535.645.81 - Digital Control and Systems Applications

Expanded Course Description

Prerequisites 

535.642 Control Systems for Mechanical Engineering Applications. 

Course Structure

The course materials are divided into 12 Modules. The Modules can be accessed by clicking Modules on the menu. A module will have several sections including the overview, content, readings, discussions, and assignments. Students are encouraged to preview all sections of the module before starting. Each module will run for a period of seven (7) days, exceptions are noted on the Course Outline page. Day 1 will be the Wednesday of the corresponding week and Day 7 is therefore the following Tuesday. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

• Introduction to Digital Control and Systems Applications
• Properties of z-Transforms and Inverse z-Transforms
• z-Plane Analysis of Discrete-Time Systems
• Discrete-time Transfer Function Analysis and Filter Realization
• Design of Discrete-time Controllers Using Conventional Methods
• State-Space Analysis for Time-varying and Time-invariant Systems
• Introduction to Liapunov Stability Theory
• Full-State Feedback and Pole-Placement
• State Estimation
• Minimum-State Observers
• Optimal Control
• Introduction to Kalman Filtering

Course Goals

The goal of the class is to develop a working knowledge of discrete time and digital control theory. Students will understand how to transform systems from continuous-time to discrete-time and back. Once we have mastered understanding of discrete-time control, we will spend the remainder of the course covering advanced multivariable control topics in state-space including state-space equations, Liapunov stability theory, observability, controllability, state-observer design, full-state feedback and pole placement and linear-quadratic-regulator theory.

Course Learning Outcomes (CLOs)

• Understand the mathematics of discrete-time systems including z-transforms, pulse-train functions, and conversions from continuous-time to discrete-time.
• Apply the same basic control system analysis and design techniques learned in Control Systems for Mechanical Engineering Applications to digital control systems.
• Analyze discrete-time state-space time-varying and time-invariant systems including assessing Liapunov stability, assessing controllability and observability, and transforming between various canonical state-space representations.
• Apply modern multi-variable control system design techniques including full-state feedback, pole- placement, state-observer designs, linear guadratic regulator (LQR) and linear-quadratic- gaussian (LQG) designs to multi-input/multi-output discrete time systems.

Textbooks

Required 

Discrete-Time Control Systems (2nd Edition) By Katsuhiko Ogata. 

Textbook information for this course is available online through the appropriate bookstore website: For online courses, search the MBS website at http://ep.jhu.edu/bookstore. 

Required Software

MATLAB 

You will need access to a recent version of MATLAB with the Control System Toolkit. The MATLAB Total Academic Headcount (TAH) license is now in effect. This license is provided at no cost to you. Send an email to software@jhu.edu to request your license file/code. Please indicate that you need a standalone file/code. You will need to provide your first and last name, as well as your Hopkins email address. You will receive an email from Mathworks with instructions to create a Mathworks account. The MATLAB software will be available for download from the Mathworks site. 

Student Coursework Requirements

It is expected that each module will take approximately 7–10 hours per week to complete. Here is an approximate breakdown: listening to the audio annotated slide presentations (approximately 2 hours per week), reading associated reference material (approximately 1-2 hours as desired) and completing assignments (approximately 3 - 4 hours per week). Additionally there is a midterm during Module 7 and a final exam during Module 12. There is an extra-credit homework assigned for Module 7 and no homework in Module 12.

You are responsible for carefully reviewing all assigned material and being prepared for class discussions. The majority of readings are from the course text. Additional reading may be assigned to supplement text readings.

This course will consist of the following basic student requirements:

Discussions (4% of Final Grade Calculation)

Post your initial response to the discussion questions by the evening of day 3 for the first question and day 5 for second question for that module week. Posting a response to the discussion question is part one of your grade for module discussions (i.e., Timeliness).

Part two of your grade for module discussion is your interaction (i.e., responding to classmate postings with thoughtful responses) with at least two classmates (i.e., Critical Thinking). You are expected to respond by 5 and day 7 respectively for questions 1 and 2. Just posting your response to a discussion question is not sufficient; we want you to interact with your classmates. Be detailed in your postings and in your responses to your classmates' postings. Feel free to agree or disagree with your classmates. Please ensure that your postings are civil and constructive.

I will monitor module discussions and will respond to some of the discussions as discussions are posted. In some instances, I will summarize the overall discussions and post the summary for the module.

Evaluation of preparation and participation is based on contribution to discussions. Preparation and participation is evaluated by the following grading elements:

1. Participation and Timeliness (50%) 
2. Critical Thinking (50%)

Each discussion is worth .2% of the final grade (20 discussions x .2% = 4% of final grade). Grading for the discussion will following the following rubric:

• 1 points for participation and timeliness
  
• 0 - 1 point based on the level of insightful contribution and engagement with classmates

Assignments (46% of Final Grade Calculation)

There will be 10 Problem Sets assigned over the semester (Modules 1 - 6, 8-11). Please make/upload a PDF of your submittal with a file name that includes your name and the module number. If you have MATLAB code you are providing, please zip all files and have the zip file include your name and the module number. Submissions should include a cover sheet with your name and assignment identifier. Also include your name and a page number indicator (i.e., page x of y) on each page of your submissions. Each problem should have the problem statement, assumptions, computations, and conclusions/discussion delineated. All Figures and Tables should be captioned and labeled appropriately. For assignments involving code, you should submit a copy of the code file that can be executed for analysis of correctness. All assignment submissions should be zipped into a single archive file and submitted. You file name should be Module#_Name.zip

All assignments are due according to the dates in the Calendar. Assignments are due at the end of each module (Tuesday at 12pm) however assignments are not considered late so long as submitted by the following Saturday by 6am. Late submissions will be accepted (for a maximum grade of 90%) up to 1 week late (no exceptions beyond 1 week late without prior coordination with the instructors) as solutions are auto-released 1 week after due date.

Problem sets are graded based on technical accuracy. Each problem's value is indicated in the assignment. Minor mistakes typically result in 1-2 points off while major technical mistakes in understanding or application will result in a more significant reduction in score. Partial credit is provided assuming a strong attempt at the solution is made.  

Midterm and Final (50% of Final Grade Calculation)

Grading Policy

Student assignments are due according to the dates identified in each Module. Homework grades will be posted 1 – 2 weeks after assignment due dates. 

Your final grade will be based on the following weighting criteria:

Preparation and Participation (Module Discussions)	4%
Assignments	46%
Midterm Exam	25%
Final Exam	25%

Final grades are based on the standard EP uses a +/- grading system (see “Grading System”, Graduate Programs catalog, p. 10).

Score Range	Letter Grade
100-97	= A+
96-93	= A
92-90	= A−
89-87	= B+
86-83	= B
82-80	= B−
79-77	= C+
76-73	= C
72-70	= C−
69-67	= D+
66-63	= D
<63	= F

Course Policies

Academic Integrity Academic Misconduct Policy 

Collaborations and discussions between students are key ingredients to success in a graduate course. You are encouraged to discuss the course material with each other as you sort through concepts that may be difficult to comprehend or controversial. However, the line between collaboration and cheating needs to be carefully delineated. Whenever you turn in work with your name on it to be evaluated, graded and included in your record it must represent an individual effort by you alone. If you include direct quotes from any source in your discussions, written assignments, the final exam, or any other submission for which you will receive a grade you must provide attribution. Students using published material without reference, or copying the work of another individual will receive a warning at the first incident. Any further incidents will result in the student receiving a zero on the assignment and the matter will be referred to the Associate Dean. Contact us if you have any questions, no matter how slight, about this policy, or if you have questions about a particular assignment. 

Plagiarism 

Plagiarism is defined as taking the words, ideas or thoughts of another and representing them as one's own. If you use the ideas of another, provide a complete citation in the source work; if you use the words of another, present the words in the correct quotation notation (indentation or enclosed in quotation marks, as appropriate) and include a complete citation to the source. See the course text for examples. 

Academic Policies

Deadlines for Adding, Dropping, and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar. Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course. 

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students. This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University values diversity and inclusion. We are committed to providing welcoming, equitable, and accessible educational experiences for all students. Our courses are designed with a proactive approach to accessibility to minimize the need for disability disclosure and accommodation requests, but we recognize that you may need additional support. Students with disabilities (including those with psychological conditions, medical conditions, and temporary disabilities) can request accommodations for this course by providing an Accommodation Letter issued by Student Disability Services (SDS). Please request accommodations for this course as early as possible to provide time for effective communication and arrangements.  For further information or to start the process of requesting accommodations, please contact EP Student Disability Services at ep-disability-svcs@jhu.edu. 

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically. For a full description of the code please visit the Student Conduct Code website.

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity. If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team (EP-Registration@exchange.johnshopkins.edu) in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.