Digital Control Systems

Sampling and Reconstruction

Lectrue-4
SZABIST, Karachi

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 Sampling and Reconstruction
Laplace Transform of Ideal Sampler
• Digital control systems are a mixture of discrete-time
and continuous-time components.
• We begin by looking at the sampling and
reconstruction (A2D, D2A) operations from a
continuous-time point of view.
• Consider a simple unity-gain feedback digital control
system with proportional controller having unity
gain.

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 Sampling and Reconstruction
• Every T seconds, the sampler records x(kT). The
controller multiplies this value by 1. The D2A outputs
this value for the entire sample period. i.e., it “holds”
the value.

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Evaluation of E*(s)

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Example: Find E*(s) with T=0.5

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 Examples
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E (s) 
( s  5)( s  10)

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E (s) 
( s  0.5)( s  0.2)

e 5 s
E (s) 
( s  10)( s  20)

e 2 s
E (s) 
( s  0.1)( s  0.2)
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 Final Value Theorem
Just as with Laplace transforms, the Final Value
Theorem is very useful for determining steady state
errors in discrete-time control systems. If we assume
g(k) is causal, and all poles of G(z) are inside the unit
circle, then

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Example-1

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Example-2

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 Example-3
Finding steady-state error to the unit step input:
Y ( z) z  0.5
 2
U ( z ) z  0.6 z  0.3
z  0.5
Y ( z)  2 U ( z)
z  0.6 z  0.3
z  0.5 z
Y ( z)  2
z  0.6 z  0.3 z  1
z 1 z 1 z  0.5 z
lim Y ( z) 
z 1 z z z 2  0.6 z  0.3 z  1
z 1 z  0.5
lim Y ( z )  lim 2  2.14
z 1 z z 1 z  0.6 z  0.3 15
 Initial Value Theorem
Just as with Laplace transforms, the Initial Value
Theorem for z-transforms is very useful for determining
the initial required control effort for different types of
controllers. The Initial Value Theorem states that if the
limits exist, then

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Example-4

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Second order System

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Example-5

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Practice Problem
0.1z  0.2
G( z) 
( z  0.5  0.7i )

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