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Digital (Discrete-Time) Control Systems

E1541 Introduction to Digital Control Systems
Lec.#01
Prof. Dr. Walaa Gabr
Associate Prof. Dr. Omar Salim
Department of Electrical Engineering
Benha Faculty of Engineering
Benha University

Oct. 2023

Lecture Agenda:-
 Intro. to the “Digital Control Systems (DCS)” Course
 Course Aims
 Course Intended Learning Outcomes ILOs.
 Course Syllabus
 Course Grading
 Course References

 Why Digital Control?

 Advantages for DCS
 Types of signals
 The Structure of a Digital Control System
 References. 10/11/2023

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Course Syllabus

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Course aims :-
 Give the students the concept of discrete and digital systems
 Understand the definition and the rule of z-transform in digital
systems
 Analyze and check the stability of digital control systems
 Realize and implement digital filters and controllers
 Design a digital filter and controller check the controllability and
observability of digital control systems

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Intended Learning Outcomes of This Course (ILOS) :-

a. Knowledge and understanding

1. The approach to design and operational performance

2. The principles of sustainable design and development
3. Principles of design including elements design, process and/or a system related to
specific disciplines

 b. Intellectual skills

1. Select appropriate solutions for engineering problems based on analytical thinking

2. Apply the principles of sustainable design and development

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Intended learning outcomes of course (ILOS) :-

 c. Professional and practical skills
1. Employ computational facilities, measuring instruments, workshops and laboratories equipment
to design experiments and collect, analyze and interpret results
2. Merge engineering knowledge and understanding to improve design, products and/or services
3. Apply the principles of sustainable design and development
4. Merge the engineering knowledge, understanding, and feedback to improve design, products
and/or services.
5. Create and/or re-design a process, component or system, and carry out specialized engineering
designs.
 d. General and transferable skills
1. Effectively manage tasks, time, and resources
2. Acquire entrepreneurial skills 10/11/2023

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Course Syllabus:-
1. Introduction
2. Spectrum analysis of sampling process
3. Signal reconstruction
4. Difference equation
5. The z-transform
6. Impulse transfer function
7. Mapping between s-plan and z-plan
8. Transient and steady state response analysis
9. Design based on root-locus
10.Design based on frequency response
11.Analytical design
12.Controllability & observability tests 10/11/2023

References
Text Books:
 Katsuhiko Ogata, ‘Discrete-Time Control Systems,’ 2nd edition, 1994.
st
 Digital control engineering, Analysis and design, M. Sam Fadali, 1 Edition 2009
 Automatic control systems, Kuo

Lecture Notes:
 Omar Salim, Ph.D. Lecture notes E 1541 (Mechatronics since 2017)
 Associate Professor Walaa Gabr, Ph.D. Lecture Notes 2015 and 2016.
 Omar Salim, Ph.D. Lecture notes for SYS674 Oakland University 2010.

Software Packages:
 MATLAB Simulink, for Mathworks.
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Grades
 40 % for class work, and 60 % for final exam.

 Class Work will be:

 30 pts on Midterm
 10 pts on classwork/absence “ Set by the TA, Eng. Eman Amer”
 10 pts on absence “Lecture”
 10 pts on participation/interview “ Lecture”
Groups: each group prepare/present a working project (10 pts)

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Introduction
 Control systems are an integral part of everyday life. They
control our appliances, cars, and office environments; they
control industrial processes and transportation systems.

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 Most of these application use digital controllers implemented

with computers, microprocessors, or digital electronics (i.e
PLCs and DCSs).

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 Every senior student of electrical, chemical, or mechanical

engineering should therefore be familiar with the basic theory
of digital controllers 10/11/2023

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Introduction Cont’d
 Modern control systems require control of numerous loops at the
same time (i.e. Pressure, Flow, Level, Position, Velocity and Tension.
 Controllers are required to ensure satisfactory transient and steady-
state behavior to guarantee satisfactory performance in the presence
of disturbances and model uncertainty, most controllers employ
some form of negative feedback. A sensor is needed to measure the
controlled variable and compare its behavior to a reference signal.
 Control action is based on an error signal defined as the difference
between the desired and the actual values.

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Advantages of Digital Control

 Accuracy: represented in terms of 0s and 1s (12 bits or more to represent a number) very
small error compared to analog signals where noise/power supply drift are always present.
 Flexibility: they can be easily re-programmed
 Decision making or logic capability
 High performance/cost ratio, the cost of digital circuitry continues to decrease. It is possible
to manufacture better, faster, and more reliable integrated circuits and to offer them to the
consumer at a lower price.
 Can be easily designed and tested by simulations
 Implementation errors: Digital processing involves addition and multiplication. The errors
that result are negligible. By contrast, (analog signals is performed using components such as
resistors and capacitors.
 Speed: of computer has recently increased exponentially. Which made it possible to sample
and process signals at very high speeds. (i.e. interval between samples, can be very small.
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Analog to Digital Signal Conversion

➢A digital signal is superior to an analog signal because:
➢It is more robust to noise and
➢Can easily be recovered, corrected and amplified.
➢For this reason, the tendency today is to change an
analog signal to digital data.

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Types of signals:

Continuous-time analog signal

Continuous-time quantized signal

Sampled data signal

Digital signal
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The Structure of a Digital Control System

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References
Text Books:
 Katsuhiko Ogata, ‘Discrete-Time Control Systems,’ 2nd edition, 1994.
st
 Digital control engineering, Analysis and design, M. Sam Fadali, 1 Edition 2009
 Automatic control systems, Kuo

Lecture Notes:
 Professor Walaa Gabr, Ph.D. Lecture Notes 2015 and 2016.
 Omar Salim, Ph.D. Lecture notes for SYS674 Oakland University 2010.
 Omar Salim, Ph.D. Lecture notes E 1541 (Mechatronics 2017)

Software Packages:
 MATLAB Simulink, for Mathworks.
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