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To introduce the students to the design and analysis of computer feedback control systems with an emphasis on the design of digital compensators and implementation issues.
Discrete-data theory
Introduction, key features of digital control, some of the problems to be addressed.
The theory of sampling, non-ideal and ideal sampling
Frequency spectrum of a sampled signal, Nyquist sampling rate, aliasing
Data reconstruction - from sampled signal to continuous-time signal, Zero-Order Hold
The z-transform, relationship between s-plane and z-plane,
Properties of the z-transform - the pulse transfer function & the Jury test
The Inverse z-transform - 4 methods - (i) Power series, (ii) Partial fractions, (iii) Residues or Inversion integral, (iv) Difference equations
Discrete State Space standard forms control and observer canonical and diagonal. The similarity transform and state transformations
Design of control algorithms
Overview of design techniques
Direct design in the z-domain
Discrete PID
Pole placement & Ackermans formula
Implementation considerations
Realisation of algorithms using direct, cascade and parallel forms
Selection of the sampling time, T
Hardware and software considerations, interfacing, hardware options.
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COMPUTER CONTROL SYSTEMS
