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Spring 2014

Spring 2014. EE582 Digital Control Myung Jin Chung. EE 582 Digital Control (3:1:3) Instructor: Myung Jin Chung Office: 5-2222 (Tel: 350-3429) Office Hours: by Appointment Text Book: Katsuhiko Ogata, "Discrete-time Control System," Prentice-Hall, 2nd edition, 1995

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Spring 2014

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  1. Spring 2014 EE582 Digital Control Myung Jin Chung

  2. EE 582 Digital Control (3:1:3) Instructor: Myung Jin Chung Office: 5-2222 (Tel: 350-3429) Office Hours: by Appointment Text Book: Katsuhiko Ogata, "Discrete-time Control System," Prentice-Hall, 2nd edition, 1995 References: 1. G.F. Franklin, J.D. Powell, and M. Workman, "Digital Control of Dynamic Systems," Addison-Wesley, 3rd edition, 1998 2. C.T. Chen, "Linear System Theory and Design," Oxford University Press, 3rd edition, 1999 Course Outlines: I) Introduction II) Discrete Systems Analysis III) Sampled-Data Systems IV) Discrete Equivalents

  3. V) Design Using Transform Techniques VI) Design Using State-Space Methods VII) Multivariable and Optimal Control –LQ, LGQ, Kalman Filter Grading: Midterm Exam 30% Final Exam 35% Homework 20% Experiment as Term Project 15% A : 30 ∼ 40% B : 60 ∼ 70 % C : 0 ∼ 10 % Teaching Assistant: Park, Sang Un (350-8029) Cho, Young Gun (350-5429) Homepage URL: http://rr.kaist.ac.kr/~ee582

  4. Chapter 1Introduction

  5. plant u(t) r(t) e(t) y(t) D(s) G(s) + - y(t) 1 sensor(transducer) Continuous-time Control Systems vs. Digital Control Systems plant u(t) r(t) r(kT) e(kT) u(kT) y(t) Difference Eq. G(s) A/D D/Ahold + - clock y(kT) y(t) A/D 1 sensor(transducer)

  6. 010 100 011 001 010 001 S/H and A/D converter D/A converter Hold circuit Plant or process Actuator Digital computer + - clock Transducer

  7. Types of Signals x(t) x(t) t t Continuous-time quantized signal Continuous-time analog signal x(t) x(t) 111 110 101 100 011 010 001 t t 000 Discrete-time digital signal quantized both in time and in amplitude Discrete-time sampled-data signal (AM pulse)

  8. Types of Systems • Lumped system vs. Distributed system • Deterministic system vs. Stochastic system • Continuous-time system vs. Discrete-time system • Linear system vs. Nonlinear system • Time-invariant system vs. Time-varying system • Non-homogenous system vs. Homogeneous system

  9. Remarks: • The term “discrete-time” is broader than the term “digital” or the term “sampled-data”. • The term “discrete-time” is frequently used in theoretical study, while “digital” is used in connection with hardware or software realization. • “continuous-time” and “analog” are interchangeable. • “discrete-time” and “digital” are interchangeable.

  10. Characteristics of Digital Control • Time dependence ( T : sample period, 1/T : sample rate ) • Approximation • Quantization • More flexibility in programming • No internal noise or drift effects • More compact and light weight • Less expensive • Sampling and quantizing errors • Much more complex for compensating such degradation Advantages Disadvantages

  11. Remarks: • In a digital control system, the analog electronics used for compensation in a continuous system is replaced with a digital computer(microprocessor), A/D converter and D/A converter • The design of a digital control system includes determining the effect of the sampling rate and selecting a rate that is sufficiently fast to meet all specifications - As long as the sampling rate is on the order of 30 BW (Bandwidth) or faster, the digitally controlled system will behave close to its continuous counterpart. • Most designs today are carried out using computer-aided methods. However, the designer needs to know hand-based methods in order to intelligently guide the computer design as well as to have a sanity check on its results.

  12. How Were Theories Developed • Shannon – sampling theory in 1949 • Oldenberg – difference equation in 1948 • Jury – transform method in 1950’s • Kalman – state space theory in 1960 • Bellman – optimal/stochastic control in 1960 • Rosenbrock and Wonham – algebraic system theory in 1970 • Astrom/Goodwin – system identification in 1970’s • Astrom/Wittenmark – adaptive control in 1970’s~1980’s • Goodwin/Sin – adaptive filtering, prediction, control in 1980’s How Has Hardware Been Developed • Microprocessor – 1960’s (Intel 4004) • Programmable microcontroller – 1970’s • Digital Signal Processor(DSP) – 1980’s (TI TMS32010) • Embeddedsystems are for some specific task– 1990’s

  13. Course Outlines: I) Introduction II) Discrete Systems Analysis III) Sampled-Data Systems IV) Discrete Equivalents V) Design Using Transform Techniques VI) Design Using State-Space Methods VII) Multivariable and Optimal Control –LQ, LGQ, Kalman Filter

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