Digital Control Design

Recommended Prerequisites

Probability and Statistics; Signal Processing; Digital Control. 

Teaching Methods

Lectures involving detailed presentation of concepts, principles and theories that constitute the materials of the curricular unit. In these classes, there is room to solving exercises with active participation of students.

Laboratory classes where students exercise the concepts taught in theoretical lectures by performing simulation studies in Matlab/Simulink. Additionally, students have access to a wide range of theoretical/practical problems solved and others for resolution.

Learning Outcomes

Objectives: Provide students with the main concepts, principles and theories that enable the analysis and design of linear computer-controlled systems using state-space techniques. In this context, it is included the analysis and synthesis of controllers with state observers: state observers for deterministic disturbances and Kalman-based state observers for random disturbances.

The curricular unit includes lab classes for conducting simulation studies, using Matlab/Simulink, and design of digital controllers applied to real processes.

Skills to develop: It is intended that students acquire skills in analysis and synthesis, formulation and problem solving, critical thinking, independent learning and ability to apply theoretical concepts in solving practical problems. 

Work Placement(s)

No

Syllabus

MODULE  I – Deterministic disturbances

I. State observers; Design of controllers with state observers;

II. Models of deterministic disturbances. Regulation with augmented state observers (process and disturbance); adding integral action.

III. Servocontrol with and without state observers; servocontrol with integral action: with augmented state-observer and by internal-model structures (without observer). 

MODULE II – Random disturbances

I. Random variables and topics of random processes.

II. Kalman filter. Control with Kalman-based state observers.

MODULE III

I. Introduction to the optimal control.

Head Lecturer(s)

Rui Pedro Duarte Cortesão

Assessment Methods

Assessment 2
Laboratory work or Field work: 15.0%
Project: 35.0%
Exam: 50.0%

Assessment 1
Laboratory work or Field work: 15.0%
Project: 35.0%
Frequency: 50.0%

Bibliography

Franklin, G.P., Powell, J., and Workman, M. (1998) - Digital Control of Dynamic Systems, 3ª Ed., Addison-Wesley.

K.J. Astrom, and B. Wittenmark (1997) - Computer-Controlled Systems: Theory and Design, 3ª Ed., Prentice-Hall.

Donald G. Childers (19997) – Probability and Random Processes: Using MATLAB with Applications to Continuous and Discrete Time Systems, McGraw-Hill.

S.M.Bozic (1979) – Digital and Kalman Filteing, Edward Arnold.

Nunes, U. (2005) – Controlo Digital: Exercícios Resolvidos, Exemplos em Matlab/Simulink (apontamentos), DEEC-FCTUC.