Professional Documents
Culture Documents
Control Engineering
Dr. Abdur Razzak
Lecture 10
Discrete
Control
Systems
Objectives
EEE342/ETE418_L10
EEE342/ETE418_L10
Fig: (a) placement of the digital computer within the loop; (b) detailed block
diagram showing placement of A/D and D/A converters
EEE342/ETE418_L10
Advantages
Improved sensitivity - high sensitivity can pick up low energy signals
better
Use digital components - less sensitive to noise
Flexibility in response to design changes - can easily change
parameters in algorithms to modify / adjust behavior
Many systems inherently digital - radar, satellite systems, etc. send info
in pulses
Reduced cost - in industry, a single digital computer can replace
numerous analog controllers thereby reducing the cost
Disadvantages
EEE342/ETE418_L10
EEE342/ETE418_L10
EEE342/ETE418_L10
EEE342/ETE418_L10
EEE342/ETE418_L10
EEE342/ETE418_L10
Model 1:
A switch turning on and off
at a uniform sampling rate
Model 2:
A product of the
time waveform to
be sampled, f(t)
and a sampling
function, s(t)
EEE342/ETE418_L10
EEE342/ETE418_L10
Thus, the sampler is divided into two parts: (1) an ideal sampler described by
the portion of above equation (the sum) that is not dependent upon the
sampling waveform characteristics, and (2) the portion dependent upon the
sampling waveform's characteristics, TW.
EEE342/ETE418_L10
EEE342/ETE418_L10
1 e Ts
Gh (s ) =
s
EEE342/ETE418_L10
1 e Ts
Gh (s ) =
s
EEE342/ETE418_L10
The z-transform
Dr. Abdur Razzak
We have
f * (t ) =
f (kT ) (t kT )
k =
F * (s ) = f (kT )e kTs
k =0
F ( z ) = f (kT )z k
*
k =0
z=e
sT
EEE342/ETE418_L10
Example-1
Dr. Abdur Razzak
F ( z ) = f (kT )z k
k =0
= z k
k =0
( )
= z
1 k
k =0
1
1 z 1
z
=
z 1
=
Example-2
EEE342/ETE418_L10
F ( z ) = f (kT )z
k =0
= kTz
k =0
= T z 1 + 2 z 2 + 3 z 3 +
= T kz k
k =0
zF ( z ) = T 1 + 2 z 1 + 3 z 2 +
(1)
(2)
zF ( z ) F ( z ) = T 1 + z 1 + z 2 +
=>
(z 1)F (z ) = T (1 + z
=>
Tz
Tz
=
F (z ) =
(z 1)(z 1) (z 1)2
+z
T
+ =
1 z 1
EEE342/ETE418_L10
EEE342/ETE418_L10
Inverse z-transform
Dr. Abdur Razzak
0.5 z
(z 0.5)(z 0.7 )
0. 5
F (z )
=
(z 0.5)(z 0.7 )
z
2.5
2.5
=
(z 0.7 ) (z 0.5)
F (z ) =
2.5 z
2. 5 z
(z 0.7 ) (z 0.5)
EEE342/ETE418_L10
Continuous
Sampled
input
Sampled
input & output
EEE342/ETE418_L10
Example-3
Dr. Abdur Razzak
Find the sampled data transfer function for the cascaded system. Given that T=0.5.
1 e Ts
Gh (s ) =
s
s+2
s +1
1 e Ts s + 2
s+2
Ts
= 1 e
G (s ) =
= G1 (s ) G2 (s )
s
s +1
s (s + 1)
z 1
G1 (z ) = 1 z =
z
1
1
2
kT
t
g 2 (t ) = L[G2 (s )] = L
=
e
2
(
)
=>
g
kT
=
2
e
2
s s + 1
2z
z
z
z
z ( z 0.213)
=
G2 ( z ) = Z [g 2 (kT )] =
T
0.5
(z 1)(z 0.6)
z 1 z e
z 1 z e
z 0.213
G ( z ) = G1 ( z )G2 ( z ) =
z 0.6
EEE342/ETE418_L10
EEE342/ETE418_L10
Example-4
Dr. Abdur Razzak
Solution:
EEE342/ETE418_L10
Example-4 (contd..)
Dr. Abdur Razzak
EEE342/ETE418_L10
Stability
Dr. Abdur Razzak
Example-5
EEE342/ETE418_L10
Solution:
1 e Ts 10
G (s ) =
= 10 1 e Ts
s
s +1
z
z 1 z
z
z
z 1 z e T = 10 z z 1 z e T
( )
10(1 e )
=
G ( z ) = 10 1 z
z e T
1
1
s s + 1
EEE342/ETE418_L10
Example-5 (contd..)
Dr. Abdur Razzak
G(z )
10 1 e T
Closed loop transfer function: T ( z ) =
=
1 + G ( z ) z 11e T 10
11e T 10
For stability the poles of T(z) will be inside the unit circle.
For 11e T 10 = +1 , T = 0
T
For 11e 10 = 1 , T = 0.2
EEE342/ETE418_L10
References
Dr. Abdur Razzak
EEE342/ETE418_L10
Next.
Good Luck
To
Final Exam