Sampled systems

Hugues GARNIER

hugues.garnier@univ-lorraine.fr

1 H. Garnier
 Reminder - Digital control block-diagram

D(s)

R(z) e (z) U(z) U(s) + Y(s)

+ +
C(z) H0(s) G(s)
-

Ym (z) Ym (s)
H(s)
Te
Digital part A/D Analog part

• A digital control strategy consists of two parts:

- the first is analog
- the second is digital
• To understand their interaction, it is easier to convert the analog part
into digital

2 H. Garnier
 Digital control block-diagram
Y(z)
R(z) e (z) U(z) U(s) Y(s)
+
C(z) H0(s) G(s)
-

Ym (z) Ym (s)
H(s)
Ts
G(z)

•Analysis of digital control performance in the discrete domain involves:

- the addition of a dummy sampler at the output
- the determination of the z-transform transfer function G(z) consisting of
the cascading of the zero-order hold H0(s), G(s) and the sampler called
the sampled system
R(z) Y(z)
+
C(z) G(z)
-

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 Sampled system
• A sampled system consists of the cascading of
• the zero-order hold modelled by H0(s)
• the continuous-time system modelled by G(s) (H(s)=1 is assumed)
• the sampler
• The input/output signals of the sampled system are z-transforms of
discrete-time signals

U(z) U(s) Y(z)

H0(s) G(s)

U(z) Y(z)
GZOH (z) => Sampled system

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 Transfer function of a sampled system

U(z) U(s) Y(s) Y(z)

H0(s) G(s)
Ts Ts

U(z) Y(z)
GZOH (z)

⎛ ⎞
( )
Y ( z ) = Z y( kTe ) = Z ⎜ y (t )
s ⎝ t=kT
⎟
t=kTe ⎠
s
( )
y(t ) = L−1 Y (s ) Y (s ) = B
Ho0(s )G(s )U(s)
(s)G(s)
⎛ ⎞
⎝
(
Y ( z ) = Z ⎜ L−1 Bo (s )G(s ) )t=kT
⎟U( z )
e ⎠

⎛ ⎞
⎝
(
Y ( z ) = Z ⎜ L−1 BHo0(s )G(s )
(s)G(s) )t=kT
t=kTe
s
⎟U( z )
⎠
To simplify notation
Y(z) ⎛ ⎞
U( z )
(
= GZOH ( z ) = Z ⎜ L−1 BHo0(s )G(s
(s)G(s) ))
t=kT
⎟ (
GZOH ( z ) = Z BHo0(s )G(s )
(s)G(s) )
⎝ t=kTe ⎠
s

Caution! GZOH (z) is not equal to Z(G(s)) !!! (

GZOH ( z ) ≠ Z G(s ) )
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 Transfer function of a sampled system

U(z) Ts Y(z)
H0(s) G(s)

U(z) Y(z)
GZOH (z)
(
GZOH ( z ) = Z BHo 0(s )G(s )
(s)G(s) ) -Tesss
−T
1−e
⎛⎛ −T-T ss ⎞ ⎞ Rappel
Recall : H
Bo0(s
(s)) =
1 e
s
e
− s
GZOH ( z ) = Z ⎜⎜ ⎟G(s )⎟
⎜ ⎜ s ⎟ ⎟
⎝⎝ ⎠ ⎠
⎛ G(s ) -T s
−T s G(s ) ⎞
GZOH ( z ) = Z ⎜ −e
s
e
⎟
⎝ s s ⎠
⎛ G(s ) ⎞
⎛ G(s ) ⎞
GZOH ( z ) = Z ⎜
⎝ s
⎛ −T
⎟ − Z ⎜e e
⎠ ⎝
-T ss G(s ) ⎞
s

s
⎟
⎠
( −1
GZOH ( z) = 1 − z Z ⎜
⎝
) s
⎟
⎠
⎛ G(s ) ⎞ −1 ⎛ G(s ) ⎞ z −1 ⎛ G(s ) ⎞
GZOH ( z ) = Z ⎜ ⎟− z Z⎜ ⎟ GZOH ( z) = Z⎜ ⎟
⎝ s ⎠ ⎝ s ⎠ z ⎝ s ⎠

6 H. Garnier
 Transfer function of a sampled system

U(z) Ts Y(z)
H0 (s) G(s)

U(z) Y(z)
GZOH (z)

⎛ G(s ) ⎞
( −1
GZOH ( z) = 1 − z Z ⎜
⎝
) s
⎟
⎠
z −1 ⎛ G(s ) ⎞
GZOH ( z) = Z⎜ ⎟
z ⎝ s ⎠

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 Sampled transfer function calculation
Example 1

U(z) Ts
𝑎 Y(z)
H0 (s)
𝑠+𝑎

⎛ G(s ) ⎞ U(z) Y(z)

( )
GZOH ( z) = 1 − z −1 Z ⎜ ⎟ GZOH (z)
⎝ s ⎠
z −1 ⎛ G(s ) ⎞
GZOH ( z) = Z⎜ ⎟
z ⎝ s ⎠
It is necessary to decompose into
simple elements G(s)/s
then use the table of z-transforms
ZOH

ZOH

ZOH ZOH

8 H. Garnier
 Sampled transfer function calculation
Example 2
U(z) Ts
𝑎 Y(z)
Bo (s)
𝑠(𝑠 + 𝑎)
⎛ G(s ) ⎞
( )
GZOH ( z) = 1 − z −1 Z ⎜ ⎟ U(z) Y(z)
⎝ s ⎠ GZOH (z)
z −1 ⎛ G(s ) ⎞
GZOH ( z) = Z⎜ ⎟ It is necessary to decompose into
z ⎝ s ⎠
simple elements G(s)/s and then
use the table of z-transforms

ZOH

ZOH

ZOH

1 zero of
Denominator degree of G(s): n=2; numerator degree of G(s): m=0 discretization

Caution! G(s) has no zero, but GZOH (z) has an artificial zero called the
discretization zero (when n-m ≥ 2).
The order n is retained (here n =2).

9 H. Garnier
 Sampled transfer functions
of some common systems

G(s) GZOH (z)

1 TT
s ez
−1

s 1 − z −1

-T /T
/T
K b1z −1 −T
a1 = −e es
1 +Ts 1 + a1z −1 b1 = K(1 + a1 )

-T /T
−T /T
K b1z −1 −n a1 = −e es
e −τ s z
1 +Ts 1 + a1z −1 b1 = K(1 + a1 )

τ = nTT
es

H. Garnier 10
Today, it is easy to use Matlab!

11 H. Garnier
 Sampled transfer function
of a first-order system
• Determine the sampled transfer function of the first-order system

U(z) Ts Y(z)
b
H0 (s)
s+a

GZOH (z) ?

U(z) b1z−1 Y(z)

GZOH (z) =
1+ a1z−1

⎧
a = −e
−aTT
es The parameters
⎪ 1
⎨ b of GZOH (z)
⎪ b1 =
⎩ a
(
1+ a1 ) depend on Ts

12 H. Garnier
 Sampled transfer function - Example
• Determine the sampled transfer function of the system below when
Ts =0.1s and Ts =0.01s
U(z) Ts Y(z)
1
Ho (s)
s+2

GZOH (z) ?
U(z) Y(z)
b1z−1
GZOH (z) =
>> s=tf('s');
1+ a1z−1
>> Gc=1/(s+2);

Ts=0.01;
Ts=0.1;
,Ts,
,Ts,

13 H. Garnier
 Sampled transfer function - Example
• Determine the sampled transfer function of the system below
when Ts =1s
U(z) Ts Y(z)
1
Ho (s)
(
s s +1 )

GZOH (z) ?
U(z) Y(z)
z + 0 ,7183
GZOH ( z ) = 0 ,3679
( z −1)( z − 0 ,3679 )

• Matlab verification
G, Ts, zoh)
s=tf('s');
G=1/(s*(s+1));
Ts=1;
Gd=c2d(G,Ts,'zoh')

14 H. Garnier
 Properties of sampled transfer functions

U(z) Ts Y(z)
Ho (s) G( s )

⎛ G(s ) ⎞
U(z) Y(z) ( )
GZOH ( z) = 1 − z −1 Z ⎜ ⎟
⎝ s ⎠
GZOH (z) z −1 ⎛ G(s ) ⎞
GZOH ( z) = Z⎜ ⎟
z ⎝ s ⎠

ü A continuous linear system remains linear after discretization by ZOH

ü The model order is preserved
ü The parameters of the sampled transfer function are dependent on the sampling
period Ts
ü The poles pd of the sampled transfer function can be computed from the poles pc
of the continuous-time model by the formula
pcTeTs
pd = e

15 H. Garnier
 Digital control block-diagram

R(z)
+ e (z) U(z) Y(z)
C(z) H0 (s) G(s)
Ts Ts
-

Discretization by the
zero-order hold
method

R(z)
+ e (z) U(z) Y(z)
C(z) GZOH (z)
-

16 H. Garnier