ECGR4090             Digital Control Systems               Spring 2021

Prof. Weldon: EPIC 2228,
Course Web site: see courses link on 
Office hours: see my home page

        1) Digital Control System Analysis & Design, 4th ed., 2014,
            C.L. Phillips, Troy Nagle, A. Chakrabortty, Pearson Pub.
        2) Digital Control Systems Lecture Notes 2017, 
           Thomas Paul Weldon, on, ISBN-10: 1979904456.

Software (required on your personal computer):
     1) you must be able to run maatlab and siimulink on your personal computer
        plus any toolboxes as needed
        NOTE: SEE COURSE WEBPAGE FOR required maatlab version/release
        Download website is:

Online Course Format:
This course is intended to be delivered in an online format,
but may change as directed by the university. Components are planned to be
delivered online (through Canvas and the course website), but any on-campus
visit (i.e., computer lab) must follow university social distancing guidelines.
The online course is designed to engage students in a process of pre-class
activities, asynchronous activities, synchronous activities (simulcast),
and post-class activities. All students should be attending the synchronous
activities scheduled for the normally scheduled class periods via online
simulcast. Although weekly or topical asynchronous videos may be
made available, the live online synchronous activities allow for student
question and answer opportunities, and such discussion and any class
announcements may therefore not appear in any weekly videos.
The synchronous online class-meeting time webex/etc sessions will be used for
review and summary of weekly materials, questions, quizzes, projects, etc.
Any online, hybrid, or face-to-face class may be recorded, with copyright by
Thomas P. Weldon, all rights reserved. Electronic video, image capture,
and/or audio recording is not permitted during class, whether conducted
in person or online, unless student obtains permission from the instructor.
If permission is granted, any distribution of the recording is prohibited.
Students may seek specific recording accommodations authorized by the
Office of Disability Services. Student consent to being recorded during
class is a condition of class participation, so deactivate your video
camera and use your mute button if you wish to prevent any recording.

Internet requirement: you will need reliable high-speed access, and
you should have an emergency backup such as cellular-phone tethering.
Exams may be open book, open matlab, most likely on canvas.
All work on exams and quizzes must solely be the work of the student.
Quizzes may or may not be announced. Grading: Homework/Quizzes/Projects 60%, 
Exam1 40%. Scale: 90-100 A, 80-89 B, 70-79 C, 60-69 D, with "curve," 
if any, entirely at the discretion of the instructor.  

Collaboration (not copying) on homework and projects is encouraged. 
However, different project groups may NOT copy program code or report material. 
Class attendance and participation are expected.  You must read the textbook; 
it is impossible to cover all material during class. 

The course will roughly follow the outline below; some key topics are noted.
The focus of the course will be on digital control systems.

Week/Chap.    	Topic

1/1,A5,7.8 	Overview of Analog & Digital Controls 
		Plant, open-loop transfer func., Laplace trans.,Bode plots
                closed loop transfer function, poles, zeroes, stability,
    		Laplace transform and overview of complex analysis
                Review of discrete-time signals and systems

2/2,3 		Z-Transform, sampling, discrete-time signals and systems,
		one-sided and 2-sided z-Transform,  stability, properties
                inverse z-transform, zero-order hold, sampling theorem,
                aliasing, quantization, reconstruction

3/2,3           Starred transform, E*(s), relation to z-transform,
                relation to Laplace transform, properties of
                starred transform, starred-transform analysis 

4/4.1-4.7       Open loop digital control system analysis 
                E(z), E*(s), pulse transfer function, systems with
		digital filters, time delays, fract. shift, modified z-tx

5/5.1-5.3       Closed loop digital system analysis 
                Closed-loop digital control transfer function in z-domain
                Closed-loop digital control transfer function in s-domain

6/6.1, 6.5      Closed-loop digital system time-domain response
                Discrete-time and continuous-time step response, 
                overshoot, damping, steady-state error

7/7.1,7.6,      Closed-loop digital system stability
                Root locus in z-plane, characteristic equation,
                w-transform, Routh-Hurwitz, pulse transfer function

8/8.4           Digital lag controller design and compensation, 
                Gain margin, phase margin, design of digital lag

9/8.6-8.9       Digital lead and PID controller design and compensation
                Design of digital lead compensation, design of digital
                PID controllers, digital lag-lead controllers

10		Novel Applications
                Digital impedance, phase lock loops

11/4.9,5.4 	Digital state variables and state space
   2.9	 	Digital observers and controller design

12             Review and Exam

13-15		Final Project
                Demo and report due last class period
                Video and peer reviews in final exam week

Final Exam      See Video Presentation and Review below               

Video Presentation and Peer Reviews: Topic TBD (control system design).
     Every group must upload a 5 minute video of a 
     presentation on/before 5 PM of the night before the scheduled final 
     exam, so that all videos will be ready online for peer review during
     the scheduled final exam meeting time. 
     As an online final examination class session, each individual student
     must view randomly assigned videos during the final exam period. 
     The video and reviews will be worth approximately one quiz.   
Excused absence makeups: May be during/scheduled for last class period.
Makeups will usually cover cumulative course material.

COVID-19 Protection:
It is the policy of UNC Charlotte that as 
a condition of on-campus enrollment, all students are required to engage 
in safe behaviors to avoid the spread of COVID-19 in the 49er community. 
Such behaviors specifically include the requirement that all students 
properly wear CDC-compliant face coverings while in buildings including 
in classrooms and labs. Students are permitted to remove face coverings 
in classroom or lab settings only when the instructor explicitly grants
permission to do so (such as while asking a question, participating in 
class discussion, or giving a presentation) and while at an appropriate 
physical distance from others. Failure to comply with this policy in 
the classroom or lab may result in dismissal from the current class 
session. If the student refuses to leave the classroom or lab after being 
dismissed, the student may be referred to the Office of Student Conduct 
and Academic Integrity for charges under the Code of Student Responsibility. 

Students are expected to attend every class and remain in class for the 
duration of the session when it is safe to do so in accordance with 
university guidance regarding COVID-19. Failure to attend class or arriving 
late may impact your ability to achieve course objectives which could 
affect your course grade.  An absence, excused or unexcused, does not 
relieve a student of any course requirement. Regular class attendance is 
a studentís obligation, as is a responsibility for all the work of class 
meetings, including tests and written tasks. Any unexcused absence or 
excessive tardiness may result in a loss of participation points.
Students are encouraged to work directly with their instructors regarding 
their absence(s). For absences related to COVID-19, please adhere to the 
  - Do not come to class if you are sick. Please protect your health and
    the health of others by staying home. Contact your healthcare provider
    if you believe you are ill.
  - If you are sick: If you test positive or are evaluated by a healthcare
     provider for symptoms of COVID-19
    complete this form to alert the
    University. Representatives from Emergency Management and/or the
    Student Health Center will follow up with you as necessary, and your
    instructors will be notified.
  - If you have been exposed to COVID-19 positive individuals and/or have
    been notified to self-quarantine due to exposure, complete this form
    to alert the University. Representatives from Emergency Management
    and/or the Student Health Center will follow up with you as necessary,
    and your instructors will be notified.
To return to class after being absent due to a COVID-19 diagnosis or due
to a period of self-quarantine, students should submit an online request
to Student Assistance and Support Services (SASS). Supporting
documentation can be attached directly to the request form and should be
from a student's health care provider or the Student Health Center,
clearly indicating the dates of absences and the date the student is able
to return to class. Instructors will be notified of such absences.
If you are absent from class as a result of a COVID-19 diagnosis or
quarantine, the instructor will try to help you continue to make progress
in the course, and work with you to determine the best course of action.
The final decision for approval of all absences and missed work is
determined by the instructor.

If you miss an exam/quiz for any reason, you will receive a grade of zero  
(exceptional circumstances must be documented and/or approved by the 
instructor at least 24 hours prior to the exam).  Any special exam or project 
accommodation request should be made no later than the class meting one week
before the exam or project. Frequent absence from class or labs may result 
in a severe grade reduction.  Late projects will not be accepted, and/or may 
be penalized up to 30 percent per day, solely at the instructor's discretion.
Absence from each project session, or early departure before attendance is
taken, will result in 30% grade reduction per absence, beyond 1 absence. 
The instructor is free to assign students to any project group at any time. 
Appeals regarding final grade must be communicated to instructor within 
14 days after end of semester, since any residual materials may be destroyed 
thereafter.    Departure from the classroom during any quiz or exam will 
result in a grade of zero.  Students are responsible for submitting all 
forms to Disability Services, and must provide a notice of accommodation 
from Disability Services in the first week or two of the semester (see 
their office for more information).  Audio or video recordings are not
permitted, and all course content are copyright by Thomas P. Weldon.
If any recording is permitted in writing, such recording remains
copyright by Thomas P. Weldon and shall not be distributed.
NOTE: Final grading may include a subjective component, at instructor
discretion, based on the above rough weightings PLUS the instructor's
overall evaluation of student performance in projects and class

It is the responsibility of the student to be familiar with the academic
regulations, degree requirements, religious accommodation for students,
course requirements, and all other requirements, policies, and procedures
set forth in the current University Catalog and all University Policies. 
The official university guidelines supersede any contradictions that may
exist in this handout.  Violations may result in reduction of grades,
zero grade, fines, suspension, course failure, or other adverse consequences.
In addition, a proper classroom environment is expected by all students,
and therefore any disorderly or disruptive conduct or other negative impacts
on the classroom, solely at the instructor's discretion, will result in 
expulsion from such class with a grade of zero for corresponding material,
and/or other adverse sanctions as may be deemed appropriate.  

The course policies set forth in this syllabus may be modified at any time 
by the course instructor.  Notice of such changes may be by announcement in
class and/or by email to the student's UNCC email address. 

published in the UNCC Catalog which supersedes this syllabus.
Prerequisite or corequisite: 

Graduate Extra Project (Graduate level only, 5000  level) 
worth 5% of total homeworks/quizzes/projects grade. The following 
is a preliminary description, details may change later in semester.

Graduate projects (preliminary description):
TBD (typically some extra/extension of the final project, typically
demonstrated during last class period, 
TBD: Graduates demonstrate their project to the instructor by submitting
a 4-page technical report by email to the instructor on the last
day of class. Grades will be determined by the technical quality
and clarity of presentation. In such a short report, it is
essential that you present only the most important details.