Faculty of Engineering, Architecture and Science

Department of Electrical and Computer Engineering

Course Outline (F2014)

ELE809: Digital Control Systems Design
Prerequisites
Course Type
Program Level
Website
Compulsory
Texts
Reference
Texts

ELE639
Elective
Program Level
ELEC 07, COEN 07 (7th Semester)
http://www.ee.ryerson.ca/~courses/ele809

1. ELE809 Lecture Notes, Y. C. Chen. Available through Blackboard.

2. ELE809 Laboratory Manual, Y. C. Chen. Available through Blackboard.
1. Digital Control Engineering, M. Sami Fadali and A. Visioli, Academic Press, 2009.

Calendar
Description

This course deals with the theory on the design of digital control systems and their implementation.
Major topics include: State-space system model. Discrete-time signals and systems; z-transform.
Sampling: the ideal sampler, data reconstruction, quantization effects. Discrete equivalents to
continuous-time transfer functions. Stability analysis: Jury's stability test; root locus; Nyquist
stability criterion. Design of digital control systems: transform techniques; stat-space techniques.
Hardware and software aspects in implementation. Laboratory work will include experiments on PID
controller, and sate feedback controller design of an electro-mechanical system.

Learning
Objectives

At the end of this course, the successful student will be able to:
1. Develop mathematical models for digital control systems design (2b).
2. Use control engineering knowledge to understand and design digital control systems
(1d).
3. Design and implement various digital controllers using MATLAB to control a DC
motor (5c).

The learning objectives will be assessed as follow:

Assessment Method: Directly assessed in scores in tests, exams and lab work.
Assessment Measure: Questions are used as assessment measure in tests and exams.
Questions and rubrics are used as assessment measure in the lab work.

Course
Organization

3 hours of lecture per week for 13 weeks, in 1 section

2 hours of lab/tutorial per week for 10 weeks
2 lab sections of maximum 20 students per section

Course
Evaluation

Midterm exam
Lab work
Lab exam
Final exam
Total

25%
20%
10%
45%
100%

In order to achieve a passing grade in this course, the student must achieve an average of at
least 50% in both theoretical and laboratory components.
Examinations

Midterm exam in approximately Week 7, two hours, closed-book, formula sheet provided.
Final exam, during exam period, three hours, closed-book, formula sheet provided.

Course Content
Topic

Sections

Hours

Ch. 2

Ch. 3

Ch. 3, 4

Ch. 7, 8

Ch. 6

10

Ch. 9

10

Lecture
Notes

Ch. 1

Description

Introduction
Comparison of digital and analog control systems; overview of the
control problem and design approach.
Mathematical Models for Discrete-Time Systems
Linear difference equation; z-transform and properties; discrete
transfer function; systems with delay.
Sampling and Reconstruction of Continuous-Time Signals
Sample and hold; spectrum of sampled signals, Nyquist sampling
theorem and aliasing; data reconstruction.
Analysis of Discrete-Time Signals and Systems
Discrete-time signals; response of discrete-time systems; stability
analysis techniques (Jury stability criterion, root locus, Nyquist
criterion); transient and steady state characteristics.
State-Space System Model
Concept of states, state variables, state vector, state space, statespace equations; modeling of physical systems using state-space
models; stability, controllability and observability; similarity
transformation; canonical forms; discrete-time state-space models
(with and without input delay).
Design using Transform Techniques
Emulation of continuous-time design (discrete equivalents by
numerical integration/differentiation, hold equivalents and zero-pole
mapping); PID control; direct digital design: z-plane design using root
locus; frequency domain design with w-transform.
State Space Design
Regulator design using pole placement technique; Ackermann
formula; observer design; reduced-order observer; servo control
system design; robust control and disturbance rejection; actuator and
sensor delays.
Implementation and Practical Consideration
Sample rate selection; supporting hardware and software; effects of
quantization.

Laboratory/Tutorials
Lab
1
2
3

Description

Proportional Control
Digital PID Control Design
State Feedback Position Control and Observer Design

Important Notes

Hours
4
4
4