Lecture 9:

Digital Control Systems – part 1

Modern Control Theory (EPE 619)
Dr. Ala A. Hussein
Introduction
• Advantages of Digital Computers
– Inexpensive
– Flexible design
– Noise immunity
• Digital computer, or digital controller, in a
digital control system is equivalent to a
compensator in an analog control system
Introduction
Introduction
• Digital-to-Analog Conversion (D/A)
Introduction
• Analog-to-Digital Conversion (A/D)
The A/D block acts as
follows: first it samples the
analog input, and then it
holds the sampled signal
to the next sampling
interval
(Qerror)max= (1/2)(M/2n)=M/2n+1

M: max. analog voltage

n: number of bits

In Fig. 13 (b):
(Qerror)max=M/16
Modeling the Sampler

s(t) = sampling function

k: integer between –inf and inf

Tw: pulse width

T: sampling interval
Modeling the Sampler
• Finding the Laplace transform of eq. (13.1) is
not easy since f(t) is a product of two time
functions
• For simplicity, let us assume Tw<<T such that
f(t) can be considered constant during the
sampling interval, i.e. f(t)=f(kT)
• Now, eq. (13.1) can be approximated to
Modeling the Sampler
• Converting eq. (13.2) to s-domain, we get

• Converting eq. (13.5) to time domain

• For an ideal sampler, Tw = 1

Modeling the Sampler
Modeling the Zero-Order-Hold (ZOH)

• The transfer function of the ZOH is

Z-Transform
• The effect of sampling within a system is clear.
• Whereas the stability and transient response of
analog systems depend upon gain and
component values, sampled-data system stability
and transient response also depend upon
sampling rate.
• Our goal is to develop a transform that contains
the information of sampling from which sampled-
data systems can be modeled with transfer
functions, analyzed, and designed with the ease
and insight we had with the Laplace transform.
Z-Transform
…Cont’d Example 13.1
Z-Transform
Inverse Z-Transform
Note:
Example 13.3

Note:
 Transfer Functions

Phantom means unreal

(imaginary)
Transfer Functions
…Cont’d Example 13.4