DISCRETE ANALYSIS AND DESIGN

Discrete Controller Design

In previous lectures, we obtained P*(z), the exact discrete model that relates
the samples of the continuous plant y(kT) to the input control sequence u(kT).
It is thus possible to design a digital controller C*(z) directly based on P*(z) so
that the resulting discrete closed-loop system satisfies the performance
specifications directly. Conceptually, this discrete analysis and design
procedure is essentially the same as that in the analysis and design of
continuous control system; in fact, almost all the same rules apply as
illustrated in the following example. The details will be covered in the
graduate level Digital Control course.
Discrete Analysis of Designs
In summary, all digital controllers C*(z), whether synthesized by emulation
or the discrete design techniques directly in the z-domain, can be analyzed
using discrete analysis, which consists of the following steps:
Step 1:
Find P*(z), the discrete model of the plant and ZOH.
Step 2:
Form the feedback system including the controller C*(z).
Step 3:
Analyze the resulting discrete system.
Ex23.1 Root Locus in z-Domain
Analyze the behavior of the plant P(s)=1/(2s+1) controlled by a digital
proportional feedback controller C(z)=K. Note that the closed-loop system
for the continuous proportional feedback controller C(s)=K is stable for all
K>0.
System:

R(z) E(z) U(z)  T2 Y(z)

1 e
K P ( z) 
*
- ze
 T2

  P (s )  
where P* (z )  (1  z 1 )Z  L1   
  s 
Closed-loop Characteristic Equation:
T

T T
1 e 2  
1  KP * (z )  0  1  K 0  z  e  K (1  e )  0

2 2

T  
ze 2 D (z ) N (z )
Root Locus:

-1 1

Closed-Loop Stability:
T
1 e 2
Stable  K  Ku  T
.

1 e 2

For T=1sec,
K<Ku=4.08
Step Responses of Closed-Loop Systems (T=1 sec):
Step response of the closed-loop system for K=1, 2, 4, 4.3 are shown
in the following figure, which agree with the results predicted by Root
Locus.

2.5

1.5

0.5

-0.5

-1
0 1 2 3 4 5 6 7 8 9