digital control systems sose 2015 - tu berlin · adc - analog-digital-converter, dac - digital...
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TU Berlin Digital control systems 1
Digital Control Systems
SoSe 2015
Overview
• Motivation
• Organisation
• Literature
• Contents
14th April 2015
TU Berlin Digital control systems 2
Motivation
• Implementation of controllers, designed in continuous-time, on a micro-controller or PC (digital
realisation of an ‘analogue’ controller)
ADC Computer Plant
Clock
DAC &
ZOH
Controller
r(t) e(t) e(k) u(k) u(t) y(t)
ADC - Analog-Digital-Converter, DAC - Digital Analogue Converter, ZOH - Zero Order Hold
14th April 2015
TU Berlin Digital control systems 3
Motivation
• Direct design of a digital controller for a discretised plant
– or for identified time-discrete models
– or for inherently sampled systems (e.g. control of neuro-prosthetic systems)
– enables larger sampling times compared to the digital realisation of ‘analogue’ controllers
– enables other features that are not possible in continuous time control (e.g. dead-beat
control, repetitive control)
Clock
Computer Plant ADCDAC &
ZOH
u(t)r(k)
Dicretised Plant
u(k) y(t) y(k)e(k)
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TU Berlin Digital control systems 4
Organisation
• Lecturer: Thomas Schauer - E-Mail: [email protected]
• 4 hours weekly
• Tuesday: 9–11 o’clock, EN656
• Thursday: 14–16 o’clock, EN656
• Integrated course (lectures, tutorials, computer exercises, labs)
• Computer exercises will be announced in advance and take place in EN656
• Labs: three weeks at the end of the semester in EN222
• Course language: German
• Material: Slides in English
• Used Software: Scilab 5.5.2 (www.scilab.org)
14th April 2015
TU Berlin Digital control systems 5
Organisation
• Grading: portfolio exam (100 points in total):
– two lab experiments (protocol required) (2 x 16 points)
– written test (68 points)
Literature
1. K.J. Aström and B. Wittenmark. Computer Controlled Systems: Theory and Design.
Prentice Hall (20x in library)
2. G.F. Franklin, J.D. Powell, and M.L. Workmann. Digital Control of Dynamic Systems.
Addison Wesley
3. I.D. Landau, G. Zito. Digital Control Systems: Design, Identification and Implementation.
Springer
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TU Berlin Digital control systems 6
Contents
• Stronger focus on control system design than before
• Less repetition of signals and systems
• Introduction to state-space methods and system identification
• Use of computer tools for design & implementation of control systems
• New: Design of a controller for a quadrocopter (live demo)
• two lab experiments
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TU Berlin Digital control systems 7
Final Remark
• Best preparation for a bachelor thesis in order to solve practical control problems in the field of
biomedical engineering!
• We offer interesting bachelor thesis projects in our running research projects!
14th April 2015