Nonlinear Systems

TP3 : Design of Digital Controller for

Continuous-time System

University of Laghouat
Faculty of Technology
Electrical Engineering Department

Professor 2023/2024
Mohamed Bougrine
We want to control a system with transfer function F (p) using a numerical method. To do this, we precede
it with a zero-order hold block and follow it with a sampler at rate T . The z-domain transfer function of
the sampled and held system is given by :

Y (z) 0.6(z + 0.9)

F (z) = =
U (z) (z − 0.7)(z − 0.8)
Is this system stable ?
What is its dc gain ?
Find the general expression for the unit step response (sampled y(k)) and calculate the values of the first
6 samples as well as the final value.

y(0) = y(1) = y(2) = y(3) = y(4) = y(5) = y(∞) =

Simulate the step response of the system and verify the previous results.
We implement the control shown below. Initially, the algorithm implemented in the computer, represented
by the transfer function C(z), is a simple proportional feedback. Thus, the control signal is proportional
to the error signal e(k) : u(k) = Ke(k) where K is a positive constant.

Find the transfer function of the closed-loop system and simulate the step response of the closed-loop
system for K = 0.5. What is the nature of the system ?
— Simulate the step response of the closed-loop system for different values of K. Determine by simu-
lation the gain limit value corresponding to the stability limit.
What is the dc gain of the closed-loop system for this gain limit value ?
Let’s choose K = 0.0025. Simulate the new step response. What is the nature of the system ?
We want to implement an algorithm such that, for a step reference, the output signal becomes equal to
the reference as quickly as possible and without output oscillations between sampling periods : this is the
"perfect" response.
Note : to achieve a "perfect" response, the control signal must be constant or zero after a certain number
of sampling periods so that the output reaches its steady state in a finite number of periods without hidden
oscillations. Therefore, the control signal must be a finite polynomial in z −1 .

Conditions for obtaining a "perfect" response

— Open-loop system transfer function :

Y (z)
T (z) = = C(z)F (z)
E(z)
— Closed-loop system transfer function :

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 Y (z) C(z)F (z)
H(z) = =
YC (z) 1 + C(z)F (z)
Condition 1 : The steady-state error is zero.
This condition translates to :
e(∞) = limz→1 z E(z) = limz→1 z−1
z−1



z YC (z)[1 − H(z)]
Condition 2 : The transient error is limited to a finite number of samples.
The controller C(z) must therefore be such that its response to the error samples is of finite duration, i.e.,
U (z)
YC (z) must be of the form :
n
U (z) X
= ak z −k with n finite.
Yc (z)
k=0
Y (z)
Since U (z) = F (z) and Y (z) = H(z)YC (z), it follows that :

U (z) H(z)
=
YC (z) F (z)
This expression is a polynomial in z −1 if :
— H(z) is a polynomial in z −1 ,
— H(z) contains all the zeros of F (z).
If F (z) = N (z)
D(z) , then the closed-loop transfer function is of the form : H(z) = N (z)R(z).
Where N (z), D(z), H(z), and R(z) (regulator) are polynomials in z −1 .
The degree of N (z) is fixed by the process. To have the shortest possible transient, it is advisable to take
R(z) of the lowest possible degree, a condition met if this polynomial is of degree 0, thus R(z) = k (with
k constant).
According to condition 2, show that the closed-loop transfer function is of the form :

H(z) = 0.6kz −1 1 + 0.9z −1

According to condition 1, show that H(1) = 1. Determine the value of k for which the static gain in the
closed-loop is equal to 1.
Determine the transfer function of the controller C(z) that allows this result to be obtained. What can be
said about the poles and zeros of this controller ?
Write down the recurrence relation that allows the control signal u(k) to be obtained from the error signal
e(k).
Give the values of y(k), e(k), and u(k) for 0 ≤ k ≤ 2. What do we get for k ≥ 3 ?

k=0 k=1 k=2 k = 3, 4, . . . . . .

y(k)
e(k)
u(k)

Simulate the step response of the closed-loop system and confirm the previous results.
Conclusion ?

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