Digital Control

Computer control. Sampling of continuous-time signals. The sampling theorem. Aliasing. Discrete-time systems. State-space systems in discrete-time. The z-transform. Selection of sampling-rate. Analysis of discrete-time systems. Stability. Controllability, reachability and observability. Disturbance models. Reduction of effects of disturbances. Design methods. Approximations of continuous design. Digital PID-controller. State-space design methods. Observers. Pole-placement. Optimal design methods. Linear Quadratic control. Prediction. LQG-control. Implementation aspects of digital controllers.