Aims & Learning Objectives:
To give an understanding of sampled data system theory with reference to the digital control of dynamical systems.
To provide an introduction to modern control theory and to explore the links between this and classical control.
To show how modern control techniques can be used to control physical systems.
After taking this unit the student should be able to: Evaluate the behaviour of single input/single output digital control systems and determine system stability. Understand the problems associated with sampling signals. Select appropriate methods to improve control systems performance. Represent and analyse both continuous-time and discrete-time systems described in state variable forms. Understand the key features of neural and fuzzy controllers.
Content:
Nature of sampled signals; selection of sample rate; aliasing; prefiltering. The Z transform. Open-loop and closed-loop digital control; stability of closed-loop digital systems. Root locus; estimation of the transient response using the Z-plane. Frequency response of discrete-time systems. Digital design techniques; approximation methods; digital PID controllers. Adaptive control. State representation of physical systems; non-uniqueness of states. Controllability and observability. Time response of continuous- and discrete-time systems. Observers and state feedback; modal control. Parameter estimation. Introduction to neural networks and fuzzy control.
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