Bp 207 en
Tools for design of discrete-time controllers
Author: Jan Martinec
This thesis describes an implementation of several kinds of digital controllers and Kalman filter in numeric binary representation of floating point and fixed point data format via programming language C. The main attention is paid to the fixed point number representation by reason of not very wide distribution in digital application and to implementation of a C language library for fixed point arithmetic computation.
The goal of this thesis is designing of algorithms for widely usable form of controller with two degrees of freedom and input filtering, modified version of PID controller and common Kalman filter and mainly showing the influence of using fixed point format on controlling and filtering. Among other instruments are for testing of designed algorithms used so-called system functions provided by Matlab, which are also described in this thesis.