Digital Control Systems

EP-5511
4-3-3-1

By
Belaynesh Belachew (capt.)
Defence Engineering College

Apr. . 2022
 General Content
 Discrete Time Control System
 Z-Transformation
 Z-Plane Analysis
 Design of Discrete Time Control System
 State Space Analysis
 Pole Placement
 Observer Design

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 INTRODUCTION TO DISCRETE-TIME
CONTROL SYSTEM
Lecture-1
Introduction

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 Introduction
Signals can be classified as continuous-time and
discrete-time. A continuous time signal is defined for
all time, where as a discrete time signal is defined
only at discrete instant of time.
Similarly, systems are classified as analog and digital.
Analog systems are exited by continuous time
signals and generate continuous time signals as
output. The input and output of digital systems are
discrete time signals, or sequences of numbers.
A system with analog input & digital output or vice
versa can be modeled as either analog or digital
system, depending on convenience of analysis and
design.
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 Continued
Continuous Controller

Digital Controller

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 Continued
Signal categories for identifying control system types
Continuous-time signal is defined continuously in the
time domain, represented by x(t).
Quantized signal is a signal
whose amplitudes are
discrete and limited.
Analog signal or continuous
signal is continuous in time
and in amplitude. The real
word consists of analog
signals.
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 Continued
Sampled-data signal is a discrete-time signal resulting
by sampling a continuous-time signal, represented
by x∗(t).
Discrete-time signal is
defined only at certain time
instants. For a discrete-
time signal, the amplitude
between two consecutive y(k)
time instants is just not
defined, represented by
y(kh), or simply y(k),
where k is an integer and h
7 is the time interval.
 Continued
Digital signal or a binary coded data signal is a
sequence of binary numbers. In or out from a
microprocessor, a semiconductor memory, or a shift
register.

In practice, a digital signal, as

shown is derived by two
processes: sampling and
then quantizing.
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 Continued
Mathematical comparison between analog and digital
control systems
Analytical Model
System Frequency
Time Domain
Domain
Differential Laplace transfer S-plane analysis and
Continuous equations or (s-transfer) design techniques
state-space function (Routh-Hurwitz
-time equations stability criterion, root
Systems locus techniques, Bode
plot, etc.)
Difference Impulse transfer z-plane analysis and
Discrete- equations or (z-transfer) design techniques (Jury
Time discrete time function stability test, modified
Systems state-space root locus techniques,
9 equations etc.)
 Digital Control Systems
Digital controls are used for achieving optimal
performance-for example, in the form of maximum
productivity, maximum profit, minimum cost, or
minimum energy use.

Structure of a Digital Control System

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 Continued
Analog electronics can integrate and differentiate
signals. In order for a digital computer to accomplish
these tasks, the differential equations describing
compensation must be approximated by reducing
them to algebraic equations involving addition,
division, and multiplication.
A digital computer may serve as a compensator or
controller in a feedback control system. Since the
computer receives data only at specific intervals, it is
necessary to develop a method for describing and
analyzing the performance of computer control
systems.
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 Continued
The computer system uses data sampled at prescribed
intervals, resulting in a series of signals. These time
series, called sampled data, can be transformed to
the s-domain, and then to the z-domain by the
relation z = esT.
Digital control offers distinct advantages over analog
control that explain its popularity.
Accuracy: Digital signals are more accurate than their
analogue counterparts.
Implementation Errors: Implementation errors are
negligible.
Flexibility: Modification of a digital controller is
12 possible without complete replacement.
 Continued
Speed: Digital computers may yield superior
performance at very fast speeds.
Cost: Digital controllers are more economical than
analogue controllers.
Advantages and Disadvantages
• Improved sensitivity. • Develop complex math
• Use digital algorithms.
components. • Lose information during
• Control algorithms conversions due to
easily modified. technical problems.
• Many systems • Most signals continuous in
inherently are digital. nature.
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 Continued
The difference between the continuous and digital
systems is that the digital system operates on
samples of the sensed plant rather than the
continuous signal and that the control provided by
the digital controller must be generated by algebraic
equations.
In this regard, consider the action of the analog-to-
digital converter on the signal. This device samples a
physical signal, mostly voltage, and convert it to
binary number that usually consists of 10 to 16 bits.
Conversion from the analog signal y(t) to the samples
y(kT), occurs repeatedly at instants of time T
14 seconds apart.
 Continued
A system having both discrete and continuous signals is
called sampled data system.
The sample rate required depends on the closed-loop
bandwidth of the system.
Generally, sample rates should be about 20 times the
bandwidth or faster in order to assure that the digital
controller will match the performance of the
continuous controller.
The loop (forward and feedback) contains both analog
and digital signals, must provide a means for
conversion from one form to other to be used by
each subsystem.
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 Continued
Analog-to-Digital Converter(ADC): A device that
converts analog signal to digital signal.
ADC is not instantaneous and needs two-step process.
There is a delay between the analog input voltage
and the output digital word.
In ADC, the analog signal is first converted to a
sampled signal and then converted to a sequence of
binary numbers, the digital signal.

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 Continued
Digital Analog Converter(DAC): A device that
converts digital signals to analog signals.
From the binary number each bit is properly weighted
voltages and are summed together to yield analogue
output.

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 Applications of Digital Control System

Most control systems today use digital computers

(usually microprocessors) to implement the
controlling actions.
Some applications are:
• Machine Tools
• Metal Working Processes
• Chemical Processes
• Aircraft Control
• Automobile Traffic Control
• Automobile Air-Fuel Ratio
• Medical, etc.
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 Continued

Closed-Loop
Drug Delivery
System

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 Continued

Turbojet Engine
Aircraft

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 Quantizing and Quantization error
The main functions involved in analog-to-digital conversion
are sampling, amplitude quantizing, and coding.
The process of representing a continuous or analog signal by
a finite number of discrete state is called amplitude
quantization.
That is, “quantizing” means transforming a continuous or
analog signal into a set of discrete states.
The output state of each quantized sample is then described
by a numerical code.
The process of representing a sample value by a numerical
code is called encoding or coding.
Thus, encoding is the process of assigning a digital word or
code to each discrete state.
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 Continued
The sampling period and quantizing levels affect the
performance of digital control systems.
Quantizing: the standard number system used for
processing digital signal is the binary number system.
In this system the code group consists of n pulses each
indicating either “on” (1) or “off” (0).
In the case of quantizing, n “on-off” pulses can represent 2n
amplitude levels or output states.
The quantization level Q is defined as the range between
two adjacent decision points and is given by
Where the FSR is full-scale range
The least significant bit is the quantization level Q.

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 Continued
Quantization Error: since the number of bits in the
digital word is finite, A/D conversion results in a
finite resolution.
That is, the digital output can assume only a finite
number of levels, and therefore must be rounded off
to the nearest digital level.
Hence, any A/D conversion involves quantization error.
Such quantization error varies between 0 and ±½Q.
This error depends on the fineness of the quantization
level and can be made as small as described by
making the quantization level smaller.
The uncertainty present in the quantization process is
23 called quantization noise.
 Continued
Block diagram of a quantizer and its
input-output characteristics, and
analog input x(t) and discrete output
y(t)

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 Continued
To determine the desired size of the quantization level
in a given digital control system, the engineer must
have a good understanding of the relationship
between the size of the quantization level and
resulting error.
Since the quantizing process is an approximating
process in that the analog quantity is approximated
by a finite digital number, the quantization error is a
round-off error.
The quantization error e(t) is the difference between the
analog input signal x(t) and the discrete output y(t).
e(t)=x(t)-y(t)
The magnitude of the quantized error is 25
 Sampler and Impulse Train
Sample-and-Hold Circuit: A sampler in a digital
system converts an analog signal in to a train of
amplitude-modulated pulses.
The hold circuit holds the value of the sampled pulse
signal over a specified period of time.
The sample-and-hold is necessary in the A/D converter
to produce a number that accurately represents the
input signal at the sampling instant.
Mathematically, the sampling operation and holding
operation are modeled separately.
The sample-and-hold operation is controlled by a
periodic clock.
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 Differential vs Difference Equations
A differential equation expresses the change in some
variable as a result of an infinitesimal change in
another variable.
A difference equation expresses the change in some
variable as a result of a finite change in another
variable.
Differential Equation: for the mass-spring-damper-
system below,
Where y is position, F is applied force
D is damping constant and K is spring
constant.
𝐹 𝑡 = 𝑚𝑦 𝑡 + 𝐷𝑦 𝑡 + 𝐾𝑦(𝑡)
1 𝐷 𝐾
𝑦 𝑡 = 𝐹 𝑡 − 𝑦 𝑡 27
𝑦(𝑡)
𝑚 𝑚 𝑚
 Continued
Difference equations arise in problems where the
independent variable, usually time, is assumed to
have a discrete set of possible values.
𝑦 𝑘 + 𝑛 + 𝑎𝑛−1 𝑦 𝑘 + 𝑛 − 1 + ⋯ + 𝑎1 𝑦 𝑘 + 1 + 𝑎0 𝑦 𝑘
= 𝑏𝑛 𝑢 𝑘 + 𝑛 + 𝑏𝑛−1 𝑢 𝑘 + 𝑛 − 1 + ⋯ + 𝑏1 𝑢 𝑘 + 1 + 𝑏0 𝑢 𝑘
Where coefficients 𝑎𝑛−1, 𝑎𝑛−2,… and 𝑏𝑛, 𝑏𝑛−1,… are
constant.
𝑢(𝑘) is forcing function
Examples
1. 𝑦 𝑘 + 2 + 0.8𝑦 𝑘 + 1 + 0.07𝑦 𝑘 = 𝑢 𝑘
2. 𝑦 𝑘 + 4 + sin⁡(0.4𝑘)𝑦 𝑘 + 1 + 0.3𝑦 𝑘 = 0
3. 𝑦 𝑘 + 1 = −0.1𝑦 2 𝑘
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