Credits 3

Pre-requisites - ME 306

Core/Elective - Technical Elective

To enhance students’ knowledge in model building, system identification, analysis of dynamic systems and control design techniques, especially in the discrete domain so that they will be able to model, design, analyse, and implement controllers in PC/ Microcontroller and verify their performance.

At the end of this course, students should be able to:

1. Model dynamic systems (using laws of physics and system identification techniques) and verify the same.

2. Analyse dynamic systems in the discrete domain.

3. Analyse behaviour of systems and design of controllers in discrete domain.

4. Verify controller performance through simulation, implementation and testing.

5. Implement interfacing techniques of sensors, actuators and communication techniques between PC/Microcontroller and real-world devices.

6. Solve problems in the use of laws of physics or/and experimental methods in dealing with real world devices.

1. Introduction: Computer controlled systems, Mathematical modelling of systems, system identification, Design of discrete time control systems, Implementation of control algorithms

2. s-domain and z-domain: z-transform, inverse techniques, Pulse Transfer Function, Equivalence between z-plane and s-plane, Root Locus, stability

3. Computer Controlled Systems: Sensors, actuators, interfaces, mathematical representation of these elements

4. Modelling of Mechatronic Systems: Mathematical modelling of a DC Servo Motor driving a positioning system, model verification, experimental system identification of a single arm robot axis.Conversion between continuous time models and discrete time models

5. Design method for Discrete Time Controllers: Root Locus method, Direct design method, State Space method, Simulation with MATLAB

6. Implementation of Controllers: Interfacing and controller implementation in PCs, Microcontrollers and PLCs. Implementation of position and speed controller