Sampled Data Systems

Chapter 76
76.1 Impulse Response and Convolution
76.2 Pulse Transfer Functions
76.3 Worked Example No 1
76.4 Limitations
76.5 Cascaded Elements
76.6 Worked Example No 2
76.7 Closed Loop Systems
76.8 Equivalent Representations
76.9 Worked Example No 3
76.10 Implicit Input Signals

Z transforms provide the basis for representing x(t ) y( t )

G (s)
and analysing the behaviour of sampled data sys-
tems. This chapter focuses on their representation, Fig. 76.1 Transfer function of a continuous system
analysis being deferred to Chapter 77. Pulse trans-
fer functions (PTF) are the principal means of rep- y(s) = G(s).x(s)
resentation,both for open and closed loop systems.
PTFs in the Z domain are the discrete equivalent of If x(t) is the unit impulse ı(t) then x(s) = 1 and
transfer functions in the Laplace domain already y(s) = G(s), whence:
encountered in Chapter 71 in relation to continu-
ous systems. This chapter, therefore, starting from y(t) = g(t)
the basis of impulse response and convolution, de-
which is known as the impulse response. Now con-
velops the techniques for formulating and manip-
sider the sampled data system depicted in Fig-
ulating PTFs. However, whilst there are obvious
ure 76.2.
analogies with continuous systems, there are also
many subtle differences in their usage. These dif-
x(t ) x* ( t ) y( t ) y* ( t )
ferences are emphasised. G (s)
T T

Fig. 76.2 Continuous system with sampled input and output

signals
76.1 Impulse Response and
Let x*(t) be a train of k weighted impulses. By su-
Convolution perposition, the response y(t) is the sum of the
Consider the continuous system depicted in Fig- individual impulse responses:
ure 76.1.
This may be represented in the Laplace domain y(t) = x(0).g(t) + x(T).g(t − T)
by the equation: + x(2T).g(t − 2T) + . . .
 630 76 Sampled Data Systems


k
Substituting m = k − h gives:
= x(hT).g(t − hT)
∞ 
 ∞
h=0
y(z) = . x(hT).g(mT).z−(m+h)
If the output sampler is synchronous with the input m=−h h=0
sampler, then:
Again g(mT) = 0 for m < 0, i.e. for h > k. Thus:

k ∞ 
 ∞
y(kT) = x(hT).g(kT − hT) (76.1) y(z) = . x(hT).g(mT).z−(m+h)
h=0 m=0 h=0
∞
 ∞

which is referred to as the convolution summation = g(mT).z −m
. x(hT).z−h
and is often written as: m=0 h=0
= G(z).x(z)
y(kT) = g(kT) • x(kT)
which may be represented as shown in Figure 76.3,
Convolution is the means of articulating, in the where G(z) is known as the PTF.
time domain, the process whereby an input signal
is operated upon by an element to produce an out- x (z) y( z )
G (z)
put signal. The corresponding equation for contin-
uous systems is: Fig. 76.3 The pulse transfer function equivalent of Figure 76.2

t Summary
y(t) = x( ).g(t − ).d (76.2)
If:
0
y(s) = G(s).x∗ (s) (76.3)
t
= g( ).x(t − ).d then: ' (
y(t) = L−1 G(s).x∗ (s) (76.4)
0
and
' ' ((
y(z) = Z L−1 G(s).x∗ (s) = G(z).x(z) (76.5)
76.2 Pulse Transfer Functions
The concept of a transfer function for sampled data where:
systems may be developed from the convolution ' ( ' (
G(z) = Z g(t) = Z L−1 {G(s)} (76.6)
summation by manipulating the limits of Equa-
∞

tion 76.1 and taking its Z transform.
= G∗ (s) = g(kT).z−k
Since g(kT − hT) = 0 for h > k, because the
k=0
input impulses haven’t occurred, then:
The general 3-step procedure for finding PTFs is
∞
 as follows:
y(kT) = x(hT).g(kT − hT)
h=0 1. Obtain the overall transfer function G(s) be-
tween the samplers.
Taking the Z transform gives: 2. Determine the impulse response from g(t) =
L−1 {G(s)}.
∞  ∞
' (  
∞
y(z) = Z y(kT) = . x(hT).g(kT − hT).z−k 3. Evaluate the PTF from G(z) = g(kT).z−k .
k=0
k=0 h=0
 76.3 Worked Example No 1 631

76.3 Worked Example No 1 76.4 Limitations

Consider the system depicted in Figure 76.4. There are three important constraints:
1. The theory of PTFs is based upon the assump-
x(t) x* ( t ) K y( t ) y* ( t ) tion that the train of sampled pulses can be
T (s + a) . (s + b) T adequately represented by a train of weighted
impulses, the magnitude of each pulse being
Fig. 76.4 Second order system with sampled input and output
equal to the area under the corresponding im-
signals
pulse. This assumption is only valid if the pulse
width t is small relative to the sampling period
Between the samplers:
T which is itself small relative to the dominant
K time constants of the system.
G(s) =
(s + a) (s + b) 2. The output y(z) = G(z).x(z) only specifies the
  values of y(t) at the sampling instants and does
K 1 1
= − not contain any information about y(t) in be-
(b − a) (s + a) (s + b)
tween sampling instants.
Inverse Laplace transform: 3. The transfer function G(s) of the continuous
part of the system must have at least two more
K −at

poles than zeros, otherwise the response ob-

g(t) = e − e−bt
(b − a) tained y(t) may be incorrect.
Z transform: The latter point may be demonstrated by consid-
∞ ering the response of the continuous first order
 K −akT

G(z) = e − e−bkT .z−k system depicted in Figure 76.5.

k=0
(b − a)

However: x(t ) 1 y( t )
∞ s +1

e−akT .z−k = 1 + e−aT z−1 + e−2aT z−2 Fig. 76.5 A continuous first order system
k=0 + e−3aT z−3 + . . .

= 1 + e−aT z−1 1 + e−aT z−1 + e−2aT z−2 + . . . 1

If x(t) = 1, i.e. x(s) = , then
∞ s
= 1 + e−aT z−1 e−akT .z−k 1
k=0 y(s) = G(s).x(s) =
s (s + 1)
Hence: and y(t) = 1 − e−t .
∞
 The response y(t) is the continuous curve of
1
e−akT .z−k = Figure 76.7.
1− e−aT .z−1
k=0 Now consider the same first order system with
Substituting back into G(z) gives: samplers, as depicted in Figure 76.6.
 
K 1 1
G(z) = − x(t ) x* ( t ) 1 y( t ) y* ( t )
(b − a) 1 − e−aT z−1 1 − e−bT z−1

T s +1 T
K z. e−aT − e−bT
= .

Fig. 76.6 First order system with sampled input and output
(b − a) z − e−aT z − e−bT
signals
 632 76 Sampled Data Systems

1
If x(t) = 1, i.e. x(s) =
, then x(z) =
z
. 76.5 Cascaded Elements
s z−1
It is important to appreciate that, in general, the
1 z
If G(s) = then G(z) = . position of the samplers makes a big difference to
s+1 z − e−T the PTF. Consider the two systems depicted in Fig-
2
z
Thus y(z) = G(z).x(z) =
. ures 76.8 and 76.9.
(z − 1) z − e−T
Suppose that T = 1, in which case: u(t )
G1 (s)
x(t )
G2 (s)
y( t )
T T T
2
z Fig. 76.8 Input and output sampling of both elements in series
y(z) =
z2 − 1.368z + 0.368
1 By inspection:
=
1 − 1.368z + 0.368z−2
−1
y(z) = G2 (z).x(z) = G2 (z).G1 (z).u(z)
= 1 + 1.368z−1 + 1.504z−2 + 1.554z−3
+ ...
u(t ) x(t) y( t )
G1 (s) G 2 (s)
However, by definition: T T

Fig. 76.9 Elements in series without intermediate sampling

y(z) = y(0) + y(1)z−1 + y(2)z−2 + y(3)z−3 + . . .
Applying the 3-step procedure:
The corresponding response y(k) is approximated
by the broken curve of Figure 76.7. y(s) = G2(s).G1 (s).u ∗ (s)

Thus:
y(t)
' ' ((
y(z) = Z L−1 G2(s).G1 (s).u ∗ (s)
= G2 G1(z).u(z)
1.0 where:
' (
G2 G1(z) = Z L−1 {G2(s).G1 (s)} (76.7)
= G2 G∗1 (s)
t
0 1 2 3
Fig. 76.7 Inconsistent responses to the same step input 1 − e −Ts
Ke −Ts (a)
T s
The basic input x(t) was the same in both cases but,
in the case of the sampled data system, it was bro- 1 − e −Ts
ken up by virtue of the sampling process. Thus the Ke −Ts (b)
T s
sampled data system was not forced by as strong an
input signal as the continuous system, so its output
1 − e −Ts
signal should be weaker. The Z transform analysis Ke −Ts (c)
suggests otherwise, which is clearly inconsistent.
T T s

Fig. 76.10 Time delay and hold device synchronous with sam-
pling period
 76.6 Worked Example No 2 633

The only obvious exception to this involves combi- r(t) e( t ) e* ( t ) y( t )

nations of time delays and hold devices which are G (s)
+ T
synchronous with the sampling period. The classic -
example of such is an on-line analyser, as depicted
in Figure 76.10. m( t )
H (s)
All three combinations have the identical PTF:
G(z) = K.z−1 . Fig. 76.12 Closed loop system with sampled error signal

For the comparator:

76.6 Worked Example No 2 e(t) = r(t) − m(t)

Consider the system comprising two elements in Using the summation property of Z transforms:
series as depicted in Figure 76.11.
e(z) = r(z) − m(z)

1 − e −s 1 A useful trick in sampled data systems analysis

T s s(s + 1) T
is to introduce imaginary samplers as depicted in
Figure 76.13.
Fig. 76.11 Sampler, hold and second order system in series
y* ( t )
Their combined transfer function is: e* ( t )
T
r(t) e( t )
G (s)
1−e −s + T y( t )
G(s) = -
s2 .(s
+ 1)
m( t )
whence: H (s)
2 2 33 *
m (t)

1
G(z) = 1 − z−1 .Z L−1 2 T
s .(s + 1)
2 2 33 Fig. 76.13 Introduction of imaginary samplers

1 1 1
= 1 − z .Z L
−1 −1
− +
s2 s s + 1 Thus, although the feedback signal m(t) is not
physically sampled, the sampled signal m∗ (t) may
Assuming a sampling period of 1 s:
be considered. Likewise for the output y(t). Using
 

z z z block diagram algebra techniques:
G(z) = 1 − z .
−1
− +
(z − 1)2 (z − 1) (z − e−1 ) m(z) = HG(z).e(z)
z+e−2
= 2 whence:
ez − (e + 1).z + 1
e(z) = r(z) − HG(z).e(z)
Substituting for e gives:
1
= .r(z)
z + 0.718 1 + HG(z)
G(z) =
2.718.z2 − 3.718.z + 1 Thus:
y(z) = G(z).e(z)
76.7 Closed Loop Systems =
G(z)
.r(z) = F(z).r(z)
Consider the system depicted in Figure 76.12 in 1 + HG(z)
which the error signal only is sampled. which may be depicted as in Figure 76.14.
 634 76 Sampled Data Systems

r (z) y( z ) cause, of the three samplers, it is the only one that

F(z)
produces a continuous analogue signal.
In many texts a digital controller is represented
Fig. 76.14 Closed loop pulse transfer function
as depicted in Figure 76.16. This is functionally
Here F(z) is the closed loop PTF. For a given F(z) equivalent to Figure 76.15.
and r(z) the value of y(z) may be determined, the
r (s ) e(s) u (s) y(s)
inverse of which yields the response y(t) at the sam- C(s) P(s)
pling instants only. + T T
-
m(s)
76.8 Equivalent H (s)

Representations Fig. 76.16 Functionally equivalent representation of sampled

data controller
The sampled data representation of digital con-
trollers, whether they are single loop controllers
or realised by means of a DCS, PLC or whatever, 76.9 Worked Example No 3
is a source of much confusion. They are correctly
depicted as shown in Figure 76.15. Find the closed loop PTF for the system depicted
in Figures 76.16. Starting with the output of the
r (s ) e * (s) u (s) y(s) digital controller:
C(s) P(s)
T + T
- u(z) = C(z).e(z)
m(s) H (s) However:
T
e(z) = r(z) − m(z)
Fig. 76.15 Representation of a sampled data controller within a whence:
feedback loop
u(z) = C(z).r(z) − C(z).m(z).
The comparator and controller are algorithms op-
erating on values in the database. There are three Assuming an imaginary sampler on the measure-
samplers, each with the same sampling period. The ment m(s) gives
samplers are synchronised with the execution of m(z) = HP(z).u(z)
the algorithms,the sampling period being the same
as the step length for numerical integration. The whence:
feedback sampler is real in the sense that the mea- u(z) = C(z).r(z) − C(z)HP(z).u(z)
surement signal m(t) is analogue and has to be C(z)
physically sampled to provide an input value for = .r(z)
1 + C(z).HP(z)
the database. The set point sampler is virtual in
the sense that the set point value has to be ex- Assuming another imaginary sampler on the out-
tracted from the database. The output sampler is put signal y(s) gives:
also virtual in the sense that the algorithm output y(z) = P(z).u(z)
has to be extracted from the database and routed P(z).C(z)
through to the D/A converter. Strictly speaking, = .r(z)
1 + C(z).HP(z)
the output channel hardware devices, such as the
D/A converter and zero order hold, are part of the whence the closed loop PTF:
plant/process transfer function P(s). Note that the y(z) P(z).C(z)
only sampler which has a hold device associated G(z) = = (76.8)
r(z) 1 + C(z).HP(z)
with it is that in the output channel. That is be-
 76.10 Implicit Input Signals 635

76.10 Implicit Input Signals r(t) e( t ) G (s)

Note that the closed loop PTF cannot always be iso-
lated from the input signal as can be demonstrated
for the system shown in Figure 76.17 which cor-
responds to a conventional analogue control loop
with an analyser in the feedback path.
y(s) = G(s).e(s)
= G(s).r(s) − G(s).H(s).y ∗ (s)
' (
y(t) = L−1 {G(s).r(s)} − L−1 G(s).H(s).y ∗ (s)
' (
y(z) = Z L−1 {G(s).r(s)}
' ' ((
− Z L−1 G(s).H(s).y ∗ (s)
= GR(z) − GH(z).y(z)
GR(z)
= practice.
1 + GH(z)
y( t )
+
-
m( t ) y* ( t )
H (s)
T
Fig. 76.17 System with implicit input in closed loop pulse trans-
fer function
Because sampled data systems contain both sam-
pled and continuous signals, the system equations
often contain both sampled and continuous ver-
sions of the same signal. This means that analyti-
cal solutions can be difficult to obtain. There is no
general procedure for finding closed loop PTFs,the
most appropriate substitutions are learned with