Digital and Nonlinear Control Systems

Behzad Samadi

Department of Electrical Engineering

Amirkabir University of Technology

Fall 2010

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General Information

  • Class times: Sat. and Mon. 7:45AM-9:00AM (lecture)
  • Class location: 410
  • Instructor: Behzad Samadi
  • Office location: 3rd floor, Abourayhan Building
  • Office hours: Sat. and Mon. 14:00-15:00 (by appointment)
  • email: bsamadi@AUT
  • webpage: http://ele.aut.ac.ir/~bsamadi
  • Teaching assistant: Iman Sharifi

Course Content

  • Introduction to Digital Control
    • Why Digital Control?
    • Examples of Digital Control Systems
  • Discrete Time Systems
    • Difference Equations
    • The z-transform
    • The Sampling Theorem
  • Modeling of Digital Control Systems
    • ADC Model
    • DAC Model
    • The Transfer Function of the ZOH
  • Stability of Digital Control Systems
    • Definitions of Stability
    • Stability Conditions
    • Jury Test
    • Nyquist Criterion
  • Analog Control System Design
    • Root Locus Design

Course Content

  • Digital Control System Design
    • z-Domain Root Locus
    • z-Domain Digital Control System Design
    • Digital Implementation of Analog Controller Design
    • Direct z-Domain Digital Controller Design
    • Frequency Response Design
    • Direct Control Design
    • Finite Settling Time Design
  • State-Space Representation
    • Discrete-Time State-Space Equations
    • Solution of Discrete-Time State-Space Equations
  • Properties of State-Space Models
    • Stability of State-Space Realizations
    • Controllability and Stabilizability
    • Observability and Detectibility
  • State Feedback Control
    • Pole Placement
    • Servo Problem

Course Content

  • Optimal Control
    • The Linear Quadratic Requlator
    • Steady-State Quadratic Regulator
  • Elements of Nonlinear Digital Control Systems
    • Nonlinear Difference Equations
    • Lyapunov Stability Theory
    • Discrete-Time Nonlinear Controller Design
  • Practical Issues
    • Design of Hardware and Software Architecture
    • Choice of the Sampling Period
    • Controller Structure
    • PID Control