EEL 5934 Syllabus

for Spring 2004





 

Haniph A. Latchman

Professor
Electrical & Computer Engineering
 


 Gator Engineering

Check the WebCT class home page to get full access for course materials and information


Honor Code
All students admitted to the University of Florida have signed a statement of academic honesty committing themselves to be honest in all academic work and understanding that failure to comply with this committment will result in disciplinary action. This statement is a reminder to uphold your obligation as a student at the University of Flordia, and to be honest in all work submitted and exams taken in this class and all others. For more information, please see the academic honor code.






Catalog Description
 
 

 
EEL 5934 (Formerly EEL 5631) Digital Control Systems (3 Credits). 'A study of the digital computer as a control element, classical sampled data control theory, and application with microcomputers'.


Prerequisites
 


  • EEL 3701: Digital Logic and Computer Systems,
  • EEL4657: Linear Control Systems






Course Objectives and Overview
 
 

 
EEL 5934 (Digital Control Systems) is an introductory course on the analysis and design of Linear Control Systems in which a digital computer is used as a control element. The material presented emphasizes the classical analysis and design control systems to achieve overall system stability and acceptable performance. The class of Linear Time Invariant (LTI) Single-input Single Output (SISO) systems is presented simultaneously with the more general treatment given in terms of state space and transfer matrix representations of Multi-input Multi-output (MIMO) systems. This course is built on material covered in pre-requisite courses such as EEL 4657 (Linear Control Systems) and EEL 3135 (Signals and Systems), with particular emphasis on the solution of linear difference equations using z- transform techniques. A knowledge of the use of the Laplace transform in solving the equivalent problems with ordinary differential equations for continuous time systems is also required.

The goal of the course is to provide access to the basic design and analysis tools used in practical discrete-time and sampled data control systems as well as to give an exposure of the student to the general area of linear systems theory which appears so very often in all branches of engineering.

We consider such topics as the philosophy, benefits and costs of negative feedback, stability, robustness and performance specifications as well as system analysis and design for SISO and MIMO systems. The major tools of classical analysis, the Root Locus, Routh Hurwitz Criterion, the Nyquist Diagram and the associated Nyquist Stability Criterion and Bode Plots are developed and illustrated with particular emphasis on discrete-time and sampled data systems.





Instructor Contact Information
 
 

 

Office: NEB 463

Phone: 392-4950

E-mail: latchman@list.ufl.edu
Office Hours: M W 5th  period

Class Hour: MWF 4th period (LAR239)

 


TA Contact Information
 
 

 

TA: Kartikeya Tripathi

Office: NEB 485

Phone: 392-2584

E-mail: kartik@ufl.edu
Office Hours: T R 5th  period

 


Textbook
 

 
  • Digital Control System Analysis and Design, Charles L. Phillips and H. Troy Nagle, 3rd. Edition, Prentice Hall,1995

     



Additional Reading Material
  • Linear Control Systems -- A First Course, Haniph A. Latchman, John Wiley and Sons, 1999


Grading
 
 


 
Grades will be based on the following weights.

Final letter grades will be assigned at the end of the semester and will depend on absolute and relative student and class performance.

 

Participation


A formal assessment will be included in this class for active participation in class-time and online activities. This will foster and active learning mode as well as a fruitful and collaborative learning environment. Details of the types of participation expected will be provided in class.


   
 

Assignments

 

   Homework and other assignments will be given periodically and will be due within the first 5 minutes of class on the designated due-date. FEEDS/NTU students will have a one (1) week extension on all assignment due dates. Use regular-size paper, staple the sheets together, fold and put your name and homework number at the top. Late homework will be accepted only in exceptional circumstances which need to be discussed with the Instructor for approval. Homework assignments will not be given over the phone. Graded homework will be returned in class and/or placed in the receptacle outside NEB 463.

 

    
  Final Project   All students will be required to complete a final project as part of the requirements of this course. The project may take the form of a programming project, a simulation or other quantitative experimental study, or a critical review a relevant paper, or some combination of these. The project may be done individually or in teams of two or more students, provided that the work is compartmentalized to clearly identify the contribution of each participant. All projects must deal with some aspect of digital control system analysis and/or design. It is prefered that the student should select a project that is of interest to him/her and one that can be completed in a timely manner using readily available resources. In some cases, the resources of the Laboratory for Information Systems and Telecommunications (LIST) may be used, especially if the selected project is relevant to on-going LIST research. The project must be completed in the allotted time; incomplete grades will not be given just to allow extra time to work on the project. All projects must be approved by the instructor. Each student or team must submit a project proposal (no more than three pages) that outlines project objectives, research resources, work plan, and deliverables. Project proposals are due within the first three weeks of classes. divided. You are encouraged to discuss project ideas with the instructor and to submit your proposal as early as possible. If a student cannot find an appropriate topic, one will be assigned

 

    
 

Project Reports

 

   Project reports should be presented in a professional manner. Students working in teams may submit multiple reports or a single report as agreed with the instructor on project approval. All reports must be typed and neatly formatted. A cover page that indicates project title, course, student name(s) and ID number(s) and date, must be included. Reports should be formatted according to the standard IEEE Journal format. A sample will be provided. Variations from this format must be approved by the Instructor. Neatness, spelling, grammar, writing style, presentation and clarity will be considered in grading. Any texts, papers, manuals, reports, or other sources must be acknowledged and referenced should be given in standard IEEE format. Neatly drawn figures and graphs should be used where appropriate. Target lengths for the project report is about 15-20 pages. Please do not copy material directly from reference sources. Give proper citations for all references and explictly identify the source of direct quotations.

Students will also be required to give an in-class presenation of their projects.

 

    
  Exams   The in-term exam and the final exam will be given in class and dates for these will be announced in class. The final exam will be comprehensive, but with emphasis on material covered since Test # 1. An announcement will be made to indicate whether the examinations will be closed-book, open-book or limited-notes.

 

    

 Course Outline  

1.      Introduction to Digital Control Systems

1.1.            Continuous-time Vs Discrete-time Systems

1.2.            Digital Control Vs Digital Signal Processing (DSP)

1.3.            Signal Discretization in time and in amplitude

1.4.            Continuous-time System Analysis

1.5.            Discrete-time System Analysis

1.6.            Continuous-time Controller Design

1.7.            Controller Design for Discrete-time Systems

1.8.            Controller Implementation

1.9.            Case Study and Practical Projects

 

2.       Discrete-time Systems and the z-Transform

2.1.            Definition of the z- Transform and the Inverse z-Transform

2.2.            Common z-Transforms (z-Transform Table)

2.3.            z-Transform Properties

2.4.            Computing the Inverse z-Transform

2.5.            Uses of the z-Transfrom

2.6.            Block Diagrams and Flow Graphs of Discrete-time Systems

 

3.      State Variables Approach to Discrete-time Systems

3.1.            Definition of the State Vector

3.2.            The MIMO Transfer Function Matrix G(z)

3.3.            State Transformations

3.4.            Observability and Controllability

3.5.            Solution of the State Equations

 

4.      Approximate Discrete-time Equivalents of Continuous Transfer Functions

4.1.            Brief Review of Continuous-time Controller Design

4.2.            Digital Filter Design by Numerical Approximation

4.3.            Pole-zero Mapping

4.4.            Transforming Analog Filters

 

5.      Sampling and Data Reconstruction

5.1.            The Ideal Sampling

5.2.            Sampled Spectra and Aliasing

5.3.            Analog-to-Digital (ADC) and Digital-to-Analog (DAC) Conversions

5.4.            Block Diagram Analysis of Sampled Data Systems

 

6.      Direct Design of Digital Control Systems Using Transform Techniques

6.1.            Z-plane Specification of Control System Design Specifications

6.2.            Design by Discrete Equivalent

6.3.            Root Locus Design in the z-plane

6.4.            Frequency Domain Design Methods

 

7.      Design of Digital Control Systems – A State Space Approach

7.1.            Control Law Design

7.2.            State Feedback

7.3.            Estimator Design

7.4.            Regulator Design

 

8.      The Effect of Quantization

8.1.            Analysis of Finite Precision Errors

8.2.            Limit Cycles and Dither