Computer Controlled Systems

Learning Outcomes

  1. Classify systems using their basic properties
  2. Compute and analyse a transfer function of a LTI system
  3. Compute and analyse a frequency response of a LTI system
  4. Use a computer to simulate a LTI system
  5. Conclude if a control system is stable
  6. Compute state-space representation of a system
  7. Compute a discrete transfer function
  8. Compute recursive differential equations of a control system
  9. Apply a PID controller

Forms of Teaching


Lectures will be performed every week in the classroom for a duration of 3 school hours.


Auditorium exercises will be performed within the Lecture hours.


Laboratorium exercises will be performed periodically after relevant material given in the Lectures.

Week by Week Schedule

  1. Modeling of signals and systems, Linear differential and difference systems
  2. Motivation for using control systems, Block diagrams and algebra
  3. State space representation of continuous control systems , Transient and impulse system response, Forced and natural system response
  4. Examples and properties of Laplace transform, Inverse transform; Convolution
  5. Pole and zero influence on LTI system time response, Control system quality criteria in time domain
  6. Z-transform, Modeling of digital control system elements
  7. Euler forward and backward discretization, Difference equations
  8. Midterm exam
  9. Transfer function of discrete control systems
  10. Block diagrams of discrete control systems
  11. State-space representation of discrete control systems
  12. PID controller structures, Tuning of PID controller parameters; Ziegler-Nichols methods
  13. Tuning of PID controller parameters; Ziegler-Nichols methods, Practical aspects of PID controller design; Filtering; Anti-windup
  14. Digital PID controller synthesis
  15. Final exam

Study Programmes

University graduate
Control Systems and Robotics (profile)
(1. semester)


(.), N. Perić, Z. Vukić, M. Baotić, M. Vašak, N. Mišković (2010.), Automatsko upravljanje - predavanja, Sveučilište u Zagrebu Fakultet elektrotehnike i računarstva,
(.), Z. Vukić, Lj. Kuljača (2005.), Automatsko upravljanje - analiza linearnih sustava upravljanja, Kigen,
(.), Gene F. Franklin, J. David Powell, Michael L. Workman (1997.), Digital Control of Dynamic Systems - Third Edition, Prentice Hall,
(.), Karl J. Astrom, Bjorn Wittenmark (1996.), Computer-Controlled Systems, Theory and Design, Prentice Hall,

For students


ID 223132
  Winter semester
L3 English Level
L1 e-Learning
45 Lectures
15 Exercises
12 Laboratory exercises

Grading System

Very Good