Attendance in lectures is strongly recommended but not mandatory. However, you are responsible for catching the announcements made in the class.

Course Delivery Method

Lectures. Mon, Wed: 12:30pm-1:45pm. 10-202. SSE Bldg

Schedule

WEEK	TOPICS	REFERENCES
Week 1 Jan 20	Lecture 1 Motivation: The control design problem, structure of a digital control system, the need for a dedicated theory of digital control, Categories of systems: discrete, sampled-data, digital; Overview of course contents Lecture 2 Difference Equations: Difference equation of a resistive ladder (notes), numerically solving difference equations, Method of undetermined coefficients, From ODE’s to difference equations (approximating an integral), The computer solution to an ODE	Astrom Ch 1, Franklin Ch 1, Ch 2.2
Week 2 Jan 27	Lecture 3 The z-transform: Definition of the transform, transform of elementary signals, the transfer function, interpretation of z as a time-delay operator, block diagram of trapezoid integration, Relation between transfer function and pulse response, convolution Lecture 4 Pole location and system response: Poles and zeros, Stability (internal and external), Transform of elementary signals, transform of the general sinusoid, relation of pole locations with the time response (radius and angle).	Franklin Ch 2.3, Ch 2.5
Week 3 Feb 03	Lecture 5 Lecture 6
Week 4 Feb 10	Lecture 7 Lecture 8
Week 5 Feb 17	Lecture 9 Lecture 10
Week 6 Feb 24	Lecture 11 Lecture 12
Week 7 Mar 02	Project Proposal Presentations Lecture 13
Week 8 Mar 09	Mid-term Exam Lecture 14
Week 9 Mar 16	Mid-semester Break.
Week 10 Mar 23	Lecture 15 Lecture 16
Week 11 Mar 30	Lecture 17 Lecture 18
Week 12 Apr 06	Lecture 19 Lecture 20
Week 13 Apr 13	Lecture 21 Lecture 22
Week 14 Apr 20	Final Project Presentations Lecture 23
Week 15 Apr 27	Lecture 24 Course Review
Week 16 May 04	Prep-week
Week 17 May 11	Final-exam Week

Project Policy

Evaluation based on 2 presentations and a report.
Project title and scope to be proposed by the students and approved by the instructor.
Project must be motivated by a real-life problem.
Project must consist of at least the following steps
- Problem background and formulation of the control problem
- Specifications of the system response for control design, properly contextualized in the domain of application
- Sensing mechanisms and sampling related issues
- Discrete-time/sampled-data model
- Compensation via a transform-based technique
- Compensation via state-space design
- Evaluation of the designed compensators w.r.t. the response specifications
- A commentary on the comparison between the performance of the compensators
- Simulation-based projects may not leave out any of the components listed above. Hardware-based projects however, may include compensator design using only a single technique.

Project Ideas

Power and Energy

Multisampled Digital Average Current Controls of the Versatile Buck–Boost Converter Paper.

Design and Implementation of Digital Control in a Fuel Cell System Paper.

Digital Control of Resonant Converters: Resolution Effects on Limit Cycles Paper.

Robotics

Robust digital control for autonomous skid-steered agricultural robots Paper.

Discrete-time second order sliding mode with time delay control for uncertain robot manipulators Paper

Networked Control

Variable Selective Control Method for Networked Control Systems Paper

Environment and Agriculture

Optimal irrigation management for large-scale arable farming using model predictive control Paper

Miscellaneous

Data-Driven Digital Direct Position Servo Control by Neural Network With Implicit Optimal Control Law Learned From Discrete Optimal Position Tracking Data Paper

Structures within the Quantization Noise: Micro-Chaos in Digitally Controlled Systems Paper

@@ Line 266: / Line 266: @@
 * Robust digital control for autonomous skid-steered agricultural robots [https://www.sciencedirect.com/science/article/pii/S016816991830783X Paper].
+* Discrete-time second order sliding mode with time delay control for uncertain robot manipulators [https://www.sciencedirect.com/science/article/pii/S0921889016305942 Paper]
 ===Networked Control===