CONTROL 2 + DIGITAL CONTROL

By
Dr. Shahira El-feky
 Sampling
Make a analog signal to be a discrete signal Sampling period T— the time interval of the
signal sampling: T = ti+1 － ti .
x(t) —analog signal ==X(s).
x(t)
x*(t)
x*(t) —discrete signal == X*(s) == X(Z) . x(t)
Ideal sampling switch —sampler

Sampler —the device which fulfill the sampling.

t
0 t t t t t t
Another name —the sampling switch — which works like a switch 1 2 3 4 5 6

T
x(t) x*(t) Fig1 signal sampling

t t
0 0

Fig 2 sampling switch s  2max or Ts  2T max

 IMPULSE SAMPLING AND DATA HOLD
Impulse Sampling
• A sampler
• The output of the sampler is a train of impulses. 
 T (t )    (t  kT )
k 0


x (t )   x(kT ) (t  kT )
*

k 0

x* (t )  x(0) (t )  x(T ) (t  T )    x(kT ) (t  kT )  

THE PULSE TRANSFER FUNCTION
Y ( z)
G( z) 
R( z )
General Procedures for Obtaining Pulse Transfer Functions

 G ( z )  Z G ( s )
Y ( z)
X ( z)

Y ( s)  G( s) X * ( s) Y * ( s)  G* ( s) X * ( s) Y ( z)  G( z) X ( z)

Y (s)
 G(s)
X (s)

Y * (s)  G(s) X (s)  GX (s)

* *

Y ( z )  Z Y ( s )  Z G ( s ) X ( s )  Z GX ( s )  GX ( z )  G ( z ) X ( z )
 Pulse Transfer Function of Cascaded Elements

U ( s)  G( s) X * ( s), Y ( s)  H ( s)U * ( s)

U * (s)  G* (s) X * (s), Y * (s)  H * (s)U * (s)

Y * (s)  H * (s)U * (s)  H * ( s)G* ( s) X * (s)
Y ( z)
Y ( z)  G( z) H ( z) X ( z)  G( z) H ( z)
X ( z)

Y ( s)  G(s) H ( s) X * (s)  GH (s) X * ( s)

Y * (s)  GH (s) X * (s)
*

Y ( z )  GH ( z ) X ( z )

 GH ( z )  Z GH ( s ) Note that

Y ( z)
G( z ) H ( z )  GH ( z )  Z GH ( s)
X ( z)
 THE PULSE TRANSFER FUNCTION
Pulse Transfer Function of Closed-Loop Systems

E ( s)  R( s)  H ( s)C ( s)
C ( s)  G( s) E * ( s)
E ( s)  R( s)  H (s)G(s) E * (s)
R* ( s)
E (s)  R (s)  GH (s) E (s)
* * * *
E ( s) 
*

1  GH * ( s)
C * ( s)  G* ( s) E * ( s)

G * ( s) R* ( s) G ( z ) R( z ) C ( z) G( z)
C (s) 
* C ( z)  
1  GH * ( s) 1  GH ( z ) R( z ) 1  GH ( z )
Five typical configurations for closed-loop discrete-time control systems

r c
 GH ( z )  Z G( s ) H ( s )
G(s) R( z )G( z )
－ C(z) 
H(s)
1  GH ( z )

 RG( z )  Z R( s )G( s )

r c RG( z )
G(s) C(z) 
－ 1  GH ( z )
H(s)
r c R( z )G ( z )
G(s) C(z) 
－ 1  G( z ) H ( z )
H(s)
r c RG1 ( z )G2 ( z )
－
G1(s) G2(s) C(z) 
1 G1G2 H ( z )
H(s)

r c R( z )G1( z )G2 ( z )
－
G1(s) G2(s) C(z) 
1 G1( z )G2 H ( z )
H(s)
SHEET 2: PROVE THE PULSE TRANSFER FUNCTION OF THE FOLLOWING:

r G1(s) c
G2(s) G3(s)
－
H(s) RG1 ( z )G2 ( z )G3 ( z )
C ( z) 
1  G2 ( z )G3 ( z )G1 H ( z )
r c
G1(s) G2(s)
－ －
H1(s)
H2(s) R( z )G1 ( z )G2 ( z )
C (z) 
1  G2 H1 ( z )  G1 ( z )G2 H 2 ( z )
r c
G1(s) G2(s) G3(s)
－ －
H1(s)
H2(s)
RG1 ( z )G2 ( z )G3 ( z )
C(z) 
1  G2 ( z )G3 H1 ( z )  G2 ( z )G1G3 H 2 ( z )
For the system shown. If the sampling period T=0.4 sec.
Determine the response C(kT) when the input r(t) is a unit -step function. Find C (0), C (1) and C (2).
SHEET2