Higher education teachers: Blažič Sašo
Collaborators: Blažič Sašo
Credits: 6
Semester: winter
Subject code: 64200

Subject description


Finished B.Sc. of a technical study.

Content (Syllabus outline):

Basic concepts of digital control, schematic representation of a digital control system, quantisation of time, quantisation of the signal value.

Mathematical bases of discrete systems, sampled signals, z-transform, inverse z-transform, Parseval’s theorem, relations among different forms of Fourier transform, relation between z- and s-planes, transfer function, discrete convolution.

States of discrete systems, state-space representation and transfer function, relation between system response and system eigen-values and eigen-vectors, system response as a function of the system matrix, fundamental matrix, methods for determination of a state transition matrix, the response of non-homogenous linear systems, equilibrium states of the systems.

Frequency response of discrete systems.

Discrete equivalent of continuous systems, discrete equivalent of continuous transfer functions, discrete equivalent of continuous systems given by state-space representations, the relation between continuous and discrete representations, transformation of continuous PID controllers into discrete ones.

Controllability and observability of discrete systems, canonical forms.

Stability of discrete systems. Stability criteria, stability of nonlinear systems, direct Lyapunov method.

State controller with a state observer. Basic state controller, optimal state controller, state observer, Kalman filter, duality principle.

Objectives and competences:

  • To present the area of discrete control systems, i.e. the systems, given in a form suitable for digital control
  • To present complex methods of discrete systems analysis and design.
  • To show the methods of conversion of continuous systems into discrete form.
  • To present some modern control algorithms to be implemented in digital control.
  • To introduce the problems of digital control robustness.

Intended learning outcomes:

  • Knowledge and understanding:
  • Deeper understanding of digital control

Learning and teaching methods:

  • Lectures and
  • laboratory work

Study materials


  1. Gene F. Franklin, J. David Powell, Michael L. Workman, Digital Control of Dynamic Systems, Third Edition, Addison-Wesley, 1997.
  2. Karl Johan Astrom , Bjorn Wittenmark, Computer-Controlled Systems: Theory and Design Third Edition, Prentice Hall 1997.
  3. Gurvinder Singh Virk, Digital Computer Control Systems, Macmillan, 1991.

Study in which the course is carried out

  • 1 year - 2nd cycle - Electrical Engineering - Control Systems and Computer Engineering
  • 1 year - 2nd cycle - Electrical Engineering - Robotics