This course extends basic system modeling and controller design principles (as applied to continuous-time systems) to the case of discrete-time systems. Specifically, emphasis is given on using control system design tools developed in past courses (2201304, 2201401, 2201703) for ensuring problem-free operation of the controlled system during its discrete-time simulation and/or implementation.
- Review of continuous- and discrete-time system representations: Laplace versus Z-transform, differential and difference equations
- Properties of Z-transform, convolution, initial and final value theorems, discrete transfer function.
- System response in discrete-time: Inverse Z-transform, partial-fraction expansion, other alternatives.
- System operation in a discrete-time context, part I: The impulse invariance, zero order hold (ZOH) and Tustin transformations, comments on frequency aliasing and warping.
- System operation in a discrete-time context, part II: Stability and time response in discrete time, comparisons with continuous-time characteristics.
- System operation in a discrete-time context, part III: Transforming continuous-time controllers to their discrete-time counterparts.
- Case study: The first-order lag plus time-delay (FOLPD) system in a discrete-time context.
- State-space representation and control in discrete time, part I: Controllability, observability, pole placement.
- State-space representation and control in discrete time, part II: Dead-beat control, Luenberger observers.