Course Title : Digital Control

Code 60270
Course Year 3rd year
Term 2nd term
Class day & Period
Credits 2
Restriction No Restriction
Lecture Form(s) Lecture
Instructor T. Hagiwara, Y. Ebihara

Course Description

This course covers a basic theory of digital control systems, based on the understanding on "Control Engineering." The treatment of discrete-time signals and linear discrete-time systems in the frequency domain is first introduced through the z-transformation and pulse transfer functions. Digital compensators as well as their programs and frequency responses, the stability and steady-state errors of closed-loop feedback systems, sampling period selection and anti-aliasing filters are then lectured on. The class members are supposed to understand the fundamental treatment of digital control systems through such concepts, who are also supposed to work on assignments about computational techniques to have better understanding.


The assignments are only for motivating review; the grading will be based on the exam.

Course Goals

To understand the basic treatment of digital control systems including their components and the associated difficulties and measures, particularly the z-transformation and its role, the discretization of controlled objects, the similarity to and differences from the analysis of continuous-time control systems, as well as aliasing.

Course Topics

Theme Class number of times Description
Fundamentals of digital control and the z-transformation 4〜5 The fundamental structure of digital control systems and the associated issues, the z-transformation as a key tool for dealing with digital control systems, the frequency-domain interpretation of samplers, and aliasing.
Pulse transfer functions, frequency response, and digital compensators 4〜5 Basic components such as hold circuits and pulse transfer functions, discretization of controlled objects, the pulse transfer functions and programs of digital compensators, transient responses of discrete-time systems, stability and frequency responses, and basic digital compensators.
Closed-loop digital control systems 5〜6 Analysis of digital control systems with pulse transfer functions through the discretization of the controlled object and disturbances, the stability, stability criteria and steady-state errors of closed-loop systems, basic standpoint for the disturbance rejection in digital control systems, sampling period selection and anti-aliasing filters. Checking degrees of understanding of all the lecture topics, e.g., through comments on the exam, closes the class.


荒木光彦:ディジタル制御理論入門 (朝倉書店)



"Control Engineering", "Exercise of Computer Programming in Electrical and Electronic Engineering" (basic understanding about programming)

Web Sites

(from within the university)

Additional Information

The contents of the lecture and their order are subject to changes depending on the situation each year.