Microcontroller Based Applied Digital Control

Dogan Ibrahim is currently Head of the Department of Computer Engineering at Near East University, Cyprus. He has been a lecturer at Near East University since 1999, and prior to this held a range of roles including Principal Research Engineer at GEC Hirst Research Centre, London and Lecturer at South Bank University, London. He is an IEE Fellow.

• Preface xi1 Introduction 11.1 The Idea of System Control 11.2 Computer in the Loop 21.3 Centralized and Distributed Control Systems 51.4 Scada Systems 61.5 Hardware Requirements for Computer Control 71.6 Software Requirements for Computer Control 91.7 Sensors Used in Computer Control 141.8 Exercises 242 System Modelling 272.1 Mechanical Systems 272.2 Electrical Systems 372.3 Electromechanical Systems 422.4 Fluid Systems 442.5 Thermal Systems 492.6 Exercises 523 The PIC Microcontroller 573.1 The PIC Microcontroller Family 573.2 Minimum PIC Configuration 613.3 Some Popular PIC Microcontrollers 663.4 Exercises 754 Programming PIC Microcontrollers in C 774.1 PICC Lite Variable Types 784.2 Variables 804.3 Comments in Programs 814.4 Storing Variables in the Program Memory 824.5 Static Variables 824.6 Volatile Variables 834.7 Persistent Variables 834.8 Absolute Address Variables 834.9 Bank1 Qualifier 834.10 Arrays 844.11 ASCII Constants 864.12 Arithmetic and Logic Operators 864.13 Number Bases 894.14 Structures 894.15 Program Flow Control 914.16 Functions in C 964.17 Pointers in C 994.18 Pre-processor Commands 1014.19 Accessing the EEPROM Memory 1044.20 Interupts in C Programs 1044.21 Delays in C Programs 1054.22 Structure of a C Program 1054.23 PIC Microcontroller Input-Output Interface 1074.24 Exercises 1165 Microcontroller Project Development 1195.1 Hardware and Software Requirements 1195.2 Program Development Tools 1205.3 Exercise 1296 Sampled Data Systems and the z-Transform 1316.1 The Sampling Process 1316.2 The z-Transform 1366.3 Pulse Transfer Function and Manipulation of Block Diagrams 1546.4 Exercises 1667 System Time Response Characteristics 1717.1 Time Response Comparison 1717.2 Time Domain Specifications 1747.3 Mapping the s-Plane into the z-Plane 1777.4 Damping Ratio and Undamped Natural Frequency in the z-Plane 1787.5 Damping Ratio and Undamped Natural Frequency Using Formulae 1817.6 Exercises 1838 System Stability 1878.1 Factorizing the Characteristic Equation 1878.2 Jury's Stability Test 1898.3 Routh-Hurwitz Criterion 1928.4 Root Locus 1948.5 Nyquist Criterion 2018.6 Bode Diagrams 2058.7 Exercises 2089 Discrete Controller Design 2139.1 Digital Controllers 2149.2 PID Controller 2309.3 Exercises 13710 Controller Realization 24310.1 Direct Structure 24310.2 Cascade Realization 24610.3 Parallel Realization 24910.4 PID Controller Implementations 25010.5 Microcontroller Implementations 25310.6 Choice of Sampling Interval 26310.7 Exercises 267Further Reading 26811 Liquid Level Digital Control System: a Case Study 26911.1 The System Schematic 26911.2 System Model 27011.3 Identification of the System 27311.4 Designing a Controller 27411.5 Conclusions 278Appendix A Table of z-Transforms 283Appendix B MATLAB Tutorial 285Index 307