Lahore University of Management Sciences

EE561: Digital Control Systems

Spring 2019-2020

Course Catalog Description

This course involves the design and analysis of control to be implemented by digital computers for systems that operate on
continuous signals. The first part of the course focuses on the analysis of sampled-data systems and the tools employed to study
them. These include the language of difference equations, the z-transform, discretization methods for continuous-time systems,
dynamic response of discrete-time systems and the effects of sampling and quantization. The second part of the course covers the
design of feedback control in discrete time domain which includes emulation of controllers designed in continuous time domain and
direct design in discrete-time domain using both transform based and state space techniques.

Course Details
Credit Hours 3
Core MS Electrical Engineering (Systems and Control Stream)
Elective MS Electrical Engineering (Electrical Power and Energy Systems Stream, Signal and Image
Processing Stream)
Open for Student Seniors, MS, PhD
Category
Closed for Student -
Category

Course Prerequisite(s)/Co-Requisite(s)
Pre-requisites: None
Co-requisites: None
Recommended: Ordinary Differential Equations, Linear Algebra, Feedback Control Systems

Course Offering Details

Lecture(s) Nbr of Lec(s) Per 2 Duration 75 min Timings MW 12:30-1:45 PM
Week and 10-202, SBASSE Building
Venue
Recitation (per week) Nbr of Rec (s) Per x Duration
Week
Lab (if any ) per week Nbr of Session(s) x Duration
Per Week
Tutorial (per week) Nbr of Tut(s) Per x Duration
Week

Instructor Talha Manzoor

Room No. 9-252
Office Hours TBD
Email talha.manzoor@lums.edu.pk
Telephone
Secretary/TA Muhammad Mateen Shahid
TA Office Hours TBD
Course URL (if any)
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Course Learning Outcomes

The students should be able to:

CLO1: Represent and describe discrete-time systems using difference equations and z-transforms

CLO2: Analyze discrete-time and sampled-data systems in order to deduce system behavior

CLO3: Implement controllers designed using continuous-time techniques for application to discrete-time systems

CLO4: Apply and evaluate different techniques for controller design directly in the digital domain

Relation to EE Program Outcomes

EE-561 Teaching CLO Attainment
Related PLOs Levels of Learning
CLOs Methods checked in
CLO1 PLO1 Cog-2 Instruction, Midterm, Final
Assignments
CLO2 PLO2 Cog-4 Instruction, Midterm, Final
Assignments
CLO3 PLO3 Cog-3 Instruction, Midterm, Final
Assignments
CLO4 PLO3 Cog-5 Instruction, Final
Assignments

Grading Breakup and Policy

Quizzes + Assignments: 20%

Project: 25%
Midterm exam: 25%
Final exam: 30%

Lecture Related CLOs &

Topics
No. Additional Remarks

Motivation: The control design problem, structure of a digital control system, the
Astrom Ch 1, Franklin
1 need for a dedicated theory of digital control, Categories of systems: discrete,
Ch 1
sampled-data, digital; Overview of course contents
Difference Equations: Difference equation of a resistive ladder (notes), numerically
solving difference equations, Method of undetermined coefficients, From ODE’s to Franklin Ch 2.2, Strang
2
difference equations (approximating an integral), The computer solution to an ODE Lec
(Strang)
The z-transform: Definition of the transform, transform of elementary signals, the
transfer function, interpretation of z as a time-delay operator, block diagram of
3 Franklin Ch 2.3
trapezoid integration, Relation between transfer function and pulse response,
convolution
Pole location and system response: Poles and zeros, Stability (internal and
Franklin Ch 2.3.5, Ch
4 external), Transform of elementary signals, transform of the general sinusoid,
2.5
relation of pole locations with the time response (radius and angle).
Pole location and system response ctd: The discrete sinusoid as a discrete version
of a continuous signal, the implied mapping of poles from s-plane to z-plane, Franklin Ch2.5.5, Ch
5
damping ratio and natural frequency lines in the z-plane, effect of poles and zeros 2.5.6
on step response
Sampled-data systems – Sampling: Revisiting the architecture of a digital control
Franklin Ch 3, Astrom
6 system, placement of sampling and hold circuits in the system, the phenomenon of
Ch 7.4
aliasing (frequency folding), compensating for aliasing with a low-pass filter,
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practical anti-aliasing filters, taking into account the dynamics of the filter

Sampled-data systems – Holding: A mathematical model of the Z.O.H operation,

7 Franklin Ch 3
The F.O.H operation, Post-sampling or smoothing filters, The modified Z-transform
Discrete approximations to continuous transfer functions: Numerical integration:
derivation of the forward rectangular rule, overview of backward and bilinear
8 Franklin Ch 4
rules, the issue of distortion and addition of a prewarping filter, ZPM equivalents,
Z.O.H equivalents
Indirect design through emulation: Classification of design specifications,
9 Translation of specifications from continuous time to discrete time: error Franklin Ch 5.2, 5.3
coefficients, over-shoot, rise time, settling time, design example using emulation
Direct design through root-locus: Equivalence between continuous and discrete
10 Franklin Ch 5.4
root loci, design example and simulation
The discrete time frequency response: Practical convenience of the frequency
response method, Difficulty in generating magnitude phase plots for discrete
11 Franklin Ch 5.5
systems, the w-transform, phase, gain margins and relationship with response
characteristics
Direct design using the w-transform: Review of design guidelines in the frequency
12 Franklin Ch 5.6
domain, Design example and simulation

13 Project Proposal Presentations

PID control: Basic form of the discrete-time PID, adding the bias term in the PID,
bias resetting action of the integrator, effect of the derivative term, bumpless
14 various sources
transfer, the integrator windup phenomenon, automatic tuning and the Ziegler
Nichols method.

15 Mid-term Exam

State space fundamentals: Concept of a state, state-space models for example

16 various sources
systems, solution of the state space system
Sampled-data systems in the state space: The discrete equivalent of a CT state
17 space system, The matrix exponential, relationship with the transfer function, various sources
correspondence between poles and eigenvalues
Deriving the linear control law: Introduction to the linear control law, pole
18 placement through polynomial matching, the notion of controllability, the control Franklin Ch 6.2
canonical form, Ackermann’s formula
Issues in pole placement design: Root selection for higher order systems (design
example with Ackermann’s formula), The deadbeat control (example), Identifying Franklin Ch 6.2, Astrom
19
controllable and uncontrollable modes (System diagonalization), Reachability and Ch 4.3
Stabilizability
Estimator design: Introduction to the observer problem, the prediction estimator,
20 pole placement through polynomial matching, Observer canonical form, the notion Franklin Ch 6.3
of observability, Ackermann’s formula, Detectability
Practical Issues in Estimation: Current Estimators, Reduced-order estimators, Loss
Franklin Ch 6.3, Astrom
21 of reachability and observability through sampling, hidden oscillations and
Ch 3.5
unobservable modes
Regulator Design in State Space: System diagram for combined control law and
22 estimation, the separation principle, Extracting the transfer function of the Franklin Ch 6.4
equivalent compensator, Design example and guidelines for pole placement
Command following for State space systems: Introduction of the reference input
for full-state feedback, the state command matrix and feedforward matrix,
23 Franklin Ch 6.5
simultaneous command following and estimation: the state and output error
command structures
Integral control for state space systems: Integral control by state augmentation,
24 Franklin Ch 6.6
bias estimation, design example
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25 Final project presentations

Multivariable control: Decoupling MIMO systems for application of SISO design

Franklin Ch 9.2 and Ch
26 techniques, Introduction to the optimal control problem, method of the Lagrange
9.3
multipliers, Setting up the time-varying optimal control problem
LQR control design: Derivation of the optimal control for the LQR, the time varying
27 Franklin Ch 9.3
algorithm, The steady-state LQR, extensions

28 Course Review

Textbook(s)/Supplementary Readings
Textbook:
Digital control of dynamic systems by Franklin, Powell and Workman (3rd edition), Addison Wesley.

Additional/Supplementary Reading:
Computer Controlled Systems by Astrom and Wittenmark (3rd Edition), Prentice Hall.
Computational Science and Engineering by Gilbert Strang, Wellesley-Cambridge Press

Project Policy
• Evaluation based on 2 presentations and a report.
• Project title and scope to be proposed by the students and approved by the instructor.
• Project must be motivated by a real-life problem.
• Project must consist of at least the following steps
– Problem background and formulation of the control problem
– Specifications of the system response for control design, properly contextualized in the domain of application
– Sensing mechanisms and sampling related issues
– Discrete-time/sampled-data model
– Compensation via a transform-based technique
– Compensation via state-space design
– Evaluation of the designed compensators w.r.t. the response specifications
– A commentary on the comparison between the performance of the compensators
• Simulation-based projects may not leave out any of the components listed above. Hardware-based projects however, may
include compensator design using only a single technique.

Examination Detail

Yes/No: Yes
Combine Separate: Combine
Midterm
Duration: 120 minutes
Exam
Preferred Date: TBA
Exam Specifications: TBA

Yes/No: Yes
Combine Separate: Combine
Final Exam
Duration: 180 minutes
Exam Specifications: TBA

Prepared and Revised by: Talha Manzoor

Revision Date: 20 January 2020