Embedded Digital Control with Microcontrollers

Cem Ünsalan, PhD, has over 20 years of experience working on signal processing and embedded systems. He received his doctorate from Ohio State University in 2003. He has published 23 papers in scientific journals and eight international books.
 
Duygun E. Barkana, PhD, has over 16 years of experience working on control and robotic systems. She received her doctorate from Vanderbilt University in 2007. She has published 22 papers in scientific journals and six international book chapters.
 
H. Deniz Gürhan is pursuing a PhD at Yeditepe University, where he received his BSc degree. He has over six years of experience working with guided microprocessors and digital signal processing.

EMBEDDED DIGITAL CONTROL WITH MICROCONTROLLERS
 
Explore a concise and practical introduction to implementation methods and the theory of digital control systems on microcontrollers
 
Embedded Digital Control with Microcontrollers delivers expert instruction in digital control system implementation techniques on the widely used ARM Cortex-M microcontroller. The accomplished authors present the included information in three phases. First, they describe how to implement prototype digital control systems via the Python programming language in order to help the reader better understand theoretical digital control concepts.
 
Second, the book offers readers direction on using the C programming language to implement digital control systems on actual microcontrollers. This will allow readers to solve real-life problems involving digital control, robotics, and mechatronics.
 
Finally, readers will learn how to merge the theoretical and practical issues discussed in the book by implementing digital control systems in real-life applications. Throughout the book, the application of digital control systems using the Python programming language ensures the reader can apply the theory contained within. Readers will also benefit from the inclusion of:
* A thorough introduction to the hardware used in the book, including STM32 Nucleo Development Boards and motor drive expansion boards
* An exploration of the software used in the book, including Python, MicroPython, and Mbed
* Practical discussions of digital control basics, including discrete-time signals, discrete-time systems, linear and time-invariant systems, and constant coefficient difference equations
* An examination of how to represent a continuous-time system in digital form, including analog-to-digital conversion and digital-to-analog conversion
 
Perfect for undergraduate students in electrical engineering, Embedded Digital Control with Microcontrollers will also earn a place in the libraries of professional engineers and hobbyists working on digital control and robotics systems seeking a one-stop reference for digital control systems on microcontrollers.

Preface xvii
 
About the Companion Website xix
 
1 Introduction 1
 
1.1 What is a System? 1
 
1.2 What is a Control System? 1
 
1.3 About the Book 3
 
2 Hardware to be Used in the Book 5
 
2.1 The STM32 Board 5
 
2.1.1 General Information 6
 
2.1.2 Pin Layout 6
 
2.1.3 Powering and Programming the Board 8
 
2.2 The STM32 Microcontroller 8
 
2.2.1 Central Processing Unit 8
 
2.2.2 Memory 9
 
2.2.3 Input and Output Ports 10
 
2.2.4 Timer Modules 10
 
2.2.5 ADC and DAC Modules 11
 
2.2.6 Digital Communication Modules 11
 
2.3 System and Sensors to be Used Throughout the Book 12
 
2.3.1 The DC Motor 12
 
2.3.1.1 Properties of the DC Motor 12
 
2.3.1.2 Pin Layout 13
 
2.3.1.3 Power Settings 14
 
2.3.2 The DC Motor Drive Expansion Board 14
 
2.3.3 Encoder 15
 
2.3.4 The FT232 Module 17
 
2.4 Systems and Sensors to be Used in Advanced Applications 17
 
2.4.1 Systems 17
 
2.4.2 Sensors 19
 
2.5 Summary 19
 
Problems 20
 
3 Software to be Used in the Book 23
 
3.1 Python on PC 24
 
3.1.1 Basic Operations 24
 
3.1.2 Array and Matrix Operations 25
 
3.1.3 Loop Operations 26
 
3.1.4 Conditional Statements 27
 
3.1.5 Function Definition and Usage 27
 
3.1.6 File Operations 28
 
3.1.7 Python Control Systems Library 28
 
3.2 MicroPython on the STM32 Microcontroller 29
 
3.2.1 Setting up MicroPython 29
 
3.2.2 Running MicroPython 31
 
3.2.3 Reaching Microcontroller Hardware 34
 
3.2.3.1 Input and Output Ports 34
 
3.2.3.2 Timers 35
 
3.2.3.3 ADC 37
 
3.2.3.4 DAC 39
 
3.2.3.5 UART 41
 
3.2.4 MicroPython Control Systems Library 42
 
3.3 C on the STM32 Microcontroller 43
 
3.3.1 Creating a New Project in Mbed Studio 44
 
3.3.2 Building and Executing the Code 45
 
3.3.3 Reaching Microcontroller Hardware 45
 
3.3.3.1 Input and Output Ports 46
 
3.3.3.2 Timers 47
 
3.3.3.3 ADC 48
 
3.3.3.4 DAC 50
 
3.3.3.5 UART 51
 
3.3.4 C Control Systems Library 53
 
3.4 Application: Running the DC Motor 53
 
3.4.1 Hardware Setup 54
 
3.4.2 Procedure 54
 
3.4.3 C Code for the System 54
 
3.4.4 Python Code for the System 57
 
3.4.5 Observing Outputs 59
 
3.5 Summary 59
 
Problems 60
 
4 Fundamentals of Digital Control 63
 
4.1 Digital Signals 63
 
4.1.1 Mathematical Definition 64
 
4.1.2 Representing Digital Signals in Code 64
 
4.1.2.1 Representation in Python 65
 
4.1.2.2 Representation in C 65
 
4.1.3 Standard Digital Signals 65
 
4.1.3.1 Unit Pulse Signal 66
 
4.1.3.2 Step Signal 67
 
4.1.3.3 Ramp Signal 68
 
4.1.3.4 Parabolic Signal 68
 
4.1.3.5 Exponential Signal 69
 
4.1.3.6 Sinusoidal Signal 71
 
4.1.3.7 Damped Sinusoidal Signal 71
 
4.1.3.8 Rectangular Signal 72
 
4.1.3.9 Sum of Sinusoids Signal 73
 
4.1.3.10 Sweep Signal 75
 
4.1.3.11 Random Signal 76
 
4.2 Digital Systems 77
 
4.2.1 Mathematical Definition 77
 
4.2.2 Representing Digital Systems in Code 78
 
4.2.2.1 Representation in Python 78
 
4.2.2.2 Representation in C 79
 
4.2.3 Digital System Properties 79
 
4.2.3.1 Stability 79
 
4.2.3.2 Linearity 80
 
4.2.3.3 Time-Invariance 81