Introduction to Digital Control 2

[.][.]

EL3015 Control System

Bahasan
 Spesifikasi tanggapan waktu
 Pendekatan integrasi numerik
 Ruang status dan fungsi alih diskrit
 Periode cuplik dan kestabilan
 Perancangan via tempat kedudukan akar
𝐓𝐢𝐦𝐞 𝐫𝐞𝐬𝐩𝐨𝐧𝐬𝐞 𝐬𝐩𝐞𝐜𝐢𝐟𝐢𝐜𝐚𝐭𝐢𝐨𝐧
 Steady − state error

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 Transient response
Continuous-time system

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fig_13_19
Discrete Time System

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 Approximation for numerical integration

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Example

Consider the following continuous time expression of a PID controller:

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 Ruang status dan fungsi alih diskrit

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Example
1.35 0.55 0.5
𝑥 𝑘+1 = 𝑥 𝑘 + 𝑢 𝑘
−0.45 0.35 0.5

𝑦 𝑘 = 1 −1 𝑥(𝑘)

𝑧 − 1.35 −0.55
𝑧𝐼 − 𝐴 =
0.45 𝑧 − 0.35
2
𝑧𝐼 − 𝐴 = 𝑧 − 1.7𝑧 + 0.72
𝑧 − 0.35 −0.45
𝐶𝑜𝑓 𝑧𝐼 − 𝐴 =
0.55 𝑧 − 1.35
𝑇
−1
𝐶𝑜𝑓 𝑧𝐼 − 𝐴 1 𝑧 − 0.35 0.55
𝑧𝐼 − 𝐴 = = 2
𝑧𝐼 − 𝐴 𝑧 − 1.7𝑧 + 0.72 −0.45 𝑧 − 1.35

𝐺 𝑧 = 𝐶 𝑧𝐼 − 𝐴 −1 B
1 𝑧 − 0.35 0.55 0.5
= 2 1 −1
𝑧 − 1.7𝑧 + 0.72 −0.45 𝑧 − 1.35 0.5
1 0.5𝑧 + 0.1
= 2 1 −1
𝑧 − 1.7𝑧 + 0.72 0.5𝑧 − 0.9
1
= 2
𝑧 − 1.7𝑧 + 0.72 16
 Sampling interval
and stability

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 Stability design via root locus

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fig_13_22
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fig_13_23
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HW
• [Nise] Ch. 13 Problems no. 12, 14, 15, 28

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