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Discrete State Space Design For Digital Control
Discrete State Space Design For Digital Control
Theory Contents:
11.1 Introduction
11.2 Discrete State Space Equations from Transfer Functions
11.3 Selection of Sample Interval and Closed Loop Eigenvalues
11.4 Integral Control and Reduced Order Observers
11.4.1 Integral Control
11.4.2 Reduced Order Observers
11.5 Examples
Objective:
Learn how to apply all the continuous time techniques to the design of digital
control systems.
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ADVANCED CONTROL SYSTEM DESIGN
11.1. Introduction
The Discrete State Space Equation defines the response of the system at
evenly spaced time steps, keeping u constant between two steps (i.e. put
through a zero order hold).
Therefore the matrices E and F correspond to the zero order hold equivalent
of the continuous system.
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ADVANCED CONTROL SYSTEM DESIGN
11.1. Introduction
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ADVANCED CONTROL SYSTEM DESIGN
11.1. Introduction
11.1. Introduction
Therefore, we ALREADY know how to deal with discrete state space systems.
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ADVANCED CONTROL SYSTEM DESIGN
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ADVANCED CONTROL SYSTEM DESIGN
If we have an observer, the closed loop poles of the observer will be 10 times
faster than the closed loop natural frequency of the control loop (wo).
Therefore, the OBSERVER SAMPLING INTERVAL (TO) will be:
If observer and controller have different sampling rates, the eigenvalues of the
observer can be chosen to be exactly the same as those of the plant.
The observer will still be much faster than the main loop, since T0=T/10
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ADVANCED CONTROL SYSTEM DESIGN
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ADVANCED CONTROL SYSTEM DESIGN
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ADVANCED CONTROL SYSTEM DESIGN
In continuous time design there are two cases in which we need to implement
the term “1/s”. One of them is integral control and the second case is
reduced order observer design.
The implementation of the “1/s” term is slightly different in the discrete time
domain, as we will see.
r(k)
1/(z-1)
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ADVANCED CONTROL SYSTEM DESIGN
INTEGRAL CONTROL
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ADVANCED CONTROL SYSTEM DESIGN
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ADVANCED CONTROL SYSTEM DESIGN
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ADVANCED CONTROL SYSTEM DESIGN
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