2023 Syllabus of Digital

Control
Objectives: Implementation of dynamics into real-time processing, an extended course of the
college course of Automatic Control.
Contents of class presentation:
1. Firmware, software and hardware
2. Introduction to dsPIC microcontroller
3. Filters and compensators- Frequency domain
4. Z-transform
5. FIR
6. Analog Computer
7. IIR- Euler approximation
8. IIR- square approximation
9. IIR- Tustin
10. Implementation of controllers and filters with dsPIC

Grading Policy:
1. Midterm Exam: 30%
2. Final Exam: 30%
3. HW#1 and HW#2: 20%
4. Calling for appearance: 20%
Part I: How to implement compensators and filters into chips in real-time fashion
1. FIR- Reduction of impulse response
2. IIR- Euler approximation
3. IIR- Direct digital computer
4. IIR- Tustin method

Part II: How to design a digital servo-controller: DC-motor example

1. System identification: parameterization and non-parametric model
2. Feedback synthesis: structure, compensators and filters
3. Numerical simulation: modification of the setting
4. Power design: switching power converters
5. Signal processing: digital implementation
6. Circuitry: schematic and layout
7. Measurements and iteration
8. Control and instrumentation firmware
 Buck Chopper
Motor

Battery Fly-Wheel Diode

Vcc

Power Capacitor
MOSFET
Anode

Photocoupler
Four-phase chopper

Figure
12.5
What are embedded controllers?
When you mention the word "technology," most people think about computers. Virtually
every facet of our lives has some computerized component. The appliances in our homes
have microprocessors built into them, as do our televisions. Even our cars have a computer.
But the computer that everyone thinks of first is typically the personal computer, or PC. A
PC is a general-purpose tool built around a microprocessor. It has lots of different parts --
memory, a hard disk, a modem, etc. -- that work together. "General purpose" means that you
can do many different things with a PC. You can use it to type documents, send e-mail,
browse the Web and play games.

All computers have a CPU that executes programs. Micro controllers are 1) special purpose
computers doing one thing well; 2) embedded inside a consumer product often called by
“embedded controller.”
 Classification
Computer architecture viewpoint

General-purpose Computer (Operation system bridges

Computer Application to CPU)
Embedded Computer (ROM, RAM, I/O,
peripherals, etc. embedded)

Microcontrollers High-end embedded

(embedded Controllers) systems (Synergy of CPU
and operating system)

Control application viewpoint

General-purpose Computer
Central controller
Controller (Brain) High-end embedded systems
Local controller (Spinal)
MCU
Hardware Firmware CISC
(Embedded dsp-controller
controller) (With DSP engine) RISC (ex. dsPIC)
 臺灣韌體學會
http://www.tfa-1985.org/

韌體 (Firmware) 泛指晶片程式與其開發套件，而軟體 (Software) 則為廣義計算機之各類應用套

件。韌體強調即時演算與通訊，有硬體 (Hardware) 的反應速度，卻具備軟體的數位處理的功
能，而成為新的技術領域。因為伺服、驅動、感測、被動等零組件，皆須嵌入晶片，儀器與
整機之計算核心與人機介面，亦可改以晶片為之，以增加智慧，減低硬體成本，韌體技術乃
不可或缺，尤其現在更不可缺。因此成立台灣韌體學會，以加強產業與學界之聯繫，整合韌
體實務與理論，創造人才，升級工業。
台灣韌體學會成立的理由和目的，細舉如下 :
1, 軟、硬體已被西方與日本長年壟斷、迫使台灣工業聚集於毛利極低的美國消費性產品代工。
而韌體提供給創意人才最佳戰場，任何創意，可立即以程式實現，科技因而升級，工業因而
轉型。比如，韌體公司可自由設計高附加價值的伺服馬達與感測器，也可提供給這些工業客
製化的開發套件。
2. 對於工業歷史較短的開發中國家，韌體工業開創一條捷徑，可以客製化服務已開發國家的關
鍵零組件工業。同時，也可以擺脫專利與通訊協定的枷鎖，自由地將 know-how 變成具體資
源。
3. 臺灣有世界首屈一指的數理教育，但工業資源有限，投入人才於韌體開發，著重於即時演算
法，為最佳化的人力資源策略。
4. 韌體客製化各類坊間無法取得的量測儀器與量測方法，藉此加速科學的發現，此乃科技之
根。
藉由本學會之成立，可以拓展以上四點之產業與學界的互動，加強相關的韌體教育與人員訓
練，進而開發台灣更好的工業戰場、甚而能提供政府工業、能源、與國防政策的新思維。