An Over View of Digital

Control System
Digital Control System
Digital Control System
Linear Difference Equation
y((k+n)T)+a1 y((k+n-1)T)+ a2 y((k+n-2)T)++an y(kT) =

b0 r((k+m)T) +b1 r((k+m-1)T)+bm r(kT)

or can be written as

y(k+n)+a1 y(k+n-1)+ a2 y(k+n-2)++an y(k) =

b0 r(k+m) +b1 r(k+m-1)+bm r(k)

n > m
Linear Difference Equation
Consider a continuous time system
Linear Difference Equation
The sampled data form of this system is
Linear Difference Equation
Output of continuous time system can be written as
With t
0
= kT and t = (k+1)T
Linear Difference Equation
Solution of this equation can be written as
Linear Difference Equation
The zero input solution of this equation is
Digital Control System
Basic Components
Sample and Hold (S/H)
Analog to Digital Converter (A/D)
Digital to Analog Convertor (D/A)
Plant or Process
Transducers
Mathematical Model of S/H
Mathematical Model of S/H
) (t e can be expressed as

| | | |
| | .... ) 3 ( ) 2 ( ) 2 (
) 2 ( ) ( ) ( ) ( ) ( ) 0 ( ) (
+
+ + =
T t u T t u T e
T t u T t u T e T t u t u e t e
Taking Laplace of this
| |
(

|
|
.
|

\
|

=
+ + +

=
+
(

+
(

+
(

0
2
3 2 2
) (
1
...... ) 2 ( ) ( ) 0 (
1
....
1 1
) 2 (
1 1
) (
1 1
) 0 ( ) (
k
skT
sT
sT sT
sT
sT sT sT sT sT
e kT e
s
e
e T e e T e e
s
e
e
s
e
s
T e e
s
e
s
T e e
s s
e s E
Mathematical Model of S/H
Second term on the RHS can be treated as input to ZOH and is
written as

=
0
*
) ( ) (
k
skT
e kT e s E
Therefore the Transfer Function of the ZOH
s
e
s E
s E
TF
sT
ZOH

= =
1
) (
) (
*
Therefore S/H can be represented as
Starred Transform
Taking inverse Laplace of E*(s) to get e*(t)

=
= + + + =
0
*
) ( ) ( ....... ) 2 ( ) 2 ( ) ( ) ( ) ( ) 0 ( ) (
k
kT t kT e T t T e T t T e t e t e o o o o
where
) (t o is the unit impulse
Determination of starred Laplace Transform
T s
E of Poles
sT
k
e
E of residues
e
s E
OPERATION N CONVOLUTIO the is where t I L t e L t e L
kT t t I where
t I t e L
T t T e T t T e t e L t e L
) (
) (
*
0
*
1
1
* ) (
1
1
) (
)) ( ( )) ( ( )) ( (
) ( ) (
)) ( ). ( (
.......) ) 2 ( ) 2 ( ) ( ) ( ) ( ) 0 ( ( )) ( (

o
o o o

=

=
=
=
=
+ + + =

This expression is useful in generating tables for Starred Transforms

Starred Transform
Starred Transform
) 2 )( 1 (
1
) (
+ +
=
s s
s E
T s T s
T s T s
T s
E of Poles
e e
e e
e
E of residues s E
) 2 ( ) 1 (
2
) (
1
) (
) (
) (
*
1
1
1
1
) 1 )( 1 (
1
) 1 )( 2 (
1
1
1
* ) ( ) (
+ +
=

=

=
+
+
+
=

Example
Determine E
*
(s) given that
Hold Devices
T. F. of First Order Hold Device

2
2
*
) 1 )( 1 (
) (
) (
Ts
e Ts
s E
s E
TF
sT
FOH

+
= =
T. F. of Fractional Order Hold Device
2
) 1 ( ) 1 )( 1 (
|
|
.
|

\
|

+

=

s
e
T
k
s
e ke
TF
sT sT sT
Hk
Z-Transform
We Know that

=
=
0
*
) ( ) ( ) (
k
kT t kT e t e o

=
0
*
) ( ) (
k
skT
e kT e s E
e
-kTs
is called Transcendental Equation
The reason for using Z-Transform is to convert Transcendental
Equations of s into an algebraic function of z.
Z-Transform
Define z = e
sT
where
e o j s + =
) ln(
1
z
T
s =

= = =
0
*
) ( ) ln
1
( )) ( ( ) (
k
k
z kT e z
T
E t e Z z E
z is an operator
operator z is an advance operator representing advance
one sampling period.
operator z
-1
= e
-sT
is an delay operator representing a delay of
one sampling period.
Z-Transform
Consider the transfer function
The corresponding impulse transfer function in the s domain is
and in the z domain,
Z-TRANSFORM THEOREMS
Theorem 1
Translation in Time (Time Shift) Shifting to the right (delay) yields
Shifting to the left (advance) yields
Z-TRANSFORM THEOREMS
) (z f Lim
z
Theorem 2
Final Value: If F(z) converges for mod(z) >1 and all
poles of (1-z)F(z) are inside the unit circle, then
Theorem 3
Initial Value: If
exists, then
Z-Transform
Inverse Z-Transform
The partial fraction method
Inverse Z-Transform
The power series method (Direct division method)
Inverse Z-Transform
The power series method (Direct division method)
By direct comparison with equation 1

Inverse Z-Transform
The inversion integral method

Mapping of s-Plane to z-Plane
The transformation of the s plane into the z plane can be investigated
by inserting
e o j s + = into
Lines of constant o the s plane map into circles of radius equal to
e
oT
in the z plane
Mapping of s-Plane to z-Plane
Mapping of s-Plane to z-Plane
Plots of loci of constant and loci of constant e
n

SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Consider the system given below
For the block diagram shown, the system equations are
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Solving for E*(s) and substituting into (1)
The starred transform C
*
(s)
The Z transform of this equation is obtained by replacing each
starred transform by the corresponding function of z:
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Although the output c (t) is continuous, the inverse of C(z) yields
only the set of values C(kT), k = 0, 1, 2,. . ., corresponding to
the values at the sampling instants.

Thus, C(kT) is the set of impulses from an ideal fictitious sampler
located at the output, as shown in figure, which operates in synchronism
with the sampler of the actuating signal.
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Example:
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Example:
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Example:
SYNTHESIS IN THE Z DOMAIN
(DIRECT METHOD)
Example:
Note that the input R(z) is incorporated as part of G
1
R(z); thus this
equation cannot be manipulated to obtain the desired control ratio.
A pseudo control ratio can be obtained as follows:

The Frequency Response
For a given pulse TF G(z) replace z by e
jeT

where T is the sampling period
Example
Consider the system defined by
X(kT)=u(kT)+ax((k-1)T) 0 < a < 1
U(kT) is the sampled sinusoid defined as u(kT) = A sin keT
Z Transform of the system is
The Frequency Response
The Bode Plot
In the z-plane frequency appearing as z = e
jeT
if it is treated in the same fashion the simplicity of Bode Plot is lost
Thus the direct application of frequency response method is not
worthy
Solution to this is
Bilinear Transformation and w-plane
w T
w T
z
) 2 / ( 1
) 2 / ( 1

+
=
The Bode Plot
The Bode Plot
The Bode Plot
By converting a given pulse TF in the z-plane into a rational function
of w, the frequency response methods can be extended to discrete
time control systems.


Inverse relationship
1
1 2
+

=
z
z
T
w
State-Space Representation of the System
The state equation may be written as
x(k+1) = f(x(k),u(k),K)
y(k+1)=g(x(k),u(k),K)
For a linear system
State-Space Representation of the System
State-Space Representation of the System
Solution of Discrete Time State Equation