Week 10
Digital Controller Implementation
I use the saved simulation video as a starting point to revisit state-space control, observers, and digital control.
What I connect in this unit
A digital controller operates through a difference equation updated at each sample. Sample timing, coefficient quantization, and computation delay modify the ideal law, and even one sample of delay changes closed-loop phase.
Concept map
- Difference equations
- Sample timing
- Quantization
- Computation delay
Technical anchor
For example, specify update order in u[k]=u[k-1]+a e[k]+b e[k-1]. Place sensing, computation, and PWM update on one sample-period timeline and mark every z^-1 delay.
How I review it
Compare poles and outputs for floating-point and limited-word-length coefficients, then verify through a timing budget that worst-case computation finishes before the next update.
Connection to the full course
Unit 10 of 12. This study sequence connects the system flow visible in the video with standard control topics; it is not a claim about lecture weeks.