School of

Engineering

Coursework Title: Digital Controller Design

Module Name: Digital Control

Module Code: 7423MEPC

Level: 7

Credit Rating: 20

Weighting: 30%

Lecturers: Dr Barry Gomm

Contact: If you have any issues with this coursework you may contact your
lecturer. Contact details are:

Email: [email protected]

Tel: 0151 231 2360

Room: 5.18B (James Parson Building, Byrom Street)

Issue Date: 30/10/24

Hand-in Dates: 13/12/24

Feedback: Feedback will be given when your coursework is returned to you.

Feedback will be a combination of written and verbal.

Programmes: MSc Power and Control Engineering

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 7423MEPC MSc Digital Control
Coursework
1. Objectives
To design digital controllers to given specifications using a direct design method.

To investigate the effect of ringing poles in digital controller design and to compensate
for them.

To gain experience of using a CACSD package.

2. Introduction
The process to be controlled is described by the following continuous input-output
transfer function:

a
G( s )=
( as+ 1)( bs +1)

where a and b are constants. This form of transfer function is typical in the process
industries and could represent, for example, an interacting liquid level process.

Controller designs and simulations will be done using MATLAB and the Control
Systems Toolbox. Operating instructions are available in the respective appendix.

3. Method

3.1. Process Development

Select different values for the process constants in G(s), a and b, in the range 1 to 10.

Choose a sampling time T = 0.1 x dominant (largest) process time constant.

Use MATLAB to calculate the pulse transfer function G(z) for the sampling time T
including a zero-order hold at the process input.

Examine the poles and zeros of G(z) and comment on the presence of any zeros that may
cause a ringing pole effect in a subsequent design.

Compare the open loop step responses of G(s) and G(z).

[20%]

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3.2. Direct Controller Design
Design a required transfer function T(z) for the control system to achieve:
 a 5% settling time to a step input of approximately half the open loop process,
and zero steady-state error
 an overshoot between 10-20%
Check the design by plotting the step response of T(z).

Design the controller Gc(z) that achieves the required response. Investigate the responses
of both the process output and input in closed loop to a step input. Examine and
comment on the effect of any ringing poles in the design.
[30%]

3.3. Direct Controller Design Compensating for Ringing Poles

Redesign T(z) to compensate for any ringing poles in the design. Plot the step response
of T(z) and determine the appropriate controller Gc(z).

For this design, investigate the responses of both the process output and input in closed
loop to a step input and compare the results with those previously obtained.

[30%]

Presentation [10%]

Bonus Marks / Flair (e.g. additional investigations, conciseness, overall quality) [10%]

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4. Coursework Submission
An individual report in A4 PDF format should be submitted via Canvas by the end of
the hand-in date. The marks indicated include presentation of the report and discussion of
results.

Suggested outline:

Title & Objectives

These should be clearly presented.

Method & Results

A main section for each of the stages in section 3 above. Each section should include:
An explanation of the design of each controller with any appropriate diagrams, e.g.
step responses, simulation diagrams.

Results illustrating the controller transient responses of the process.

Additional investigations, analysis and results are encouraged.

Discussion
The choices made and success, or otherwise, of the controller designs should be
discussed. Observations on the controller transient results obtained in the sections above
should be made and the ability of the controllers to meet specification. The section
should be extended to include wider issues.

Conclusions
A short section to stress the main important issues and results.

You are advised that the School of Engineering, Technology and Maritime Operations
operates a zero tolerance approach to late submission of coursework. Any coursework
submitted late will be awarded a zero mark unless there are valid mitigating
circumstances supported with evidence of the mitigation claimed.

Be advised that loss of computer data will not be accepted in mitigation; it is entirely
your responsibility to ensure the secure backup of all electronic data.

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 Control Systems Toolbox

Commands are entered at the MATLAB prompt >>. Pulse transfer functions (tfs) are
entered in a similar way to continuous ones. Numerator and denominator coefficients are
entered in descending powers of z, e.g. to enter the transfer function G(z)=(0.7z-0.6)/(z2 –
1.16z + 0.22) with a sampling time of 0.5 s
n=[.7 -.6] numerator polynomial
d=[1 –1.16 0.22] denominator polynomial
gz=tf(n,d,0.5) generate transfer function

Commands

gz=c2d(g,0.5,’zoh’) Convert continuous tf g to a pulse tf gz using a zero-

order hold at the input and a sampling time of 0.5 s
zpk(gz) Display zeros and poles of gz. Also works for continuous tfs.
pzplot(gz) Plot zeros and poles of gz. Also works for continuous tfs.

For a process tf gz and controller tf dz

step(gz) Step response of gz with automatic choice timescale
step(gz,10) Step response of gz for 10 s
step(gz,dz) Step responses of gz and dz. Also works with mixed continuous
and discrete tfs, and multiple tfs

g1=(dz*gz)/(1+dz*gz) Calculate closed loop tf

step(g1) Process output response in closed loop to step input

u=dz/(1+dz*gz)

step(u) Controller output (process input) response in closed loop to a

step input

dz=tz/(gz*(1-tz)) Direct design of dz for required closed loop tf tz

dz=minreal(dz) MATLAB does not always cancel all poles and zeros in tf
calculations. This function may help to reduce a tf. Also use zpk to
examine if poles and zeros in the result can be cancelled.

help command Gives help on command, e.g. help c2d gives help on command c2d

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Guide to Performance Criteria (Please read the accompanying marking scheme)
70% and above:
Your work must be of outstanding quality and fully meet the requirements of the
coursework specification and learning outcomes stated. You must show independent
thinking and apply this to your work showing originality and consideration of key issues.
There must be evidence of wider reading on the subject.
Key words which may describe a coursework at this level include: appraises, compares, concludes,
contrasts, criticizes, critiques, defends, discriminates, evaluates, explains, interprets, justifies, relates,
supports.

60% - 70%:
Your work must be of good quality and meet the requirements of the coursework
specification and learning outcomes stated. You must demonstrate some originality in
your work and show this by applying new learning to the key issues of the coursework.
There must be evidence of wider reading on the subject.
Key words which may describe a coursework at this level include: categorizes, combines, compiles,
creates, devises, generates, modifies, reconstructs, identifies, illustrates, outlines, synthesizes.

50% - 60%:
Your work must be comprehensive and meet all of the requirements stated by the
coursework specification and learning outcomes. You must show a good understanding
of the key concepts and be able to apply them to solve the problem set by the
coursework. There must be enough depth to your work to provide evidence of wider
reading.
Key words which may describe a coursework at this level include: demonstrates, changes, applies,
operates, produces, predicts, shows, solves, uses, translates, comprehends, converts, generalizes.

40% - 50%:
Your work must be of a standard that meets the requirements stated by the
coursework specification and learning outcomes. You must show a reasonable level of
understanding of the key concepts and principles and you must have applied this
knowledge to the coursework problem. There should be some evidence of wider
reading.
Key words which may describe a coursework at this level include: comprehends, defines, describes,
identifies, knows, labels, lists, matches, outlines, recalls, recognizes, reproduces, selects, states, rewrites.

Below 40%:
Your work is of poor quality and does not meet the requirements stated by the
coursework specification and learning outcomes. There is a lack of understanding of
key concepts and knowledge and no evidence of wider reading.

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Plagiarism
Plagiarism is considered as academic misconduct. The University takes cases of
plagiarism very seriously and all alleged cases of academic misconduct will be
investigated thoroughly by a School Investigatory Panel. Students are advised to ensure
that any coursework submitted is their own work or, where the work of others is
referred to (this includes any third-part material e.g. text, images, diagrams, drawings),
it is correctly referenced. The University defines plagiarism in the following way:
 The representation of the work, written or otherwise, of any other person, from any
source whatsoever, as the candidate's own. Examples of plagiarism may be as
follows:
 The verbatim copying of another's work without clear identification and
acknowledgement – including the downloading of materials from the internet
without proper referencing and acknowledgement
 The close paraphrasing of another's work by simply changing a few words or altering
the order of presentation, without clear identification and acknowledgement.
 Unidentified and unacknowledged quotation of phrases from another's work.
 The deliberate and detailed presentation of another's concept as one's own.

For more information you are directed to following the university websites:
 Information regarding plagiarism:
http://www.ljmu.ac.uk/StudentServices/81924.htm
 Information on study skills: http://www.ljmu.ac.uk/lea/78126.htm
 Information regarding referencing: http://www.ljmu.ac.uk/lea/78127.htm