數位控制系統
( Digital Control Systems )
Electrical Engineering Department, National Taiwan University
Spring 2019 (Feb 19 - Jun 19)
----- News & Actions -----
  • Week 18: (6/21/19)
    • Final Exam Week: No Lecture.
    • Submit your Project Repport by 6/25 (Tue)
      - upload ONE zipped file of all related files, docx (or pptx), m, etc. to any web storage
      - e-mail the link of the zipped file to fengli@ntu.edu.tw
  • Articles and Reports about Control (updated on 9/11/18)
  • OLD news are moved to the bottom of the webpage.

----- Lecture Notes -----
Week Subject Date Lecture PDF Code HW
18 Project Report 6/25
Tue 		- e-mail the link of
.... one zipped file of
.... docx (or pptx), m, etc. 		...
17 Progresss Report 6/14 - Exam Discussion
- Progress (5-page pptx)
--- dcs02_Project
 		...
16 Holiday 6/7 ... ...
15 Exam 5/31 Covers HW2, 3, 4, 5
Time: 2pm-4pm 		...
14 IO Design
Polynomial Approach 		5/24 dcs32_InputOutputDesign
 		fig504_motor_step.m
fig505_motor_step.m
block504.mdl
fig510_nominal.m
block510.mdl
block510.slxc
fig511_change_w.m
fig511_change_zeta.m
fig512_change_obspole.m
fig513_change_h.m
13 Discretized C(s)
DelayCompensation
IO Design
Polynomial Approach 		5/17 dcs35_DelayCompensation
dcs32_InputOutputDesign
 		Lag_a.mdl
Lag_b.mdl
Lag_c.mdl
LeadLag.mdl
KatzExample.mdl
RattanExample.mdl
12 Discretized C(s)
Discrete Design
Emulation Design 		5/10 dcs33_DiscreteDesign
dcs34_EmulationDesign
 		...
11 SS Design
Observer Design
Output Feeback Proposal 		5/3 dcs31_StateSpaceDesign
 		arm_bode.m
arm_impulse.m
block419.mdl
arm_controller.m
block420.mdl
arm_observer.m
block421.mdl
ylblalgn.m
sfbdesign.m
obsdesign.m
Kalman3.m
10 SS Design
State Feedback 		4/26 dcs31_StateSpaceDesign
 		different_h.m
block402.mdl

HW_5_2_b.slx
HW_5_2_b.slxc
HW-5 Problem
Solution
09 Controllability
Observability 		4/19 dcs23_Controllability
.....Observability
- 		...
08 Project
DesignExample
Stability
4/12 - dcs02_Project
- dcs21_DesignExample
- dcs22_Stability
RootLocus_1.m
RootLocus_2.m
Output_K.m
block318.mdl
HiddenOsc_1.m
block319.mdl
HiddenOsc_2.m
block320.mdl
HW-4 Problem
Solution
07 Holiday 4/5 ... ...
06 Sampling
TimingAnalysis 		3/29 - dcs14_Sampling
- dcs15_TimingAnalysis
- Lecture:
... SS-7: Sampling
... SS-7: (Video)
... List of Related Papers
- (ccsdemo)
05 z-T
Sampling 		3/22 - dcs13_zTransform (Updated)
- dcs14_Sampling
- Lecture:
... SS-10: The z-Transform
... SS-10: (Video)
... SS-7: Sampling
... SS-7: (Video)
- Videos of Sampling Effect
...... Aliasing x1
...... Aliasing x4
...... 55 Minute Alias
...... Propeller Effect
...... Wagon-wheel effect
- Speech: by Yutaka Yamamoto
...... Vidoe
...... Slides
...... Paper 		- (Response
_01_pole.m)

- (Sampling
_01_CTDT.m) 		HW-3 Problem
Solution
04 DT Model-IO
z-T 		3/15 - dcs12_DTModel_IO
- dcs13_zTransform
- References:
- Lecture:
- SS-2: LTI Systems
- SS-2: (Video)
... pp. 3-11
- SS-10: The z-T
- SS-10: (Video)
... 2-8 30 39 50 52
60-61 71-74 		( )
03 DT Model-SS 3/8 - dcs11_DTModel_SS
- References:
- System Models
- System of DEs
... pp. 511 515-518
524 562 578
- System Models in LS
- Solution of 1st-order DE
... pp. 52 54 58 59
- SS Solution in LS 		( ) HW-2
Problem
Solution
02 Holiday 3/1 ... ... ...
01 Intro 2/22 - dcs01_Intro ( ) HW-1 Problem
pp. 2-11, 22-24,
25-28, 28-29
Book-A&W 1997
Week Subject Date Lecture PDF Code HW
----- Homeworks -----
  • Homework Template File

  • Homework 5 (updated on 4/8/19)
    • Assigned: 4/26, 2019 , Deadline: 5/10, 2019
    • Topics: Design in State-Space Model
      - Problem 5-1:
      ....... Given the system
      ....... Determine a linear state-feedback controller
      ....... such that the closed-loop poles are in 0.1 and 0.25.
      - Problem 5-2:
      ....... Consider the continuous-time system
      ....... Sampling the system with h = 0.2 gives:
      ....... Determine a linear state-feedback controller
      ....... such that the closed-loop characteristic polynomial is:
      ....... Simulate the closed-loop system when x(0) and
      ....... plot all the signals (states, input, output) of the systems.
      - Problem 5-3:
      ....... Given the system
      ....... Determine the linear state-feedback controller:
      ....... such that the states are brought to the origin in two sampling intervals.
      ....... Is it possible to determine a linear state-feedback controller
      ....... that can take the system from the origin to x(k).
      ....... Determine an observer that estimates the states
      ....... such that the observer has the desired characteristic polynomial.
    • Actions:
      - Please use the homework template to write several paragraphs
      ....... on summarizing the information you catch from each section.
      - Print out your homework and submit it on 5/10 in class.

  • Homework 4 (updated on 4/8/19)
    • Assigned: 4/12, 2019 , Deadline: 4/26, 2019
    • Topics: Stability, Controllability, Observability
      - Problem 4-1:
      ....... Consider the system
      ....... Determine the values of K for which the closed-loop system is stable
      - Problem 4-2:
      ....... Is the following system (a) stable, (b) observable, (c) reachable?
      - Problem 4-3:
      ....... Consider the system
      ....... Determine a control sequence
      ....... such that the system is taken from the initial state, x(0), to the origin
      ....... Which is the minimum number steps
      - Problem 4-4:
      ....... Given the system
      ....... For which values of K in the proportional controller
      ....... is the closed-loop system stable?
    • Actions:
      - Please use the homework template to write several paragraphs
      ....... on summarizing the information you catch from each section.
      - Print out your homework and submit it on 4/26 in class.

  • Homework 3 (updated on 3/21/19)
    • Assigned: 3/22, 2019 , Deadline: 4/12, 2019
    • Topics: z-Transform and Sampling
      - Problem 3-1:
      ....... Consider the system described by the difference equation
      ....... Determine the pulse-transfer function and the poles and zeros
      ....... Determine the output sequence of the difference equation
      - Problem 3-2:
      ....... Consider the system
      ....... Simulate the system and
      ....... determine the overshoot for different values of a and b
      - Problem 3-3:
      ....... Sketch the magnitude of the spectrum
      ....... when the signal has been sampled with:
      ....... (a) h = 2 pi /10 (s); (b) h = 2 pi /20 (s); (c) h = 2 pi /50 (s).
      - Problem 3-4:
      ....... Watch the following plenary speech:
      ....... Signal Processing via Sampled-Data Control
      ....... - A Challenge to Go Beyond Shannon
      ....... By Prof. Yutaka Yamamoto (Kyoto University, Japan)
      ....... Video Link
    • Actions:
      - Please use the homework template to write several paragraphs
      ....... on summarizing the information you catch from each section.
      - Print out your homework and submit it on 4/12 in class.

  • Homework 2 (updated on 3/7/19)
    • Assigned: 3/8, 2019 , Deadline: 3/22, 2019
    • Topics: Discrete-Time Models
      - Problem 2-1:
      ....... Derive the formulas of the DT State-Space System with Inner Time Delay
      ....... Reference:
      ........... Bjorn Wittenmark, "Sampling of a system with a time delay,"
      ........... IEEE Transactions on Automatic Control,
      ........... Vol. 30, No. 5, pp. 507-510, May 1985.
      ........... https://ieeexplore.ieee.org/document/1103985
      - Problem 2-2:
      ....... Derive the discrete-time system
      ....... corresponding to the following continuous-time system
      ....... when a zero-order-hold circuit is used
      - Problem 2-3:
      ....... Use the z-transform
      ....... to determine the output sequence of the difference equation
      - Problem 2-4:
      ....... Sample the continuous-time system
      ....... Using the sampling interval h = 0.3.
      ....... Determine the pulse-transfer operator
    • Actions:
      - Please use the homework template to write several paragraphs
      ....... on summarizing the information you catch from each section.
      - Print out your homework and submit it on 3/22 in class.

  • Homework 1 (updated on 2/22/19)
    • Assigned: 2/22, 2019 , Deadline: 3/8, 2019
    • Topics: Read Articles on Digital Control
      - Section 1.2: Computer Technology for Control
      ....... on Pages 2-11 of Book - Astrom & Wittenmark 1997
      - Section 1.4: Inherently Sampled Systems
      ....... on Pages 22-24 of Book - Astrom & Wittenmark 1997
      - Section 1.5: Fundamental Theories
      ....... on Pages 25-28 of Book - Astrom & Wittenmark 1997
      - Section 1.6: Notes and References
      ....... on Pages 28-29 of Book - Astrom & Wittenmark 1997
    • Actions:
      - Please use the homework template to write several paragraphs
      ....... on summarizing the information you catch from each section.
      - Print out your homework and submit it to the lecturer on 3/8 in class.
    • Book - Computer-Controlled Systems: Theory and Design, (3rd Ed., 1997)
      - by Karl Johan Astrom and Bjorn Wittenmark
      ----- Prentice Hall
      - Book at amazon
      - Book at books.google
      - Book at NTU Library

----- Course Information -----
  • What:
    • Topics: Digital Control Systems
    • Course No: EE5073
    • Credit: 3
  • Who:
    • Students:
      • Graduate Students or Senior Students
    • Instructor:
      • Name: Feng-Li Lian (連豊力)
      • Office: Room EE-MD717,
      • Phone: 02-3366-3606
      • Email: fengli@ntu.edu.tw
  • When:
    • Lectures: 1:40pm-4:30pm, Fridays (Feb 2019 - Jun 2019)
    • Office Hours: appointment by e-mail
  • Where:
  • Why:
    • For EE graduate students
      interested in Digital Control Systems: Analysis and Design
    • Project-oriented discussion and lectures
  • How:
    • Preview: ~3 hours/per week
    • Lecture: ~3 hours/per week
      • Demonstration, derivation and practice, etc.
    • Review: ~3 hours/per week
    • Homework: ~3 hours/per week
    • Q & A & lecture participation:
      • group discussion
      • lecture questionnaire
      • e-mail
      • website etc.

  • Reference Books:

  • Course Outline:

    • Digital Control Systems
      • A. From Analog to Digital World
      • B. Design Consideration
      • C. Z-transform
      • D. Controller Design
    • Computer Control Systems (Single Centralized Control)
      • A. Real-Time Operation Systems
      • B. Analog to Digital
      • C. Digital to Analog
    • Networked Control Systems (Multiple Distributed Control)
      • A. Control Networks Protocols
      • B. Networked Controllers & Managers
      • C. Networked Sensors
      • D. Networked Actuators

  • Grading:
    • Homework and Programming   30%
    • Midterm Exam   30%
    • Final project and report   40%
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