EMJ37103

EMJ37504

Digital Control System

Course Flow Chart
In this Chapter, the students will learn about
1. Introduction to the digital control system.
2. The z-transform and transfer functions.
3. The digital system stability.
4. Steady-state error.
5. Gain Design on the z-plane.
Introduction to the Digital Control System

(a) (b)

Can you guess the difference between these two

systems?

Which system that you prefer to use and why?

Introduction to the Digital Control System

Analog System

Digital System
But why need to
have A/D and D/A
converter?
The plant is analog
system
Digital Control
System Implementation
 Introduction to the Digital Control System

Analog Signal Analog Signal After Conversion of Samples

Sample-and-Hold To Digital Numbers

Process of the conversion from analog signal to digital

Sample-and-Hold:
Sample use switching
Hold use for example – Zero-order-Hold,
Introduction to the Digital Control System
Introduction to the Digital Control System
Example: Obtain the sampled time function for the function below for k = 0,1,2 and 3.

Sampled time formula:

∗
𝐹 (𝑧) 𝑓 (𝑘𝑇 ) 𝑓 (𝑡 )

To obtain the sampled time, you must have

1. Conversion table
2. Partial fraction operation knowledge
Introduction to the Digital Control System
Introduction to the Digital Control System
Example: Obtain the sampled time function for Sampled time formula:
the function below for k = 0,1,2 and 3.

∗
𝐹 (𝑧) 𝑓 (𝑘𝑇 ) 𝑓 (𝑡 )
 Introduction to the Digital Control System
Example: Obtain the sampled time function for Sampled time formula:
the function below for k = 0,1,2 and 3.

Using conversion table: ∗

𝐹 (𝑧) 𝑓 (𝑘𝑇 ) 𝑓 (𝑡 )

( − 𝑎𝑇 ) 𝑘
𝑒
Introduction to the Digital Control System
Example: Obtain the sampled time function for
the function below for k = 0,1,2 and 3.

∗
𝐹 (𝑧) 𝑓 (𝑘𝑇 ) 𝑓 (𝑡 )
Sampled time formula:

∞
∗
𝑓 ( 𝑡 )= ∑ 𝑘
[−2.5 ( 0.5 ) +2.5( 0.7)𝑘 ] 𝛿( 𝑡 −𝑘𝑇 )
𝑘=− ∞
Introduction to the Digital Control System
Example: Obtain the sampled time function for
the function below for k = 0,1,2 and 3.

∞
∗
𝑓 ( 𝑡 )= ∑ 𝑘 𝑘
[−2.5 ( 0.5 ) +2.5( 0.7) ] 𝛿( 𝑡 −𝑘𝑇 )
𝑘=− ∞

0
1
2
3

∗
𝑓 ( 𝑡 )=( 0 ) 𝛿 ( 𝑡 ) +0.5 𝛿 ( 𝑡 −𝑇 )+ 0.68 𝛿 ( 𝑡 − 2𝑇 ) +0.545 𝛿 (𝑡 − 3 𝑇 )
Introduction to the Digital Control System
Example: Obtain the sampled time function for
the function below for k = 0,1,2 and 3.

∗
𝑓 ( 𝑡 )=( 0 ) 𝛿 ( 𝑡 ) +0.5 𝛿 ( 𝑡 −𝑇 )+ 0.68 𝛿 ( 𝑡 − 2𝑇 ) +0.545 𝛿 (𝑡 − 3 𝑇 )
∗
𝑓 (𝑡 )
is referred to as impulse function. The graph
0.68
for the impulse function is
0.545
0.5
𝛿(𝑡 )

T 2T 3T
𝑡 𝑡
How to label your graph?

y-axis referred to the title of the equation.

X-axis referred to the domain function of the equation’s title.
Introduction to the Digital Control System
Exercise: Obtain the sampled time function for the function below.

Answer:

+
Questions & answers