5. Textbook
Required Textbook
Phillips, CL and Nagle, HT (1998), Digital
Control System Analysis and Design,
3rd ed., Prentice Hall.
Recommended References
Ogata, K. (2009). Modern Control Engineering,
Prentice Hall.
Gopal, M. (2003). Digital Control and State
Variable Methods: Conventional and Neuro-Fuzzy
Control Systems, McGraw Hill.
Kuo, B. C. (2009). Digital Control Systems, Oxford.
6. Course Outline
1. Introduction to digital control system
2. Sampling and discrete-time system
3. Mathematical modeling/ System
representation in z-domain
4. Analysis: System-time-response
characteristics
5. Analysis: Stability analysis techniques
6. Digital controller design
7. Course Objectives
The objectives of this course are to:
• Introduce students to the concept of digital control
system and compare this to its analog counterpart.
• Expose students to the different techniques used in the
analysis, compensating and design of digital control
systems.
• Expose student to the concept of modern control design
based on state space model in both continuous and
discrete time domain.
8. Learning Outcomes
Upon completion of this course, students SHOULD be able
to:
• Differentiate various elements of digital control systems.
• Derive mathematical models of various systems for the
digital control systems.
• Analyze continuous and digital control systems using
both time-domain and frequency – domain techniques.
• Design full-state feedback controller for both continuous
and discrete time domains.
9. Class Attendance
• Eligibility for Entry to Examination
Officially registered and fulfilled the
required 80% of attendance
• Warning Letter will be issued if you
miss 10% of your attendance
• You will be barred from sitting the
end-of-semester examination if you
fail to meet the 80% attendance
University Rule
11. Mathematical- Calculation subject-
Practice
Know the overview of the subject
Do your assignment/ projects by
yourself
Take care of your Midterm test, Quiz,
Assignment, project and Examination.
Take a look at previous questions
Ask the lecturer/ tutor – in english
Maintain a positive, can-do attitude!
Pray a lot
مِہِسُفنَأِب اَم ْاوُرِيَغُي ٰ
ىَّتَح ٍم ۡ
وَقِب اَم ُرِيَغُي َ
َل َ َّ
ٱَّلل َّنِإ
“…Verily,Godwill neverchangetheconditionof a people until theychangewhat is in themselves…” Al Qur’an
13:11
Tips for success in MCT 3325
12. What I expect from you
Lectures
• Attend the lecture – pay attention
• Be punctual
• HANDPHONE is OFF or SILENT mode
• Ask (sensible) questions as much as you like
• Be motivated and interested in the subject
Homework/Project
• Do it by yourself or groupwise
• Don’t be late
• I don’t tolerate PLAGIARISM
Take the initiative and learn something !
14. IIUM E-learning
You may download:
Course outline
Lecture slides
Project information
Assignment
etc
LMS
15. ْقُز ْر َو ًامْلِّع ِّنيْدز ِّبَر
ماََْْ ِّيني
ًً
My Lord! Advance me in Knowledgeand true understanding
Let’s begin our journey in this subject…
16. Control System Design
[MCT 3325]
Dr. Norsinnira Zainul Azlan
Department of Mechatronics Engineering
International Islamic University Malaysia
Lecture #1
Introduction to Digital Control System
17. Lecture Outline
• What is Control System?
• Difference between Analog and Digital
Control Systems
• Advantages/Disadvantages of Analog /
Digital Control System
18. Why do we need a controller is required to
process the error signal to satisfy a certain
criteria such as:
• Steady-state error
• Transient response
• Disturbance rejection
• Sensitivity to parameter change in the
plant (robustness)
Why do we need a controller?
Controller design objectives:
What is Control System?
19. Controller design process
Controller design process will generally
involve :
• Choosing sensor to measure the
required feedback signal
• Choosing actuators to drive the plant
• Developing the plant, sensor and
actuator model
• Designing the controller based on the
developed models and the control
criteria
What is Control System?
20. What is Control System?
What are the elements of Analog Control
Systems?
What are the elements of Digital Control
Systems?
21. Difference between Analog and
Digital Control Systems
Controller Plant
Sensor
Desired
output
Actual
output
Error
Plant
input
+-
Analog Control System
23. The main difference between the two control
systems is, digital control system has digital to
analog converter (DAC) and analog to digital
converter (ADC).
Difference between Analog/
Digital Control Systems
24. Controller implementation in Electronic Circuit
-
+
Zi
(s)
Zf(s)
Vi(s) Vo(s)
s
Z
s
Z
s
V
s
V
s
G
o
i
o
i
c
Reference: Harbor, R. D. and Phillips, C. L., Feedback Control
Systems, 3 rd Ed., Prentice-Hall, 1996.
Difference between Analog/ Digital
Control Systems
How to implement analog controller in real system ?
25. Typical Digital Control System
Digital signal
Analog signal
Computer, microprocessor (mP),
Digital signal processor (DSP)
Controller Plant
Sensor
Desired
output
Actual
output
+-
A/D
A/D
26. Example of Digital Controller
Precision motion controller using LM-628
from National Semiconductor
27. Computer
AC servo
driver AC Servo
Motor
Coupling Load System
Encoder
Coupling
Encoder
500
180
Example of DCS
Use computer as the controller
D/A
A/D
29. Advantages:
• Controller works continuously and
effectively at all times.
• Operate in real time and capable of
very high bandwidth.
Advantage Analog Control Systems
30. Disadvantages:
• Controller elements are hard-wired.
• Controller characteristic is fixed.
• More difficult to make design change.
• Component aging and sensitivity to
environmental changes can be quite
servere.
• Analog components are also more
susceptible to noise problem.
Overcome by Digital Control Systems
Disadvantages of Analog Control
Systems
31. Advantages of Digital Control
Systems
• mPs and DSPs allow more flexibility &
versatile in programming: changing a
design does not require an alteration in the
hardware
• Digital components are less susceptible to
aging and environmental variation.
• They are less sensitive to noise and
disturbance.
• Digital processors are more compact and
lightweight. Single-chip mPs and DSPs
can be made very versatile and powerful
for control applications.
32. • The costs of mPs and DSPs are
continuously going down.
• They are more reliable.
• They provide improved sensitivity to
parameter variations.
Advantages of Digital Control
Systems
33. • Problems in making continuous signal
discrete.
• Problems in selecting sampling rate.
• Scaling and round off error.
• Error in sampling and reconstruction
process.
Disadvantages of Digital Control
Systems
36. Conclusion
•A digital control system offer many advantages over its analog
counterparts.
•Although it has several disadvantages, its advantages outweigh
its disadvantages.
Since digital control systems are widely used today, it is important
to understand the underlying theories and concepts.
