Direct Design Methods

Introduction

This chapter presents another method for the design of single input single output (SISO)
digital controllers. This method is a direct analytical design method in that the controller
is designed in the z-domain. Controllers in the forward and feedback path are designed.

Direct digital controller design with Controller D(z) in the forward loop:

With the controller D(z), the closed loop pulse transfer function is,
D( z)G ( z)
H ( z) =
1 + D( z)G ( z)
1 H ( z) c( z)
D( z) = . = both polynomials
G ( z) 1 H ( z) d ( z)
This implies that for a given plant G(z) and by specifying the pulse transfer function H(z),
the controller D(z) can be obtained mathematically.

Specifications of H(z) & D(z):

1. The characteristic equation of H(z) is specified as

1 a 1 z 1 + a 2 z 2 +........
b 0 + b 1 z 1 + b 2 z 2 +...... b( z)
H ( z 1 ) = =
1 + a 1 z 1 + a 2 z 2 +........ a ( z)
For practical systems b 0 = 0 . (This is a result of the general causality condition)
b 1 z 1 + b 2 z 2 +......
H ( z 1 ) =
1 + a 1 z 1 + a 2 z 2 +........
2. From steady state specifications, if the system is to be type I with
e( ) = 0 for a unit step (a)
1
e( ) = for a unit ramp (b)
Kv
then e(z) = R(z)(1- H(z))
1
then (a) Lim ( z 1) (1 H ( z)) = 0
z1 z 1
H(1) = 1
Tz 1
and (b) Lim ( z 1) 2
(1 H ( z)) =
z1 ( z 1) Kv
H(z) 1
-T =
z z =1 Kv

1
3. Stability constraints

The characteristic equation is

c( z ) b ( z)
1 + DG = 0 = 1 + .
d ( z) a ( z)
ad + bc = 0 (1)
H ( z)
and we also have D( z)G ( z) = (2)
1 H ( z)
It will be shown later that (3) if D(z) cancels an unstable pole or zero of G(z), the
unstable pole or zero will appear as the root in the closed loop system
characteristic equation. Therefore such cancellation is not permitted. For that
Condition, equation (2) implies:

H(z) must contain all unstable zeros of G(z) in its zeros and 1-H(z) must contain all
unstable poles of G(z) in its zeros. The following is the proof of (3):

From (1) if G(z) has an unstable zero and pole at z1 & p 1

(z - z 1 ) B1 ( z)
then G(z) = and if D(z) cancels the unstable zeros and/or poles,
( z p 1 ) A 1 ( z)
(z - p1 )C1 ( z )
D(z) = , then the closed loop equation is
( z z1 ) D1 ( z )
( z p 1 ) A 1 ( z z 1 ) D 1 + ( z z 1 ) B1 ( z p 1 ) C 1 = 0
( z z1 )( z p 1 )[A 1 D 1 + B1C1 ] = 0
This shows that ( z z1 )& ( z p 1 ) become roots of the closed loop characteristic
equation. This means that the system would be unstable.

The following example illustrates how D(z) (in the forward loop) is calculated using
specifications for H(z).

2
Example:
G(s) a
G(z) = (1 z 1 )Z =
s s * s(s + a)
z + 0.9672
= 0.04837 for a = 0.1
(z 1)(z 0.9048)
Let the desired c.c equation corresponding to s2 + s + 1 = 0 roots 0.5 j0.866
o
which is discretized (T = 1) as z 2 0.7859z + 0.36788 = 0 roots 0.39 j0.456 or 0.6e j49.6
1 0.7859z 1 + 0.36788z 2 = 0
Let it be required that the velocity constant K v = 1
b 1 z 1 + b 2 z 2 +.....
Then H(z) =
1 0.7859z 1 + 0.36788z 2
Now error e(z) = R(z)(1- H(z))
1
for unit step input e = 0 Lim( z 1) (1 H ( z)) = 0 H(1) = 1
z 1 z 1
b 1 + b 2 +.....
= 1 b 1 + b 2 +...= 0.58198 (1)
1 0.7859 + 0.36788
1 1 Tz 1
for a unit ramp e = = = 1 Lim( z 1) 2
(1 H ( z)) =
Kv 1 z1
( z 1) Kv
H ( z) 1
and since H(1) = 1, then Lim T = =1
z1 z Kv
b + 2 b 2 + 3b 3 +...... ( 0.05014)
1 = 1 (2)
0.58198
Since we have only two equations (we stop at z -2 )
b 1 + b 2 +...= 0.58198 & b 1 + 2 b 2 = 0.53184
b 1 = 0.63212 & b 2 = -0.05014
0.63212z 1 0.05014 z 2
H(z) =
1 0.7859z 1 + 0.36788z 2
( z 1)( z 0.41802)
1 H ( z) = 2
z 0.7859 z + 0.36788
which has a zero at z = 1 (G has a pole at z = 1)
1 H
D( z) =
G 1 H
1 ( z 1)( z 0.9048) 0.63212 z 0.05014
=
0.04837 z + 0.9672 ( z 1)( z 0.41802)
( z 0.9048)( z 0.07932)
= 13.068
( z + 0.9672)( z 0.41802)

3
 Assignment PROBLEM

Repeat the design explained in the example above for the following roots:
j49.6 o
1. z = (0.6 * 0.8)e
j45o
2. z = (0.6 * 0.8)e
j55o
3. z = (0.6 * 0.8)e
Plot the response as well as the control signal u(k) for the original case as well as the
three given variations.