Lecture-4

Discrete Time Modeling

(Part-i)

Nebiyu Tenaye
Addis Ababa University
Addis Ababa Institute of Technology
School of Electrical & Computer Engineering

Digital Control Systems

ECEG-5352
November 21, 2018
Nebiyu Tenaye (AAiT/SECE) Lecture-4 November 21, 2018 1 / 23
 Overview

Overview

1 Overview

2 Objective

3 Discrete-time System Modeling

Sampled Impulse Response
Transfer Function of ZOH/Latch
Discrete-time System Model
Examples

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 Objective

Lecture Objectives

In this lecture you will learn the following:

The discrete time transfer function,
Sampled response of DTS, and
The transfer function of ZOH.

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 Discrete-time System Modeling

Discrete-time System Modeling

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 Discrete-time System Modeling

Assumptions in Digital Systems Modeling

A/D and D/A conversions are non-linear operations:

Such converters cause a major difficulty in developing mathematical
models in discrete-time domain.
For the sake of convenience, these elements embedded inside the
I/O interfaces are ignored.
Implies the use of high-resolution converters in the actual control
system.
Thus, only latch (i.e. zero-order hold) and sampler are taken into
consideration.

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 Discrete-time System Modeling Sampled Impulse Response

Sampled Impulse Response

In Laplace domain:

X(s) = L{δ(t)} = 1

where G(s) is the transfer function of LTI system Hence:

Y (s) = G(s)X(s) = G(s) · 1 = G(s)
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 Discrete-time System Modeling Sampled Impulse Response

Note that y(t) = g(t) = L−1 {G(s)}

y ∗ (t) = g(0) · δ(t) + g(T ) · δ(t − T ) + g(2T ) · δ(t − 2T )

+ · · · + g(kT ) · δ(t − kT ) + · · ·

Similarly, Y ∗ (s) = L{y ∗ (t)}g(0) + g(T )e−sT + g(2T )e−s2T + · · ·

Z-transform of the sampled impulse response y ∗ (t) becomes:
∞
∧
X
−1 −2
Y (z) = g(0) + g(T )z + g(2T )z + ··· = g(kT )z −k = G(z)
k=0

where G(z) is called the discrete-time transfer function of the

system.

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 Discrete-time System Modeling Sampled Impulse Response

Sampled Response to an Impulse Sequence

Superposition principle allows us to determine the overall response

as a summation of individual impulse responses. For instance,
when x(0)δ(t) is applied alone, the corresponding output becomes:

y0∗ (t) = g(0)x(0)δ(t) + g(T )x(0)δ(t − T ) + · · ·

∴ Y0 (z) = G(z) · x(0)

Likewise, the response to x(T )δ(t − T ) is:

Y1 (s) = G(s)[x(T ) · e−sT · 1]
| {z }
delayed impulse
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 Discrete-time System Modeling Sampled Impulse Response

Response to a Sequence

y1 (t) = L−1 {x(T )e−sT G(s)} = x(T )g(t − T )

where g(t) = L−1 {G(s)}. Therefore, the sampled time-function is:
0 by definition
z }| {
y1∗ (t) = g(−T ) ·x(T ) · δ(T ) + g(0)x(T )δ(t − T )
∞
X
+ g(T )x(T )δ(t − 2T ) + · · · = x(T ) g(kT )z −k z −1
|k=0 {z }
G(z)

Y1 (z) = 0z −0 + g(0)x(T )z −1 + · · ·

∴ Y1 (z) = G(z) · x(T ) · z −1

Similarly, Y2 (z) = G(z) · x(T ) · z −2 and so on ...

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 Discrete-time System Modeling Sampled Impulse Response

Overall Response

Yz = Y0 (z) + Y1 (z) + · · ·
= G(z) [x(0) + x(T )z −1 + x(2T )z −2 + · · · ]
| {z }
Z{x(kT )}=X(z)

Y (z) = G(z) · X(z)

Y (z)
∴ G(z) =
X(z)

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 Discrete-time System Modeling Transfer Function of ZOH/Latch

Transfer Function of ZOH/Latch

Delayed by Delayed by
the step kT the step (k + 1)T
x(kT ) −skT x(kT ) −skT x(kT ) −s(k+1)T
s e (1 − e−sT ) = s e - s e
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 Discrete-time System Modeling Transfer Function of ZOH/Latch

Input function is the delayed impulse with a magnitude of x(kT ):

X(s) = x(kT ) · 1 · e−skT

Similarly, the output function becomes:

x(kT ) −skT
Y (s) = ·e (1 − e−sT )
s

Y (s)
Since Gzoh (s) =
X(s)

1 − e−sT
Gzoh (s) =
s

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 Discrete-time System Modeling Discrete-time System Model

Discrete-time System Model

B(z)
= G(z) = Z{Gzoh (s) · G1 (s) · G2 (s)H(s)}
M (z)
1 − e−sT 1 − z −1
Since Gzoh (s) = =
s s
Using the third property of Z-transforms yields
 
−1 G1 (s) · G2 (s) · H(s)
G(z) = (1 − z )Z
s
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 Discrete-time System Modeling Discrete-time System Model

Overall System Model

B(z) Gc (z)G(z)
=
R(z) 1 + Gc (z)G(z)

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 Discrete-time System Modeling Discrete-time System Model

Operators/Complex Variables

Continuous time:
Laplace Domain Time Domain Physical Meaning
s D operator R d/dt (derivative)
1/s 1/D dt (integration time)

Discrete time:
z Domain Time Domain Physical Meaning
z −1 q −1 unit delay (delay by T)

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 Discrete-time System Modeling Examples

Example (1)

Consider the sports car shown.

a) Develop a (simplified) equation of motion.
b) Derive the corresponding CCDE.
c) Simulate its response for a constant throttle.

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 Discrete-time System Modeling Examples

Example (1)
Part (a) – Differential Equation

Ignoring rolling friction along with the cross-wind drag gives:

dv X
M = f = fe − fw
dt
Assume that fw = C · v
fe = Ke α
where α is throttle angle; Ke is engine constant.
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 Discrete-time System Modeling Examples

Example (1)
Part (b) – Transfer Function
dv
Hence M + Cv = Ke α
dt
Laplace transform of this ordinary differential equation becomes

(M s + C)V (s) = Ke A(s)

where V (s) ≡ L{v(t)} and A(s) ≡ L{α(t)}. Therefore, the transfer

function is:
V (s) Ke
=
A(s) Ms + C

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 Discrete-time System Modeling Examples

Example (1)
Part (c) – Discrete-time Model

 a

 z}|{ 
C

 
 −CT /M −1
V (z) 1 − z −1 V (z) Ke (1−e )z
A(z) =Z s
· KCe · M
s+ M C
⇒ A(z) = C ·
(1 − −1
Z)
) (1−e−CT /M z −1 )
−1
(1−z
  
|
 {z } | {z } 

zoh P rocess

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 Discrete-time System Modeling Examples

Example (1)
Part (c) – Continued ... ...

V (z) Ke
C (1 − e−CT /M )z −1
= where a1 ≡ e−CT /M and b1 ≡ Ke
C (1 − α1 )
A(z) 1 − e−CT /M z −1

The corresponding CCDE is obtained by substituting

z −1 ← q −1 ; V (z) ← v(k); A(z) ← α(k)

v(k) b1 q −1
Hence = ⇒ v(k)(1 − α1 q −1 ) = b1 q −1 α(k)
α(k) 1 − α1 q −1

∴ v(k) = α1 v(k − 1) + b1 α(k − 1)

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 Discrete-time System Modeling Examples

Example (1)
Part (d) – The Response

Let a1 = 0.99; b1 = 1; α(k) = 0.1

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 Discrete-time System Modeling Examples

Example (1)
Part (d) – Continued

One can easily compute this response with Matlab:

>> alpha = 0.1∗ ones (700 ,1) ;
>> A = [1 −0.99]; B = [0 1 ] ;
>> v = f i l t e r (B, A, a l p h a ) ;
>> stem ( v )
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 Questions?

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