Syllabus ELS4003 – Sistem Kendali Digital

Del Institute of Technology

Toba Samosir

Course Code : ELS4003

Course Name : Sistem Kendali Digital (Digital Control System)
Semester/Academic Year : 1 – 2018/2019
Meetings (Theory/Practice) : 16 weeks (including Mid Term Test and Final Term Test)
Credits : 3
Type of learning : Teori
Level of learning : Basic and Intermediate
Lecturer(s) : Indra Hartarto Tambunan, Ph. D.
Web page : cis.del.ac.id

1 Requisites
Pre-requisite: Sistem Kendali, Pengolahan Sinyal Digital
Co-requisite:

2 Course Description
This course addresses to present treatment of the classical digital control with an introduction to
modern digital control system in the state space. Z-transform as applied to discrete-time systems
with transformation from the s-plane to the z-plane. Analyze digital control systems using
Nyquist and Bode plots and root locus. Stability analysis of digital systems using Jury test, Routh
criterion, Nyquist and Bode plots. Design using root-locus and Bode plots introduced.
Introduction to state-space representation and pole assignment of digital control. Finite-word
length effects. MATLAB applications.

3 Course Objectives
Develop an understanding of basic concept of control system and capable of analysing the
stability of a system in frequency domain and time domain.

4 Learning Outcomes
 Represent discrete time systems under the form of z-domain transfer functions and state-
space models.
 Analyze stability, transient response and steady state behavior of linear discrete-time
systems, analytically and numerically using tools such as Matlab and Simulink.
 Design digital control systems using transform techniques and state-space methods.
 Describe and test controllability and observability of linear systems.
 Communicate effectively in oral and written forms

5 Course Format
The course will be delivered as 3 credits in classroom lecture.
The completion of a semester-long project is an important part of this course. Students will
submit a written report and make a presentation at the end of the semester. The instructor may

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suggest some ideas for projects; however, students are free to choose their project. Typical
projects include designing digital control systems, and/or using MATLAB (or other programs) to
demonstrate and analyze the performance of digital control systems. Students will work in
groups of two to complete the project. Groups of three are allowed for more challenging projects.

6 Assessment
Student’s Final Grade/Score is obtained from some series of assessments collected during the
course meetings. The assessments administered are shown on Table 1 below:

Table 1 Components of Assessment

Assessment Weighting
Homework 15 %
Project and Presentation 15%
Quiz 10 %
Mid Term Test 30 %
Final Term Test 30 %

7 Course Content
7.1 Overview of Continuous-Time Control Systems
7.2 Introduction to Discrete-Time Control Systems
a. Quantization
b. A/D and D/A converters
7.3 Z-Transform
8 Z-transform
9 Inverse Z-transform
9.1 Reconstructing Original Signals
9.2 The Pulse Transfer Function
9.3 Realization of Digital Controllers
10 PID Controllers
11 IIR Filters
12 FIR Filters
12.1 Mapping Between the S-plane and Z-plane
12.2 Stability Analysis
13 Jury Stability Test
13.1 Transient and Steady-state Analysis
13.2 Root Locus Method
13.3 State-Space Analysis
13.4 Advanced Topics:
14 Pole Placement and Observer Design
15 Quadratic Optimal Control Systems
16 Intelligent Control Systems
17 Neural Networks
18 Polynomial Equations Approach
19 Handbook(s) and Reference(s)
The required texts for the course are:
 Fadali and Visioli, Digital Control Engineering, 2nd Edition, Academic Press
Additional Reading:

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 Discrete-Time Control Systems, 2nd Edition, K. Ogata, Prentice Hall, Upper Saddle River, New Jersey,
1995.
 Digital Control System Analysis and Design 4th edition, by C. L. Phillips, H. T. Nagle.

20 Tools
MATLAB, Microsoft Office, Simulink

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21 Course Units
Table 2 shows the series of topics delivered on this course. The learning type and objectives of each topic are also provided on the table.
W Competence
E Sessio (Bloom’s
PIC Topic Sub-Topic Activity Objective(s) Source Tools
E n Cognitive
K Taxonomy)
1 1 IHT  Continuous-Time control system Class  Understand the types of control systems and its C1 Handbooks
Overview of Continuous-
Time Control System  application.
 Understand closed loop and open loop control
 Able to design compensator of control systems C1
2 1 IHT Introduction to Discrete-Time  Discrete-time control system Class  Understand discrete-time control system C1 Handbooks Matlab
Control Systems  A/D converter C1
 Understand the difference between discrete-
C1
 D/A converter
time and continuous-time control system C3
 Understand A/D converter and D/A converter
 Able to model A/D converter and D/A
converter
3 IHT Z-Transform  Z-Transform Class  Understand z-transform C1 Handbooks Matlab
 Inverse Z-Transform C1
 Understand inverse z-transform
C3
 Modified Z-Transform
 Able to use z-transformation for digital control C3
 Able to use inverse z-transformation for digital C3
control
 Able to use modified z-transformation for
digital control
4 IHT Reconstructing Original  Sampling theorem Class  Understand sampling method C1 Handbooks Matlab
Signals  Hold device C1
 Understand zero order hold (ZOH)
C3
 Constructing signal
 Able to use sampling method C3
 Able to use ZOH to reconstruct the signal from C3
sampling signal to continuous signal
 Able to construct signal for digital control
purpose
5 IHT The Pulse Transfer Function  Pulse Transfer Function Class  Understand pulse transfer function C1 Handbooks Matlab
 Cascade Pulse Transfer Function  Able to identify pulse transfer function of a C2
control system (closed-loop and open loop) C2
 Understand cascade system C3
 Able to identify pulse transfer function of a

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6 IHT Realization of Digital
Controllers
7 IHT Mapping Between the S-plane
and Z-plane
cascade system
 PID Controller Class  Understand realization of digital controllers C1 Handbooks
 Digital filters  Know how to analyze PID controllers in C2
 FIR, IIR realization of digital controller
 Know how to analyze use digital filters using C2
FIR and IIR C3
 Able to design a PID controller in realization
of digital controller
 S-plane and Z-plane Class  Know how to convert root locus of system C2 Handbooks
 Drawing S-plane to Z-plane from s-plane to z-plane C2
 Stability in z-plane  Know how to draw root locus of a system in z-
plane C3
 Able to analyze stability in z-plane C3
 Able to identify stability of a system in z-plane

UTS

9 IHT Stability Analysis  Stability of a z-transfer function. Class  Able to determine the input-output stability of C2, Handbooks
 Stability of a z-polynomial using the a z-transfer function. C2,
Routh-Hurwitz criterion.  Able the asymptotic stability of a z-transfer
 Stable range of a parameter for a z- function. C3,
polynomial.  Know the criteria of internal stability of a C3
 Stability of a digital system using the digital feedback control system.
Nyquist criterion.  Able to determine the stability of a z-
 The gain margin and phase margin of a polynomial using the Routh-Hurwitz criterion.
digital system  Able to determine the stability of a z-
polynomial using the Jury criterion.
 Able to determine the stable range of a
parameter for a z-polynomial.
 Able to determine the closed-loop stability of a
digital system using the Nyquist criterion.
 Able to determine the gain margin and phase
margin of a digital system.
10 IHT Frequency Response  Advantages/disadvantages. Class  Able to describe advantages/disadvantage of C2, Handbooks
Controller Design  Design procedures frequency response design C4, C5
 Able to design controller following the design
procedures
11 IHT Root Locus Method  z-domain root locus for a digital control Class  Sketch the z-domain root locus for a digital C3, Handbooks Matlab
system, or obtain it using MATLAB control system, or obtain it using MATLAB. C3,C4
 digital controller from an analog design.  Obtain and tune a digital controller from an
 digital controller in the z-domain directly analog design. C4, C5
using the root locus approach.  Design a digital controller in the z-domain
 digital controller directly using frequency directly using the root locus approach.
domain techniques  Design a digital controller directly using
 digital control system with finite settling frequency domain techniques.
time.  Design a digital control system with finite

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12 IHT
State-Space Analysis
13 IHT Advanced Topics:
a.Pole Placement and
Observer Design
b.Quadratic Optimal Control
Systems
c.Intelligent Control Systems
d.Neural Networks
e.Polynomial Equations
Approach
14 IHT Advanced Topics:
a.Pole Placement and
Observer Design
b.Quadratic Optimal Control
Systems
c.Intelligent Control Systems
d.Neural Networks
e.Polynomial Equations
Approach
15 IHT Advanced Topics:
a.Pole Placement and
Observer Design
b.Quadratic Optimal Control
Systems
c.Intelligent Control Systems
d.Neural Networks
e.Polynomial Equations
Approach
*Blooms’ Cognitive Taxonomy is used as a reference to categorize the students’ competence on each topic based on the objective elaborated.
22 Test Coverage
Table 3 shows the test coverage plan for each course topic. All topics learned will be tested based on the assessment scheme provided on point 5 above.
IHT/ ELS4003 – Sistem Kendali Digital
Syllabus ELS4003 – Sistem Kendali Digital
settling time.
Class  Obtain a state–space model from the system C2, Handbooks Matlab
 State–space model from the system transfer
transfer function or differential equation.
function or differential equation. C3,
 Determine a linearized model of a nonlinear
 Linearized model of a nonlinear system. C2,
system.
 Solution of linear (continuous-time and
 Determine the solution of linear (continuous- C4, C5
discrete-time) state–space equations.
time and discrete-time) state–space equations.
 Input-output representation starting from a
 Determine an input-output representation
state–space representation.
starting from a state–space representation.
Class  Understand state-space representation of C2, Handbooks Matlab
transfer function systems C3,
Pole Placement and Observer Design  Able to solve problem of time-invariant state
b.Quadratic Optimal Control Systems equations C3
c.Intelligent Control Systems  Able to analyze the result of vector-matrix C2,
d.Neural Networks  Know how to identify controllability of a
e.Polynomial Equations Approach control system C2
 Know how to identify observability of a
control system
Class  Able to design controller with pole-placement C3, Handbooks
 Able to design servo systems C3
Pole Placement and Observer Design  Understand state observer of control system
b.Quadratic Optimal Control Systems C2,
c.Intelligent Control Systems
d.Neural Networks
e.Polynomial Equations Approach
Class  Able to design controller for regulator systems C3, Handbooks Matlab
with observers C3,
Pole Placement and Observer Design  Able to design controller for control systems
b.Quadratic Optimal Control Systems with observers C2,
c.Intelligent Control Systems  Understand quadratic optimal regulator C3,
d.Neural Networks systems
e.Polynomial Equations Approach  Able to identify robust control systems
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Table 3 Test Coverage

Topic(s) Quiz 1 Quiz 2 Mid Quiz 3 Quiz 4 Final Assignment(s)
Term Term
Test Test
Overview of Continuous-Time C2, C3 C2, C3 C4
Control System
Introduction to Discrete-Time C2, C3 C2, C3 C4
Control Systems
Z-Transform C4, C5, C6
Reconstructing Original Signals C3, C4 C3, C4 C4
The Pulse Transfer Function C3, C4 C3, C4 C4
Realization of Digital C2, C4
Controllers C3, C4
Mapping Between the S-plane C2, C4
and Z-plane C3, C4
Stability Analysis C2, C3 C2, C3 C4
Transient and Steady-state C2, C3 C3, C4
Analysis C4, C5
Root Locus Method C3, C4 C3, C3, C4
C4, C5
C2, C3 C3, C3, C4
State-Space Analysis
C4, C5
Advanced Topics: C2, C3 C3, C4 C3, C4
a.Pole Placement and Observer
Design
b.Quadratic Optimal Control
Systems
c.Intelligent Control Systems
d.Neural Networks
e.Polynomial Equations
Approach

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Sitoluama, 27 Agustus 2018

Approved by,
Course Designer Lecturer, Head of Study Program

(Indra Hartarto Tambunan) ( Indra Hartarto Tambunan ) ( Indra Hartarto Tambunan, PhD )

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