Digital Controller Design: Discrete-Time Models

This lecture covers digital controller design, focusing on discrete-time models, RST controller, pole placement technique, desired closed-loop poles, regulation using Diophantine equation, tracking, internal model control, and model reference control. It explains difference operator models, backward shift operator, delay in sampled systems, and the number of first zero coefficients. The lecture also discusses the two-degree of freedom digital controller, transfer function computation, and dominant and auxiliary poles. It further explores time-domain performance, overshoot, desired closed-loop poles selection, and computation of closed-loop polynomials. The lecture concludes with the computation of R and S for regulation, fixed terms in the regulator, and the choice of HR and Hs for improved closed-loop system performance.