Digital Control – Sheet (4)

▪ To get transfer function for Sampled-Data Systems:

1. Original Signal Flow Graph (SFG),
2. Assign a variable to each sampler input, then the sampler output is this
variable starred; (if E is the input of the sampler, then E* is the output),
3. Express E as output and E* as input, then get the output functions,
4. Get star transform for the output equations you get from SFG,
5. Sampled SFG.

(1)

1. Original SFG,
2. Assign a variable to each sampler input, then the sampler output
is this variable starred,

R X X* Y Y* Z Z* C

1 G1 G2 + G3 G4
-1

-1
-1

3. State inputs and outputs then get output functions,

inputs Outputs
R X
X* Y
Y* Z
Z* C
• loops
Closed loops = 0
( = 1 −  closed loops ) →  = 1
( i = 1 −  closed loops don ' t touching path (i )) →  i = 1

• Output functions

X= .R +  .X * +  .Y * + 
Pi . i Pi . i Pi . i Pi . i
.Z *
   
11 −G4  1 *
= R+0+0+ Z
1 1
= R − G4 Z *

Y= .R +  .X * +  .Y * + 
Pi . i Pi . i Pi . i Pi . i
.Z *
   
G 1 −G4  1 *
= 0+ 1 X* +0+ Z
1 1
= G1 X * − G4 Z *

Z=  .R +  .X * +  .Y * + 
Pi . i Pi . i Pi . i Pi . i
.Z *
   
(G + G3 )  1 * −G4  1 *
=0+0+ 2 Y + Z
1 1
= (G2 + G3 )Y * − G4 Z *

C=  .R +  .X * +  .Y * + 
Pi . i Pi . i Pi . i Pi . i
.Z *
   
G 1
= 0 + 0 + 0 + 4 Z*
1
= G4 Z *
 X = R − G4 Z *
Y = G1 X * − G4 Z *
Z = (G2 + G3 )Y * − G4 Z *
C = G4 Z *

4. Get the starred output functions,

5. Sampled SFG, -G4*

X* = R* − G4*Z *
Y* = G1* X * − G4*Z * R* X* Y* Z* C*

Z* = (G2* + G3* )Y * − G4*Z * 1 G1* G2* + G3*

G4*
C* = G4*Z * -G4*
-G4*

• loops
L1 = G1*  (G2* + G3* )  (−G4* ) = −G1*  G4*  (G2* + G3* )
L2 = (G2* + G3* )  (−G4* ) = −G4*  (G2* + G3* )
L3 = −G4*
( = 1 −  closed loops )
 = 1 − ( L1 + L2 + L3 )
= 1 − L1 − L2 − L3
= 1 + G4*  (G2* + G3* ) + G1*  G4*  (G2* + G3* ) + G4*
( i = 1 −  closed loops don ' t touching path (i ))
 i = 1 = 1
• Output functions

C* = 
Pi . i
.R *

C* G1*  G4*  (G2* + G3* )
=
R* 1 + G4*  (G2* + G3* ) + G1*  G4*  (G2* + G3* ) + G4*
(2)

R + X X* Y Y*
+ C
- -

1. Original SFG,
2. Assign a variable to each sampler input, then the sampler output
is this variable starred,

R X X* Y Y* C

1 G1 G2

-1
-1

3. State inputs and outputs then get output functions,

inputs Outputs
R X
X* Y
Y* C
• loops
Closed loops = 0
( = 1 −  closed loops ) →  = 1
( i = 1 −  closed loops don ' t touching path (i )) →  i = 1

• Output functions
G3
− 1
11 1 + G3
X= R+0+ Y*
1 1
G3
=R− .Y *
1 + G3

G3
− .G2  1
G1G2  1 * 1 + G3
Y =0+ X + Y*
1 1
G3
= G1G2 X * − .G2 .Y *
1 + G3

G3
1
1 + G3
C =0+0+ Y*
1
G3 *
= Y
1 + G3

G3
X=R− .Y *
1 + G3
G3
Y = G1G2 X * − .G2 .Y *
1 + G3
G3 *
C= Y
1 + G3
4. Get the starred output functions,
5. Sampled SFG,
* ss
G3
X* = R* − .Y *
1 + G3 R* X* Y* C*
*
* G3 1
Y = G1G2 X −
* *
.G2 .Y *
1 + G3
*
s
G3
C* = Y* s
1 + G3
s
C

• loops
*
G3 *
L1 = − G1G2 .
1 + G3
*
G3
L2 = − .G2
1 + G3
( = 1 −  closed loops )
 = 1 − ( L1 + L2 )
= 1 − L1 − L2
 * G3   G3
* *

= 1 +  G1G2 . + .G2 
 1 + G3   1 + G3 
 
( i = 1 −  closed loops don ' t touching path (i ))
 i = 1 = 1
• Output functions

C* = 
Pi . i
.R *

*
G3 *
G1G2 .
1 + G3
C* = .R *
 * G3   G3
* *

1 +  G1G2 . + .G2 
 1 + G3   1 + G3 
 
• in discrete form,
G3
G1G2 ( z ). ( z)
1 + G3
C ( z) = .R ( z )
 G3   G3 
1 +  G1G2 ( z ). ( z)  +  .G2 ( z ) 
 1 + G3   1 + G3 

• in continuous form,
* G3
G1G2 ( s ). (s)
1 + G3
C ( s) = .R * ( s )
 * G3 
*
 G *

1 +  G1G2 ( s ).  ( s ) +  3
.G ( s ) 
 1 + G   1 + G3 2 
 3   
(3)

1. Original SFG,
2. Assign a variable to each sampler input, then the sampler output
is this variable starred,

R X X* Y Y* C
1 G1 G2

-1
-1

3. State inputs and outputs then get output functions,

inputs Outputs
R X
X* Y
Y* C

• loops
Closed loops = 0
( = 1 −  closed loops ) →  = 1
( i = 1 −  closed loops don ' t touching path (i )) →  i = 1

• Output functions
11 −G2  1 *
X= R+0+ Y
1 1
= R − G2Y *

G1  1 * −G2  1 *
Y =0+ X + Z
1 1
= G1 X * − G2Y *

G4  1 *
C=0+0+ Z
1
= G2Y *
 X = R − G2Y *
Y = G1 X * − G2Y *
C = G2Y *

4. Get the starred output functions,

5. Sampled SFG, -G2*

X* = R* − G2*Y *
Y* = G1* X * − G2*Y * R* X* Y* C*

C* = G2*Y * 1 G1* G2*

• loops -G2*

L1 = G1*  (−G2* ) = −G1*  G2*

L2 = −G2*
( = 1 −  closed loops )
 = 1 − ( L1 + L2 )
= 1 − L1 − L2
= 1 + G1*  G2* + G2*
( i = 1 −  closed loops don ' t touching path (i ))
 i = 1 = 1
• Output functions

C* = 
Pi . i
.R *

C* G1*  G2*
=
R* 1 + G1*  G2* + G2*