EE480.

3 Digital Control Systems

Part 5. Analog and Digital Mixed Systems

Kunio Takaya
Electrical and Computer Engineering

University of Saskatchewan

February 1, 2010

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Contents

1 Open Loop Combined Analog/Digital Systems 5

2 Closed Looped Mixed Systems 10

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Sampling and Hold
We study how to express a mixed system consisting of analog and
digital blocks.

• Digital (discrete time) systems take discrete-time input E ? (s)

sampled by a Sampler.
• Analog (continuous time) systems may take continuous-time
input Ē(s) reconstructed by a Hold.

E(s) -Ts
E*(s) 1-e E(s)

T s

Note that E ? (s) is related to the impulse invariant z-transform,

and Ē(s) to the step invariant z-transform.

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Example of Digital/Analog mixed system

E(s) E(z) M(z) -Ts C(s) C*(s)

1-e E(s)
D(z) G(s)
T s T

Step Invariant z-Transform (transfer function)

m(kT ) = 2e(kT ) − e[(k − 1)T ] is input/output relationship of D(z).

1 1
G(s) = , and E(z) = −1
i.e. unit step input. Thus,
s+1 1−z
M (z) 2z − 1
D(z) = = 2 − z −1 =
E(z) z
The step invariant z-transform of G(s) is
 
1
G(z) = (1 − z −1 )Z
s(s + 1)

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 z−1 z(1 − e−T )
=
z (z − 1)(z − e−T )
1 − e−T
=
z − e−T
The sampled output C(z) is thus obtained as

1 − e−T z 2z − 1 −T 2z − 1
C(z) = = (1 − e )
z − e−T z − 1 z (z − 1)(z − e−T )
Finding the time domain sequence c(k) and to check its initial and
final value with the initial/final value theroem are left for your
excercise.

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1 Open Loop Combined Analog/Digital
Systems

Case 1.
X(z) -Ts Y(s) Y*(s)
1-e
D(z) G(s)
T s T
G(s)

Y (s) = Ḡ(s)D? (s)X ? (s)

Y ? (s) = Ḡ? (s)D? (s)X ? (s)

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Case 2.
X(s) X*(s) W(s) W*(s) Y(s) Y*(s)
G (s) G2(s)
1 T
T T

Y (s) = G2 (s)W ? (s) and W (s) = G1 (s)X ? (s)

? ?
Y (s)? = G2 (s)W ? (s) and W ? (s) = G1 (s)X ? (s)
? ?
?
Y (s) = G2 (s)G1 (s)X ? (s)

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Case 3.
X(s) X*(s) Y(s) Y*(s)
G (s) G2(s)
1 T
T

Y (s) = G2 (s)G1 (s)X ? (s)

Y (s)? = (G2 (s)G1 (s))? X ? (s)
Y (s)? = (G2 G1 )? (s)X ? (s)

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Case 4.
X(s) X*(s) Y(s) Y*(s)
ZOH G (s) G2(s)
T 1 T

Y (s)? = (G2 G1 ) ? (s)X ? (s)

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2 Closed Looped Mixed Systems

To derive closed loop transfer function in the starred form, the next
rules must be followed to successfully find the transfer function.

1. Write one equation for each variable before a sampler using the
variables after the sampler, and write another equation for
output.

2. Take the starred transform for all equations derived.

3. Eliminate those variables after a sampler, keeping only input

and output variables.

4. If a input variable cannot be separated as a single starred form,

use combined form with other transfer functions as a new
modified input.

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Case 1.
R(s) E(s) E*(s) C(s)
G(s)
+ - T

H(s)


E(s) = R(s) − G(s)H(s)E ? (s) 
C(s) = G(s)E ? (s) 

E ? (s) = R? (s) − (G(s)H(s))? E ? (s) 
C ? (s) = G(s) ? E ? (s) 

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 R? (s)

E ? (s) = 

1 + (G(s)H(s))?

G? (s)
C ? (s) = R? (s) 


1 + (G(s)H(s))?
Where,
(G(s)H(s))? = (G(s)H(s))? .

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Case 2.
R(s) C(s)
G(s)
+ - T

H(s)

C(s) = G(s)[R(s) − H(s)C ? (s)]

C ? (s) = (G(s)R(s))? − (G(s)H(s))? C ? (s)

? (G(s)R(s))? (GR)? (s)
C (s) = =
1 + (G(s)H(s)) ? 1 + (GH)? (s)
Where,
(G(s)H(s))? = (G(s)H(s))? .

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Mason’s Loop Rule

Transfer function from input to output T is given by

X
pk ∆ k
k
T = , where k is path number
∆
where, pk is path gain, ∆k is co-factor of path k, and ∆ is
determinant.

∆k = 1 − sum of all loop gains non-touching to k-th path

∆ = 1 − sum of all loop gains

+ sum of gain products of 2 non-touching loops
− sum of gain products of 3 non-touching loops · · ·

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Mason’s Loop Illustrated
G2 G3

G1 G4
R -H 2 -H 3
C

-H 6 -H 7
G G
5 8
G G
6 7

2
X
pk ∆ k
k=1
T =
∆
p1 = G 1 G 2 G 3 G 4 and p2 = G 5 G 6 G 7 G 8

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Let loop gains be,

L1 = −G2 H2 , L2 = −G3 H3 , L3 = −G6 H6 , L4 = −G7 H7 .

∆1 = 1 − (L3 + L4 ), ∆2 = 1 − (L1 + L2 )
∆ = 1 − (L1 + L2 + L3 + L4 ) + (L1 L3 + L1 L4 + L2 L3 + L2 L4 )
The overall transfer function is
G1 G2 G3 G4 (1 − (L3 + L4 )) + G5 G6 G7 G8 (1 − (L1 + L2 ))
T =
1 − (L1 + L2 + L3 + L4 ) + (L1 L3 + L1 L4 + L2 L3 + L2 L4 )

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Exercise: Find the closed loop transfer function from R(s)?
to C(s)? . Draw a signal flow graph after taking the starred
transform, then apply Mason’s rule.

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Example 1
X1 X * X2 X2* C(s)
R(s) 1
G (s) G (s)
+ 1 2
- T T

H(s)

R X1 X * X2 X 2* C
1

1 G1 G2

-H

R* X * X 2* C*
1 G 1* *
G2

1 *
-(G H)
2

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 
X1 =R− G2 HX2? 


X2 = G1 X1?


C = G2 X2?



X1? = R? − (G2 H)? X2? 


X2? = G?1 X1?


C? = G?2 X2?


Using Mason’s Loop Rule,

G?1 G?2 (1 − 0) G?1 G?2
T = ? =
?
1 − f−(G2 H) G1 g 1 + (G2 H)? G?1

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Example 2
R + C
G (s) G (s)
E1 T 1 + - 2 +
+ - E *
1

1
R E1 E * C
1 G1 G2

1 -1
-1


E1 =R−C 

C = E1 − G2 C + G1 G2 E1? 

Use the signal flow graph derived from the block diagram to find

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transfer functions from R and E1? .

E1 = T1 R + T2 E1?
1(1 − (−G2 )) 1 + G2
T1 = =
1 − (−1) − (−G2 ) 2 + G2
−G1 G2 (1 − 0) G1 G2
T2 = =−
1 − (−1) − (−G2 ) 2 + G2
C = T3 R + T4 E1?
1(1 − 0) 1
T3 = =
1 − (−1) − (−G2 ) 2 + G2
G1 G2 (1 − 0) G1 G2
T4 = =
1 − (−1) − (−G2 ) 2 + G2
1 + G2 G1 G2 ?

E1 = T1 R + T2 E1? = R− E1 

2 + G2 2 + G2
1 G1 G2 ?
C = T3 R + T4 E1? = R+ E1 

2 + G2 2 + G2

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  ?  ? 
1 + G2 G1 G2
E1? = R − E1?


 2 + G2 ?  2 + G2 ?

1 G1 G2
C? = R + E1? 


2 + G2 2 + G2
Eliminating variable E1? from this set of equations or applying
Mason’s loop rule again, we can find the output C ? as follows.
 ?
G1 G2
 ?  ?
R 2 + G2 1 + G2
C? = +  ? R
2 + G2 G1 G2 2 + G2
1+
2 + G2
 ?  ?
R 1 + G2
Two new variables, and R are newly
2 + G2 2 + G2
introduced to write C ? .

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Example 3 (Prob. 5-7 of textbook)

KG G G P2
1 D* ZOH P1
C
R* X* X C*
-1 1

-1

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Let G1 = GZOH Gp1 and G2 = GZOH GP 1 GP 2 .

X = −KG1 X ? + D? KG1 (R? − C ? )

C = −KG2 X ? + KD? G2 (R? − C ? )

Taking the starred transform of X,

X = −KG1 X ? + D? KG1 (R? − C ? )

X ? = −KG?1 X ? + D? KG?1 (R? − C ? )

(1 + KG?1 )X ? = D? KG?1 (R? − C ? )
? D? KG?1 ? ?
X = ? (R − C )
1 + KG1
Taking the starred transform of C,

C = −KG2 X ? + KD? G2 (R? − C ? )

C ? = −KG?2 X ? + KD? G?2 (R? − C ? )

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Combine X ? and C ? ,

? D? KG?1
C = −KG?2 (R ?
− C ?
) + KD ? ?
G 2 (R ?
− C ?
)
1 + KG?1

C ? [1 + KG?1 ] = −KG?2 D? KG?1 (R? −C ? )+KD? G?2 [1 + KG?1 ](R? −C ? )

C ? [1 + KG?1 ] = KD? G?2 (R? − C ? )
C ? [1 + KG?1 + KD? G?2 ] = KD? G?2 R?
? KD? G?2 ?
C = R
1 + KG?1 + KD? G?2

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