MORDEN CONTROL

ENGINEERING

State Space Analysis

&
Discrete Control Theory

R. Gonye © SEPETEMBER 2019

 NATIONAL UNIVERSITY OF SCIENCE AND TECHNOLOGY
FUCULTY OF INDUSTRIAL TECHNOLOGY
DEPARTMENT OF ELECTRONIC ENGINEERING

TEE 5141 – Modern Control Engineering

Course Outline

General Information
LECTURER Reginald Gonye
ACADEMIC YEAR …………………….
LEVEL Part V

Aim
To instill state space analysis methods for Control Engineering into students.
To instill discrete analysis methods for Control Engineering into students.

Objectives
By the end of the course, candidates should be able to:
1. Understand the concept of states as applied to Control Systems.
2. Be able to use state space analysis in the analysis of Control Systems.
3. Understand the concept of discrete analysis as applied to digital control systems.
4. Be able to analyze and synthesize digital control systems.

Course Duration
The course will last for 48 hours (24 lecture periods) made up of formal teaching (30 hours), tutorials (12 hours) and
tests 6 hours).

Course Deliverance
1. Lectures shall be made up of both face to face and online engagements.
2. Every student enrolled for this course is required to enroll onto Google Classroom created for the course. All
lecture materials shall be uploaded onto the Google Classroom. In addition, every student must join the
WhatsApp Group created for the purpose of communication and updates on the progress of this course.
3. In each week, guides on lectures of the week shall be posted on the WhatsApp Group. These shall be in the
form of videos accessed via YouTube where available; or key reading points to guide you on expected
knowledge/skills where videos are not available. There shall be an average of two lectures per week. The
lectures are divided into units of materials that are coherent so that it is easier to understand the direction.
You are encouraged to follow the order of materials as later materials use principles from earlier materials.
4. Generally, after each lecture, there is Tutorial or Laboratory work that will be assigned to the students. These
assignments shall be posted on the WhatsApp group as well as on the Google classroom. Submissions must be
made as a single PDF document. You may type the responses, convert to PDF and upload; or you may hand-
write in a clear handwriting, scan, covert to PDF and upload depending on the more convenient approach. Any
variations will be communicated in the respective assignments.
5. The Tutorial work is meant for the Lecturer to assess your progress so that any corrective or remedial action
can be administered to ensure you are grasping concepts as per goals of this course. You are, therefore
required to work on them faithfully for your maximum benefit. In addition, the submissions shall be an indirect
way of determining your coursework.
6. Feedback and remedial action will be conducted as and when necessary either using face to face or using online
meeting platforms.

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 7. Online tests and, assignments shall also be administered and uploaded onto the Google Classroom in an
approach to the one described for Tutorials.
8. Face to face lectures shall be run in those weeks that the University would have designated for the purpose of
the same. Online submissions for tutorials, tests and assignments will be maintained during face to face
learning.

Assessment
1. Assessment is made up of continuous assessment contributing 25% to the overall mark and final assessment
contributing 75% to the overall mark.
2. Continuous assessment will comprise of attendance, tests and assignments.
3. Final assessment will consist of an examination at the end of the semester. The examination shall comprise of
section A and section B. Section A carries 60 marks; the candidate is required to answer all questions. Section
B shall have 3 questions of 20 marks each; the candidate is required to answer any two questions.

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Course Content
1 Introduction to State Space Models
1.1 The State Space Approach to Modelling Systems: derivation from physical laws, derivation from Differential
Equations
1.2 General format of State Space Models
1.3 Transfer Function from State Space Models: TF derivation, characteristic equation, eigenvalues, eigenvectors
1.4 Block diagram representation of state space models

2 State Space Realizations

2.1 Controllability, observability and stabilisabilty
2.2 Controllable Canonical form
2.3 Observable Canonical form
2.4 Diagonal Realizations
2.5 Minimal Realizations
2.6 Similarity Transforms

3 Time Response from State Space Equations

3.1 Solution of the state space equation
3.2 The Transition Matrix
3.3 Time response from Eigenvectors
3.4 The Complete Time Response

4 Pole Placement Design

4.1 State feedback design
4.2 Tracking problem
4.3 State observers

5 Introduction to Digital Control

5.1 Digital Algorithms
5.2 Z Transforms
5.3 The Z Transfer Function
5.4 Application of Z Transforms in Solving Difference Equations

6 Modeling of Discrete Systems

6.1 Modeling an ADC: modelling, effects of sampling, aliasing, quantization errors
6.2 Modeling a DAC
6.3 Modeling a sampled process: ZOH + continuous process, process with time lag
6.4 Block diagram rules: rules, closed loop block diagram

7 Performance Measures and Stability

7.1 Mapping Characteristics: points with constant real part, points with constant imaginary part, complex conjugate
pairs
7.2 Transient Performance: specified settling time, specified damped frequency, specified damping ratio, specified
sampling frequency
7.3 Steady State Performance: steady state error, steady state error coefficients
7.4 Stability: stability requirements, destabilizing effects of sampling, Jury’s Stability test

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8 Design of Digital Controllers
8.1 Transformation to Digital Algorithm from a Continuous Controller
8.2 PID controllers

9 Root Locus
9.1 Construction
9.2 Application to Controller Design

Bibliography
1. Roland S Burns, 2001, Advanced Control Engineering, Butterworth-Heinemann
2. D K Anand and R B Zmood, 1995, Introduction to Control Systems Third Edition, Butterworth-Heinemann
3. Jacqueline Wilkie, Michael Johnson, Reza Katebi, 2002, Control Engineering an introductory course, Palgrave
ISBN 0-333-77129-X
4. E A Parr, Control Engineering

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 TEE5141 – Lecture Activities Vs Time
Lecture Number Date Topics /Activity
1 24/8 The State Space Approach to Modelling Systems: derivation from physical laws,
derivation from Differential Equations ; General format of State Space Models
Transfer Function from State Space Models: TF derivation, characteristic
equation, eigenvalues, eigenvectors
Block diagram representation of state space models
Tutorial 1
2 Provisional slot for revisions and allowance for breathers
3 29/8 Controllability, observability and stabilisabilty
Controllable Canonical form
Observable Canonical form
Minimal Realizations
Tutorial 2
4 31/8 Diagonal Realizations
Similarity Transforms
Tutorial 3
5 5/9 Solution of the state space equation
The Transition Matrix
Time response from Eigenvectors
The Complete Time Response
Tutorial 4
6 7/9 Provisional slot for revisions and allowance for breathers
7 12/9 State feedback design
Tutorial 5
8 14/9 Tracking problem
Tutorial 6
9 19/9 State observers
Tutorial 7
10 21/9 Provisional slot for revisions and allowance for breathers
11 26/9 ONLINE TEST 1 (State Space Analysis)
12 28/9 Introduction to discrete control systems
Digital Algorithms
Z Transfer Functions, Difference Equations
Tutorial 8
13 3/10 Modeling an ADC
Modeling a DAC
Effects of sampling
Tutorial 9
14 5/10 Modeling a sampled process
Modelling ZOH + process
Block Diagram rules
Closed Loop block diagrams
Tutorial 10
15 10/10 Transient Response
Steady state error
Tutorial 11

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 16 12/10 Stability
Stability Tests
Tutorial 12
17 17/10 Provisional slot for revisions and allowance for breathers
18 19/10 Controller Design
Transformation to Digital Algorithm from a Continuous Controller
Tutorial 13
19 24/10 Construction of root locus
Application to Controller Design
Tutorial 14
20 26/10 Provisional slot for revisions and allowance for breathers
21 31/10 ONLINE TEST 2 (Discrete Control Theory)
22 2/11 REVISION / ALLOWANCE
23 7/11 FINAL “REAL” TEST (covering all topics)
24 9/11 REVISION / ALLOWANCE

Notes:
1. Tutorial revision sessions to be created when need is realized during the course of work.

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