Discrete and Non-Linear Control Systems
Course Code: EE-6XX
Contact: 3L:0T:0P
Total Contact Hours: 36
Credit: 3
Prerequisite:
Basic knowledge of Control Systems, Laplace Transform, and Signals & Systems.
Course Objectives:
1. Provide students with a strong foundation in the fundamental concepts and emerging
trends of discrete and nonlinear control systems.
2. Enable students to develop mathematical models of discrete-time and nonlinear
systems using state-space, transfer function, and describing function approaches.
3. Equip students with the ability to analyse the stability and performance of discrete and
nonlinear control systems using appropriate methods such as Jury’s test, phase-plane
techniques, Lyapunov stability, and Z-transform approaches.
4. Develop competence in evaluating the effectiveness of digital compensators and state-
feedback controllers in achieving desired performance criteria such as stability,
transient response, and steady-state accuracy.
Course Outcomes (COs):
CO-1: Define and Explain the fundamental concepts and latest trends in discrete and
nonlinear control systems. (BTL II)
CO-2: Apply the concept of state-space modeling, transfer function, describing function
etc. to develop mathematical models for discrete and non-linear systems. (BTL II)
CO-3: Analyse the stability of discrete and non-linear systems using appropriate
method. (BTL IV)
CO-4: Evaluate effectiveness of digital compensators & state-feedback controllers. (BTL
IV)
Course Content:
Module 1: Introduction & Review (8L)
Review of control concepts: modeling, time/frequency domain methods; Classification of
systems: Continuous vs. Discrete, Linear vs. Nonlinear; Computer-based control: history,
trends, and applications; State-Space Modeling (Continuous-Time Systems): introduction
and concepts of state, state variables, and state model; Conversion of linear differential
equations and transfer functions into state-space models; State transition matrix and
solution of state equations; Concepts of Controllability and Observability.
Module 2: Discrete Time Control System (16L)
Basics of Digital Control Systems; Discrete representation of continuous systems; Sample
and Hold circuit; Mathematical modelling of sample and hold circuit; Effects of Sampling
and Quantization; Choice of sampling frequency; Zero Order Hold (ZOH) equivalent;
Aliasing and anti-aliasing filters; Z-Transform and Inverse Z-Transform for analyzing
discrete-time systems; Properties and applications of Z-Transform; Pulse Transfer Function
of open-loop and closed-loop systems; Mapping from s-plane to z-plane; Stability and
damping in the z-domain; Stability analysis of discrete systems using Jury test –
fundamentals and worked examples; State variable analysis of sampled-data systems;
Digital compensator design using frequency response; State feedback controller design for
discrete-time systems.
Module 3: Non-Linear Control Systems (12L)
Features of Linear and Nonlinear Systems; Types of nonlinearity; Common nonlinearities in
control systems; Typical examples; Concept of phase portraits, Singular points, Limit cycles;
Describing function fundamentals; Describing functions of common nonlinearities;
Describing function analysis of nonlinear systems; Prediction of limit cycles; Stability of
oscillations; Stability concepts: Equilibrium points, BIBO and asymptotic stability; Lyapunov
theory and Lyapunov’s Direct Method; Applications to simple problems; Construction of
phase portraits and trajectories; Phase plane analysis of simple linear and nonlinear
systems.
