Kendali Digital

Sutanto

Discrete controller design

Designing the controller in

z-plane

Digital controller

Dead-beat controller

Example
Given an open loop transfer function of a plant :
e 2s
G (s)
1 10s
Design a dead - beat digital controller for the system. Assume T 1s
Answer :

HG ( z ) 1 z 1 z 2 Z

HG ( z ) 1 z
HG ( z )

z 1 e 0.1

z 1 z e 0.1

0.1

1 e 0.1 z 1

1 0.904 z 1
Dead - beat method :
1
T ( z)
1 0.904 z 1 z k
D( z )

HG ( z ) 1 T ( z )
0.095 1 z k

D( z )

1 0.904 z 1

z 3

0.095 z 3 1 z 3
z 3 0.904 z 2

0.095 z 3 1

1 e

0.095 z 3

k 3 D( z )

1 e sT

e 2 s
G ( s ) 1 z 1 Z

s 1 10 s
1

1 2
10
1 z z Z

s 1 10 s
s s 110

Metode zoh HG ( z ) Z

Step response

Dahlin controller
It is a modification of the Dead-Beat method.
It produces exponential response which is smoother than that
of the Dead-beat controller
Y (s)
Y (s)

1 e as
s 1 sq
e kTs
qs 2 s

a kT
1
e

kTs

s s 1
q

z k 1 1 e q
z

Y ( z) z k

T
T

z 1 z e q 1 z 1 1 e q z 1

T
k 1
k 1
q
1 e

1 e q
z
z
1
Y ( z)
1 z

T ( z)

T
T

R( z )
1

1 e q z 1
1 z 1 1 e q z 1

z k 1 1 e q
1
T ( z)
1

D( z )

T
HG ( z ) 1 T ( z ) HG ( z )

1 e q z 1 z k 1 1 e q

Step response

Example
Given an open loop transfer function of a plant :
e 2s
G( s)
1 10 s
Design a Dahlin digital controller for the system. Assume that T 1 s.

Answer
The transfer function with zero - order hold (T 1) :
1

1 e sT

1
1 2
1 2
10
HG ( z ) Z
G ( s) 1 z z Z
1 z z Z
s

s 1 10 s
s s 110

HG ( z ) 1 z

z 1 e 0.1

z 1 z e 0.1

1 e
0. 1

1 e 0.1 z 1

D( z )

0.095 z 3

0.095 z 3 1 0.904 z 1 0.095 z 3

0.095 z 3
1 0.0904 z 1

T
k 1
q

z
1

1
1
T ( z)
1 0.904 z

D( z )

T
HG ( z ) 1 T ( z )

0.095 z
1 e q z 1 1 e q z k 1

1 0.904 z 1

0.095 z 3 0.0858 z 2
0.095 z 3 0.0858 z 2 0.009

q 10; k 2