Digital control system analysis

• Pseudo-continuous time (PCT)

control system
R(z) C(z)
Gc(z) D/A Gp(s) A/D

Control Systems Digital control system analysis 1

 Tustin's Transformation
• Tustin's method: approximate
mapping between the s-plane
and the z-plane
–It can be useful for converting an
analog controller into digital form
–Make the following substitution:

Control Systems Digital control system analysis 2

 –Note that this is essentially the
bilinear transformation
-1 1 - sT / 2
2 1- z z -1
=
s=
T 1 + z -1 1 + sT / 2

1 + sT / 2
z=
1 - sT / 2

Control Systems Digital control system analysis 3

 – Let s = j w where w is an equivalent
s-plane frequency
1 + jwT / 2
z=
1 - jwT / 2

– The exact transformation is z = ejwT so

the Tustin approximation is the same
idea as the Pade approximation

Control Systems Digital control system analysis 4

 –Experience shows that sampling
frequency of about 10 times the
system bandwidth gives error in
the approximation of only a few
percent
• The Tustin approximation does not
predict the 1/T attenuation due to
sampling

Control Systems Digital control system analysis 5

 1
E(s) = T = 0.1
(s + 1)(s + 2)

E tu (z) =
1
=
(z + 1)2
+ 2) (21z - 19 )(22z - 18)
z -1 z -1
(20 + 1)(20
z +1 z +1

from Tustin approximation

0.08611z
E(z) =
(z - 0.9048)(z - 0.8187 ) from exact z transform

Control Systems Digital control system analysis 6

 DC gains:
1
E(s = 0) = = 0.500
2

tu = =

= =

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 – Consider an analog transfer function
preceded by sampler and ZOH
• Tustin approximation gives a transfer
function that is a reasonable
approximation of the exact expression
– Use the Tustin transformation to
obtain equivalent G(z) for practical
sampled data control systems (using
ZOH in DA converter)

Control Systems Digital control system analysis 8

 Pseudo-Continuous-Time
(PCT) Control System
• To design a digital control system
in the s-plane, we need a pseudo-
continuous-time (PCT) model of the
sampled-data system
– Especially need to represent the
sampler and the zero-order hold
(ZOH)
Control Systems Digital control system analysis 9
 –Sampler: gain of 1/T
–ZOH: (1/s) (1-e-Ts) approximated
by first-order Pade approximation:

- Ts -
=
+

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 - Ts
1- e Ts 2T
G zo (s) = = =
s s(1 + Ts / 2) Ts + 2

PCT model of sampler and ZOH:

1 2
G a (s) = G zo (s) =
T Ts + 2
2/T 1
G a (s) = =
s + 2 / T 1 + sT / 2
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 – Now the design can proceed
– Analysis of the basic system (PCT
model of uncompensated closed-loop
sampled-data control system)
R(s) E(s) C(s)
Ga(s) Gp(s)

PCT model of sampler and ZOH

model of process or plant

Control Systems Digital control system analysis 12

 – Analysis of the uncompensated
system, for example:
K
G p (s) =
s(s + 1)

2K / T
G pct (s) =
s(s + 1)(s + 2 / T)

T = 0.1 second

Control Systems Digital control system analysis 13

 open-loop function:
20K 20K
G pct (s) = =
s(s + 1)(s + 20) s3 + 21s 2 + 20s

closed-loop transfer function:

C(s) G pct (s) 20K

= =
R (s) 1 + G pct (s) s3 + 21s 2 + 20s + 20K

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 6 6

s
Im(s)
4

Im l ( K )
i 0 0

-6 6
25 20 15 10 5 0 5

-20 -10 0 Re(s) Re l ( K )

i

Root locus of PCT model of sampled-data

system with 0<K<21
Control Systems Digital control system analysis 15
 0.6

s
0.4 0.4

Im(s) 0.2

Im l( K )
0
i 0

0.2

-0.4 0.4

0.6

0 Re(s)
1 0.8 0.6 0.4 0.2 0

-1 Re l( K )
i

Root locus of PCT model of sampled-data

system with 0<K<0.5
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 1.5
1.323

Im(s) s
1 1

0.5

Im l ( K )
0
i 0

0.5

-1 1

1.323 1.5
1 0.8 0.6 0.4 0.2 0

-1 0 Re(s)
1 Re l ( K )
i
0

Plot of root locus for analog system for

0<K<2.0
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• PCT model of sampled-data
control system gives a method
to design in the s-plane
–Select a sample interval T
–Use PCT analysis to approximate
the effect of sampling
–Design a compensator in s-plane
(root locus, Bode, Nyquist, ...)
...
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 –Use Tustin's transformation to
convert s-plane design to z-plane
–Convert Gc(z) to difference
equations
–Perform simulation to verify
design

Control Systems Digital control system analysis 19