Digital Control Systems

• Z-transformation and mappings.
• Sampling of continuous signals and choice of sampling time.
• Stability of discrete systems.
• Discretization.
• Implementation of discrete controllers.
• Sequential control
• Some on stochastic signal and Kalman filter
• Some on Model predictive Control (MPC)
• Challanges associated with practical challanges in digital control systems.
• Subjects related to control systems in real time.
• Analog simulation, and basic IO and AD/DA conversion.
• Shared memory synchronization: mechanisms and common causes of errors.
• Synchronization using message passing.

Other topics are also possible.

Knowledge: The candidate can explain

• the relationship between continuous and discrete systems
• how discretization affects the dynamics of continuous systems
• what aliasing is and how it can be avoided
• the different concepts behind AD and DA conversion.
• why discretization of controllers is necessary.
• the basics on sequential control, stochastic signals, the Kalman filter and the MPC.
• challenges with digital implementations of real-time control systems.
• what characterizes real-time programming in contrast to traditional programming.
• concepts such as multi-thread programming, shared memory and resource allocation.

Skills: The candidate can

• analyze the stability of time-discrete systems
• select the appropriate sampling time for discrete systems
• discretize different variants of PID controllers.
• implement discrete controller algorithms in software
• write robust and maintainable code to develop simple multi-threaded applications in Python
• use lectured mechanisms to solve common synchronization problems

General competence: The candidate wields a combination of theoretical and practical skills within the subject area, providing a base for solving practical problems in a professional setting - and for further education within the subject area.

Digitization: The course contributes by the candidate being able to use modern computer tools as an aid in all the mentioned skills

Lectures, home exercises, Arduino exercises