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 ADC DAC & ZOH u(t) r(k) Dicretised Plant u(k) y(t) y(k) e(k) 14th April 2015 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 14th April 2015 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 14th April 2015