Lecture 6

Digital control engineering

Example
Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College

of Engineering/ Misan University
Control Engineering
Fourth Year
• Example: Figure below shows a digital control system. When the
controller gain K is unity, and the sampling time is 0.5 seconds,
determine
a) the open-loop pulse transfer function.
b) the closed-loop pulse transfer function.
c) the steady state value of output system.
• If the plant equation is 1/s(s+1)

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• Solution: the block diagram of the system is shown in figure
below:

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• Now the equation coefficients are”

• Sub. Those values :

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b) The close loop transfer function is calculated by :

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• c) We can get the steady state value of output system by using final
value theorem:

• Now:

• Hence, there is not steady state error.

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