10/20/2015

Models for Computer Control

Muddu Madakyaru Ph.D10

Associate Professor.
Dept. of Chemical Engineering
Manipal Institute of Technology, Manipal

Digital Computers as Controller:

Main Task of Controller:

About computer control System:

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Digital Control: Measured outputs

Digital Control: Manipulated Inputs

u ( k );

u (t ) u ( k );
u ( k 1);
Computers & Data
Acquisition:

Mathematical Description of
Computer Control

t = kT

kT < t < (k+1)T

t = (k 1)T

Computers &
Control action:

Sampling and Conditioning of signals:

Measurements are sampled at a constant rate and
uniform sampling interval at T sec.
Thus, measurements, y(k), are available at instant
tk=kT: k=0,1,2 ,3 ..

Aliasing Effect:
Three Major issues raised by the digital Computer for Control
A.
B.
C.

Sampling (and Conditioning) of continuous signals

Continuous signal reconstruction
Appropriate mathematical description of sampled-data systems

Effect of aliasing resulting from

sampling a sinusoidal function too
slowly:

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Signal Reconstruction:
Inputs reconstruction with zero order hold:
Manipulated inputs are piecewise constant during the
sampling interval

Hold:

u(t)=u(k)

for

Discrete Dynamic Models

t kT t ( k 1)T

u ( k );

u (t ) u ( k );
u ( k 1);

t = kT

kT < t < (k+1)T

t = (k 1)T

Apparent signal delay

induced by the ZOH
element;

Discrete Dynamic Models:

Discrete Dynamic Models:

Integrating Factor

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Discrete Dynamic Models:

Pulse Transfer Function Matrix

Discrete Dynamic Models:

Pulse Transfer Function Matrix

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Time Domain Difference Equation

Practical Difficulties & Remedy

Tank
System: Input
4Four
Tank
System:
InputExcitation
Excitation

Identification Experiments
on 4 Tank System

20

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4 Tank System: Measured Outputs

Splitting
data forData
Identification
& Validation
Spitting
for Modeling
&
Identification

Experimental Data for Modeling

Model Parameter Estimation

23

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Model Parameter Estimation

Pros & Cons

Model Parameter Estimation

Summary

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Stability of Linear Dynamic Systems

The pulse transfer function of the process is

g ( z)

bz 1
1 pz 1

Taking inverse transform of the g(z) gives the impulse response of

the process

g ( k ) bp k 1 for k 1, 2,3,...
The nature of the impulse response is clearly governed by the
location of the pole i.e., p. Which must be real number.

Stability of Linear Dynamic Systems

Stability of Linear Dynamic Systems

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Stability: Discrete time System