Course Details

ELE 430 Computer Control
2021-2022 Fall term information

The course is not open this term

Timing data are obtained using weekly schedule program tables. To make sure whether the course is cancelled or time-shifted for a specific week one should consult the supervisor and/or follow the announcements.

Course definition tables are extracted from the ECTS Course Catalog web site of Hacettepe University ( in real-time and displayed here. Please check the appropriate page on the original site against any technical problems. Course data last updated on 16/09/2021.


Course Name Code Semester Theory
Credit ECTS
COMPUTER CONTROL ELE430 8th Semester 3 0 3 6
Prerequisite(s)ELE354 Control Systems
Course languageEnglish
Course typeElective 
Mode of DeliveryFace-to-Face 
Learning and teaching strategiesLecture
Question and Answer
Problem Solving
Other: This course must be taken together with ELE434 COMPUTER CONTROL LABORATORY.  
Instructor (s)Faculty members 
Course objectiveToday, control systems are largely realized in digital form either on a computer or on cards that have computing power such as microcontroller or DSP cards. In this course, the necessary background is given in order to be able to understand such control systems and it is aimed at equipping students with the knowledge and skills needed to analyse and realise such systems. 
Learning outcomes
  1. A student who completes the course successfully is expected to
  2. 1. Understand the relationship and transformations between continuous-time and discrete-time systems .
  3. 2. Be able to implement continuous-time controllers on digital platforms such as microcontrollers or DSP cards or computers.
  4. 3. Design and implement digital control systems.
  5. 4. Be aware of practical issues and physical limitations concerning digital control systems.
  6. 5. Be acquired a suitable background to study more advanced digital control problems.
Course ContentDescription of computer control. Sampling of continuous-time signals. Signal reconstruction: zero-order hold, aliasing. Linear difference equations and discrete-time transfer functions. Poles, zeros and stability. The jury's stability test. Modelling and block diagram analysis. Mapping between the s-plane and z-plane. Discrete-time equivalents to continuous-time transfer functions: hold equivalence, forward and backward difference method, Tustin's method, pole-zero mapping. Time response analysis. Robot locus and Bode design. State space representation. Canonical forms. Solution of state space equations. Discretization of continuous-time state space equations. Controllability, reachability and observability. State feedback and Ackermann's formula. Deadbeat control. Observers. Duality. 
References[1] Ogata K., Discrete-Time Control Systems, 2nd Ed., Prentice Hall, 1995.
[2] Franklin G.F., Powell J.D. and Workman M.L., Digital Control of Dynamic Systems, 2nd Ed., Addison Wesley, 1990.
[3] Aström K.J. and Wittenmark B., Computer Controlled Systems: Theory and Design, 3rd Ed., Prentice Hall, 1997.

Course outline weekly

Week 1An overview of digital control systems, sampling of continuous-time signals, signal reconstruction and Z-transform.
Week 2Discrete-time systems and analysis: solution of difference equations; pulse response; convolution sum; poles, zeros and stability; Jury's stability test; shift operator calculus.
Week 3Analysis of discrete-time systems from a continuous-time point of view; block diagram analysis of sampled data systems, zero-order hold equivalence of a continuous-time system, mapping between the s-plane and the z-plane.
Week 4Discrete-time equivalents to continuous-time transfer functions: zero-order and first order hold methods, backward and forward difference methods, Tustin's method, Tustin's method with frequency prewarping, pole-zero mapping.
Week 5Transient and steady-state response analysis of discrete-time systems.
Week 6Discrete control system design based on the root-locus method.
Week 7Discrete control system design based on the root-locus method.
Week 8Discrete control system design based on the frequency response method.
Week 9Midterm Exam
Week 10State-space representation of discrete-time systems: direct programming method, nested programming method, partial-fraction expansion programming method, canonical forms and similarity transformation.
Week 11Solving discrete-time state-space equations, state transition matrix, solution by Z-trasform, discretization of continuous-time state-space equations.
Week 12Controllability and reachability, observability, duality, transforming state-space equations into canonical forms.
Week 13Design of discrete control systems in state-space: state feedback, deadbeat control, Ackermann's formula
Week 14Design of discrete control systems in state-space : observer and observer + state feedback.
Week 15Preparation for Final exam
Week 16Final exam

Assesment methods

Course activitiesNumberPercentage
Field activities00
Specific practical training00
Final exam150
Percentage of semester activities contributing grade succes050
Percentage of final exam contributing grade succes050

Workload and ECTS calculation

Activities Number Duration (hour) Total Work Load
Course Duration (x14) 13 3 39
Laboratory 0 0 0
Specific practical training000
Field activities000
Study Hours Out of Class (Preliminary work, reinforcement, ect)14456
Presentation / Seminar Preparation000
Homework assignment5420
Midterms (Study duration)12020
Final Exam (Study duration) 12525
Total Workload3456160

Matrix Of The Course Learning Outcomes Versus Program Outcomes

D.9. Key Learning OutcomesContrubition level*
1. PO1. Possesses the theoretical and practical knowledge required in Electrical and Electronics Engineering discipline.     X
2. PO2. Utilizes his/her theoretical and practical knowledge in the fields of mathematics, science and electrical and electronics engineering towards finding engineering solutions.    X
3. PO3. Determines and defines a problem in electrical and electronics engineering, then models and solves it by applying the appropriate analytical or numerical methods.     X
4. PO4. Designs a system under realistic constraints using modern methods and tools.    X
5. PO5. Designs and performs an experiment, analyzes and interprets the results.  X  
6. PO6. Possesses the necessary qualifications to carry out interdisciplinary work either individually or as a team member.   X  
7. PO7. Accesses information, performs literature search, uses databases and other knowledge sources, follows developments in science and technology.  X  
8. PO8. Performs project planning and time management, plans his/her career development. X   
9. PO9. Possesses an advanced level of expertise in computer hardware and software, is proficient in using information and communication technologies.    X
10. PO10. Is competent in oral or written communication; has advanced command of English.  X  
11. PO11. Has an awareness of his/her professional, ethical and social responsibilities. X   
12. PO12. Has an awareness of the universal impacts and social consequences of engineering solutions and applications; is well-informed about modern-day problems.  X  
13. PO13. Is innovative and inquisitive; has a high level of professional self-esteem.    X

*1 Lowest, 2 Low, 3 Average, 4 High, 5 Highest

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