ECE 550 LECTORE 1 Let vs now consider the general cose ofa digital control system with minimum settling time responding toa step inpet. We shall treat a meltiple-input multiple-output situation. The of the plant ore given dynamical equations of the plant ore given by ke Ax+ Bu sO ce .@ K tban nX 1 stote vector Ww Ban mxX1 contre! vector gy ts the px t cotpet vector N represents the number of sampling intervals until deadbeat response occurs A block diagrom of the contre! syste ie &: nECE 550 LECTURE If As before, we can solve for xin) as Follows xin = [eT] "x 00) : [ee a) We let x60) #0, and ae @) Bs fee oe) Se ther, nel Oe 25 Ane Be cn) © . gkemig gos Dick Be, Cm) @) After a vector step inpul of arbitrany sine , de~ noted 5. we want e, tego te sere in a min mum number of sampling peneds. Thes, Net ro? El cAN Be om) .. ® Or, in matrix formECE 550 LEcTURE 11 CcA™'B cRY*B-.- cad Er aol ..@ Note tris equation only Forces the output te Lo. Tt does not guarantee a deadbeat response, Since ule is constant in the interval NTS4 4 CNF+OT and XCNTIFO , then x C4) cannct change from NT te CNHIDT. Thos, wOnT) «5 the contel required to effect the step change in cot pet ee Hence, RCNT) mag be computed as Follows : w= UCNT)2 & CNT) for t2NT . ONT) = AxCNT) + Be, (wT) |) Setting KCNT)=0 and substite 3 fer xONTD veing equation © we obtamn Se zal Kw Be scm] + Bein) wet > DAA Bem) + Bein? ...®e ECE 550 LECTURE II ee = 2,00) CAAN'B AA"?B-.. AB BI] 7? 2.00 2,¢n) ® We can combine equations Mond Bas fellows: es ~ ¢,<) CAGte CAtne 2 CeO) 2 - ees 2 fra) le AA™'B AA™*B--- ab B : © e,(n-1) 220) New let's turn our attention to the €, sequence, and the computation of DCB). We have that BG) * fo 7 yond i Ge) oS eee Becms ...© IF we solve equation@, we get the sequence.ECE 550 LECTURE |] f,0m). Letus denste ths as fellows: ee Se thot, end = [ 1-3 fe" Spemde, ..® New, we can proceed +o compute DCE), cle. Ed? Dece” “Bet[1- Deca seetls @® And, BC). eco ae -.. @ Since we require that the inpot te the plant i= constant after Nol sampling pericds, we hove £,00) = PON) for n ZN, so thot i = E,c@)= [ Ee Pend + Pew Zen, @®Eck 550 LECTURE II Or, we E,ce)=[ De Pind + PON) Since, E,C@)= DCE) E, Ca) - @® we can substitute fon E,Ce) and E,C2) te obtain wt a [Espey + ren Tet | ey socal Ee 2-E fea ered] co @® Note that equatien G4) must held For arbitrary, thes the cseP Rent matrices pre-multi plying re mest be equal. Taleng this inte account, ] . [Ea(s-B cx Brood] we can solve For DLE), he. Dead # [Ba Pend + Pin) To ‘ECE 550 LECTURE It Let's return tea familiar example gars [-1 o |] xt] Juan specie ° y@)=L[eo 1] ze We let N22, and TSI, sethot [eT] L : eet oa Also, we have thot B= Ci-et)* +e! oe | ei -e!) ee [| 6 Vang these results 14 equation @ we obtainECE 55° LECTURE II Cieete we ea ° e200) re ~e"-ert) 1 {Peer fefo Cagle) © Jjbec2) ° Or, ©.%R 0.368 0 e,) ve -0.232 -ous2 1 eC) | eal) so) 0.232 0.632 2,0) ° Selving fore, we get se -0.58 | % ° Thos, Plo)? 1.58, PCID=-058, PC20 Using these results sh equation 5), we have that = ocar = [ Peoy + PCIDe + PCa) Tae | + [etn #2481 - Bree} ] 7! tECE 550 LECTORE 11 Simplifying , we get Dced= [uss-osse"][ teh usse2"] > [iss-osee'][i+o.4e']! 1.58-0.sga-! 1+ 0.48 e-l This 13 the same resultas obtamed th Lecture. 10,