Emirates International University Digital Control Systems

Faculty of Engineering 3rd Level

Mechatronics Engineering Department

Practical Lab of Digital Control

Systems
Lab 1

Eng. Moayad A.Hakim

winter, 2023
1
Topics to be covered in this course 2

 Introduction to digital control system.

 Basic MATLAB commands .
 Types of control methods.
 PID Controller Design (cruise control).
 PID Controller Design (DC motor speed, DC motor position).
 Root Locus Controller Design (cruise control).
 Root Locus Controller Design (DC motor speed, DC motor
position).
 Frequency Based-Controller Design (cruise control).
 3

Introduction to Digital Control

System
Agenda 4

 Introduction to digital control system.

 Feedback Control Systems.
 Digital Control Systems.
 Difference between analog and digital control systems.
 Advantages of digital controller over analog controller.
 Disadvantages of using a digital computer.
 Basic Matlab Commands.
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Introduction to Digital Control System
Why is controller design important? 6
Feedback Control Systems 7

 We used feedback to:

• Reduce error due to disturbance,
• Reduce error due to model mismatch,
• Stabilize an unstable plant,
• Improve transient response
Digital Control Systems 8

 Digital control systems employ a computer as a

fundamental component in the controller. The computer
typically receives a measurement of the controlled
variable, also often receives the reference input, and
produces its output using an algorithm.
Digital Control Systems 9
Digital Control Systems 10

 When compared to a continuous-time system, there are

three new elements:
• A/D converter.
• D/A converter.
• Sampling.
 11
Three types of signals :
Difference between analog and digital 12
control systems
Advantages of digital controller over 13
analog controller
 There are advantages to using a digital computer to replace
D(s):
• Flexible: Modifications to design easy to implement.
• Accurate: Does not rely on imprecise R, C,. . . values.
• Advanced algorithms are possible (nonlinear,
adaptive...).
• Logic statements may be included.
Disadvantages of using a digital computer: 14

 There are “problems” with using a digital computer:

• D(s) “knows” e(t) at each instant in time but digital
computers cannot process input infinitely quickly.
• D(s) outputs u(t) at each instant of time but...
• e(t) is an infinite-precision value, but digital computers
must work with finite-precision values.
• Digital computers are finite.
 15

Basic Matlab Commands

Input Data 16

 There are more than two useful methods of

inputting data:
Math Operations and Functions 17

• The typical syntax for a function is to call the function

using the desired input arguments. The function will
return its outputs, which should be saved in new
variables
Math Operations and Functions 18

• Some other useful matrix functions are the following:

Graphs and Figures 19

The most basic different plot commands are covered in the

following table
Graphs and Figures 20

Other useful commands to change the appearance of a figure are the

following
Transfer Function Models 21

1. Basic polynomial functions

Transfer Function Models 22

2. Analysis of a rational function to partial fractions

Transfer Function Models 23

2. Analysis of a rational function to partial fractions

Transfer Function Models 24

3. Transfer function representation

Transfer Function Models 25

3. Transfer function representation

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Any Questions?!