General information

Catalog no.: 036709
Credit points: 3
Prerequisites: 035188—Control Theory
Grading policy: Homework (100%, 5 out of 6, provided all solutions are submitted)

Homework solutions to be submitted electronically in PDF format (typeset, not a scan of a handwritten text) to (if you're unlucky to be stuck with MSWord on Windows, instead of using LaTeX, PDF files can be created from DOC sources via this site for free)

Lecturer

Leonid Mirkin, 210 D. Dan and Betty Kahn Bld., phone: 3149, email: 

Classes

Wednesday, 10:30-13:20, via Zoom

Syllabus

  1. Discrete signals and systems in time and transformed domains
    1. time-domain properties and representations
    2. discrete Fourier and z transforms
  2. Connecting analog and digital (including aliasing and the Sampling Theorem)
  3. Digital redesign of analog controllers
  4. Discrete design methods in state space
    1. state feedback, state observers, observer-based feedback
    2. optimal control methods (LQR, Kalman filtering, H₂)
  5. Implementation of digital controllers, δ-operator
  6. Multi-rate systems, lifting
  7. Time-delay systems in discrete time
  8. Sampled-data design methods
  9. Networked control systems

Literature:

  1. Course lectures
  2. Åström K. J. and B. Wittenmark. Computer-Controlled Systems: Theory and Design, Englewood Cliffs, NJ: Prentice Hall, 1997
  3. Chen T. and B. A. Francis. Optimal Sampled-Data Control Systems, London: Springer-Verlag, 1995.

Lectures

  1. Introduction; review of continuous-time signals and systems, control principles (also in beamer mode)
  2. Discrete-time signals and systems in time and transformed domains (also in beamer mode) (updated 20.4.2020)
  3. A/D and D/A conversions in time and frequency domains (also in beamer mode)
  4. Computer-controlled sytems; discretization; classical discrete methods (also in beamer mode)
  5. State space and its properties; Lyapunov stability (also in beamer mode)
  6. Discretization is state space; stability analysis; state feedback (also in beamer mode) (updated 20.5.2020)
  7. State feedback with integral action; observers; observer-based feedback; generalized hold (also in beamer mode)
  8. Digital redesign of analog controllers (also in beamer mode)
    • ZIP file with sources for the example discussed in the class
  9. LQR (continuous-time, discrete-time, sampled-data) (also in beamer mode)
  10. Time delays in sampled-data systems (also in beamer mode)
  11. Multi-rate systems (also in beamer mode)
  12. Networked sampled-data systems (also in beamer mode)
  13. Quantization effects; oversampling A/D conversion (ΔΣ); state-feedback H-inf (also in beamer mode)

Homework

All answers should be explained and justified.