Digital Control Systems

Engineering
(EE -8403 & ELT 07306)
Department of Electrical Power and Engineering
Mbeya University of Science and Technology

Email : dsinkonde2013@gmail
General Course Information
Faculty: Daniel Sinkonde K,
MUST Office: ETE No. 03
Phone: 0787/0754-952280
E-mail: dsinkonde2013@gmail.com
Lectures: To be Communicated
 Course Aim
Course aim:
 The aim of this course is to enable student
to analyse and design digital control
systems.
 Expected Outcomes
Students can expect to gain the following:
 Analyse a real time system.

 Design and program a real time system.

 Use engineering software in designing

control system
 Assignments and Learning Evaluation
• Mode of Assessment
 Continuous Assessment (CA) 40%

Assignments
 Total Score = 10% , End of submission on the 6th Week
- 06th December, 2023

 Tests
 Test to be conducted Starting From Week 7 = 30%
- 13th December, 2023

 University Examination (UE) 60%

 Number of Credits : 9 & 8

 Assignments
• Project
a) Analysis of the literature
b) Design of a solution
c) Development of the designed solution
d) Experimental Analysis
e) Presentation Skills
 Different combinations for a, b, c, d, e but
a+b+c+d+e= 10%
 Up to ten people
 Knowledge of MATLAB
 Topics available at the end of the slide (now :-)
 General Course Information
Textbooks/References
1. Golden, (1991), control system design and
simulation of MC, Graw-Hill.
2. Saadat, H., (1992), Computatiaonal Aids in
Control system Using MATLAB, McGRaw-
Hill
3. Nise, N.S., Control System Engineering, 2nd
edition, Benjamin/cummings
4. Lee, E. A., &Seshia, S. A.
(2016). Introduction to embedded systems:
A cyber-physical systems approach. MIT
Press.
5. Dorf, R. C., & Bishop, R. H. (2010). Modern
Control Systems. Pearson Education.
 General Course Information

Topic to be Covered
Real time systems characteristics (timing
constrains)
Real time systems concepts; machine vision basics;
Design the machine vision application; serial
sensors and actuators: Digital signal processors
(DSP): Analysis and design of real time systems.
Real time software design methods. Device
handling and interrupts; Signal representation;
sensor physics; Rate monotonic scheduling:
Biomedical instruments: Measuring instruments;
Speech processing: Image recognition systems.
Speech recognition systems; Malt-lab image
processing toolbox; malt-lab programming.
 General Course Information

Topic to be Covered
Modelling
qualitative explanation of modelling and the
application of computer modelling
technique to control system design.

Discrete system
Introduction. Sampler. Z Transform. Hold
circuit and pulsed transfer functions.
Closed-loop pulsed control system. Pulsed
signal flow graphs. Response of discrete
systems. Stability tests.
 Topic to be Covered

Design of digital control system using

State space methods.

State space representation. Open loop

and closed loop discrete control
systems. Stability. Control ability and
observability
 Lecture 1:

Real time systems concepts

Overview of Real-Time Systems
Typical RTS
 Definitions -1
 System: It is an arrangement in which all its
units, assembled work together according to set
of rules. E.g., Watch,
 Response time: time between presentation of a
set of inputs and the appearance of the
corresponding outputs.
 Events: Change of state causing a change of
flow- of- control of a computer program.
 Reactive: system ‘reacts’ to environmental
changes (temperature changes).
 Embedded: It is a combination of hardware and
software, it is designed to perform a particular
task that has to be completed within a given time.
 Definitions -2

 synchronous: events occur at predictable

times in the flow- of- control.
 asynchronous: unpredictable (interrupts!).
 state- based vs. event- based:
– plane wing is at an angle of 32º (state)
– plane wing moved up 4º (event)
 deterministic system: for each possible state
and each set of inputs, a unique set of
outputs and next state of the system can be
determined.
 Definitions - 3
 Utilization: measure of ‘useful’ work a system
performs.
 RTS: Correctness depends on results PLUS
the time of delivery! Failure can have severe
consequences.
 What are real- time systems? Planes, cars,
washer, video player, thermostat, video
games, weapons,…
 Related: QoS management, resource
management, adaptive systems, embedded
systems, pervasive and ubiquitous
computing,...
 Definitions - 4
 A real-time system requires that results be
produced within a specified deadline period
 An embedded system is a computing device that
is part of a larger system (I.e. automobile,
airliner)
 A safety-critical system is a real-time system
with catastrophic results in case of failure
 A hard real-time system guarantees that real
system guarantees that real-time tasks be
completed within tasks be completed within their
required deadlines
 A soft real-time system provides priority of real-
time tasks over non real-time tasks
 Hard versus Soft
 HARD: miss a deadline and you’re in trouble!
(planes, trains, factory control, nuclear
facilities,... )
 SOFT: try to meet deadlines, but if not, systems
till works, although with degraded performance
(multimedia, thermostat,... )
 FIRM: late results are worthless, but you are not
in trouble
 System Characteristics

 Single purpose

 Small size

 Inexpensively mass-produced

 Specific timing requirements

Characteristics -1
Characteristics -2
Characteristics - 3
 System-on-a-Chip

 Many real-time systems are designed

using system-on-a-chip (SOC) strategy

S
„ OC allows the CPU, memory,
memory- management unit, and
attached peripheral ports (I.e. USB) to
be contained in a single integrated
circuit
Bus-Oriented System
Features of Real-Time Kernels
Virtual Memory in Real-Time Systems
 Address Translation

Diagram of the previous three memory access techniques

 Implementing Real-Time Systems

 In general, real-time operating

systems must provide:

(1) Preemptive, priority-based scheduling

(2) Preemptive kernels

(3) Latency must be minimized

Minimizing Latency
Minimizing Latency
 Dispatch Latency
• Dispatch latency is the amount of time
required for the scheduler to stop one process
and start another process and start another
 Interrupt Latency
• Interrupt latency is the period of time from
when an interrupt arrives at the CPU to
when it is serviced to when it is serviced
End of segment