Stability Analysis in DTCS

Dr V S Krushnasamy
Associate Professor
Continuous System Stability
For Discrete Time Control System
 Mapping of S plane to Z plane
• The absolute and the relative stability
(i)Determined by the locations of the closed-loop poles
in the s plane.
• Relation between z and s
(i)The pole and zero locations in the z plane are related
to the pole and zero locations in the s plane.
(ii)The dynamic behavior of the discrete-time control
system depends on the sampling period T.
(iii)Locations of poles and zeros in the z plane depend on
T
Mapping of S plane to Z plane
Mapping of S plane to Z plane
• The stability of the digital control system
determined by the location of roots (closed
loop poles of over all transfer function)of
characteristic in the z plane.

• P(Z) = 1+GH(Z) = 0
Stability Analysis of a closed-loop system
– Closed-loop pulse-transfer function system:
C ( z) G( z)

R( z ) 1  GH ( z )
– The stability of the system defined by the equation may be
determined from the locations of the closed-loop poles in the z
plane, or the roots of the characteristic equation:
P( z )  1  GH ( z )  0
- For the system to be stable, the closed-loop poles or the roots
of the characteristic equation must lie within the unit circle in
the z plane.
- If a simple pole lies at z=1, then the system becomes critically
stable. Also, the system becomes critically stable if a single pair
of conjugate complex poles lies on the unit circle in the z plane.
Any multiple pole on the unit circle makes the system unstable.
• Closed-loop zeros do not affect the absolute stability.
 Bilinear transformation
• Determine the stability of linear time-invariant (LTI) digital
systems based on transfer function models. The Routh-Hurwitz
criterion determines conditions for left half plane (LHP)
polynomial roots and cannot be directly used to investigate the
stability of discrete-time systems.
• The bilinear transformation transforms the inside of the unit
circle to the LHP. This allows the use of the Routh-Hurwitz
criterion for the investigation of discrete-time system stability.
Digital Control System
Sample Data Control System(SISO)
Sample Data Control System(MIMO)
Sample Data Control System(SISO)
• The basic block diagram of single loop Sample
Data Control System consists of
 Process
 Measuring
Element(Sensor,Transducer,Transmitter)
 Sampler and ADC
 Digital Computer or Controller
 DAC and Holder
 I/P Converter
 Final Control Element
Sample Data Control System(SISO)
Plant or Process :
• A, plant is a physical object such as electric
furnace, chemical reactor, steel mill.Many
dynamic variables may be present in the process
and may be single variable or multiple variable.
• Where the temperature of the
furnace/percentage of concentration of a
substance/speed of motor is to be controlled to
obtain the desired output.
• Examples : Distillation column, Boiler
Sample Data Control System(SISO)
Measuring Element
• Sensor : The sensor is a device which converts the process
variable in physical variable.(detects presence of physical
phenomenon).
Example: Float is a device which conerts level into
displacement
• Transducer: A transducer is a device that converts physical
variable into electrical signal.
• Generally, the input signal- displacement, temperature,
speed -is non electrical and the output signal is an electrical
voltage or current.
• Transmitter: The transmitter is a device which converts
process variable such as Level, Flow ,Temperature, Pressure
into 3-15psi pressure or 4-20mA current.
 Sample Data Control System(SISO)
Sampler and ADC
• The output produced by the transducer or transmitter
which is in the form of continuous function of time.
• The digital computer handle only digital data or read the
measured value and compare with set point value,
calculate error.
• Sampler: A sampler is a switch which close or open at a
specified interval of time.(converts analog signal to digital
signal) (Continuous signal into discrete time signal).
• Analog to Digital Converter : A/D converter(also known as
encoder) is a device that converts an analog signal into
digital signal.
• Such a device is needed as an interface between an analog
component and a digital computer.
Sample Data Control System(SISO)
Digital Computer or Controller
• An element of the control system which controls process or
plant.
• The error signal (difference b/w measured value and
reference value) is given as an input to computer or
program or controller to produce control signal, which will
alter the process or plant to minimize the error.
DAC and Holder :
DAC:The output produced by the computer or controller is
given input to DAC (also known as decoder).It is a device
that converts an digital signal into analog signal.
• Such a device is needed as an interface between a digital
component and an analog component.
• Holder is a device which converts the discrete time signal
into continuous time signal
Sample Data Control System(SISO)
I/P Converter
• The current signal in the range of 4-20 mA can be
converted in to 3-15 psi.
Final Control Element
The final control element may be a control valve which
directly influences the process due to which the process is
get controlled.
For example
In flow control @ 3psi signal, valve fully open ,maximum flow
rate permitted through the valve.
In flow control @ 15psi signal, valve fully closed, entire flow is
stopped .
Sampling Process
Sampling Process
Sampling Process
 Sampling Process
• Sampling is the conversion of continuous –time
signal into a discrete –time signal by taking
samples of analog signal at discrete time instants.
• If f(t) is the input to the sampler as shown in
figure the output is f(kT) where T is called
sampling interval or sampling period.
• Reciprocal of sampling period is called sampling
rate (or)samples per second or sampling
frequency.
• The sampling which is shown in figure is called
periodic sampling, since samples are obtained
uniformly at the intervals of T seconds.
 Sampling Process
Important note
• A sampling frequency F = 1 / T must be selected
large enough such that the sampling process will
not result in any loss of spectral information.
Sampling Theorem: (FS ≥ 2Fm)
• A band limited continuous time signal with
highest frequency Fm ,can be uniquely recovered
from its samples provided that the sampling rate
FS is greater than or equal to (FS ≥ 2Fm) samples
per second.
Reconstruction of sampled signals
using HOLD circuits
Reconstruction of sampled signals
using HOLD circuits
 Reconstruction of sampled signals
using HOLD circuits
In ADC process
• The HOLD circuit is used to hold the sample until
quantization and coding for the current sample is
complete.
In DAC process
• The HOLD circuit is used to convert the discrete
time signal in to analog signal.
• The simplest hold circuit is ZOH (Zero Order Hold)
• HOLD signal is the zeroth derivative of an
impulse.
ZOH
 TF of ZOH
• In the block diagram we have given an input f(t) to the
circuit, when we allow input signal to pass through this
circuit it reconverts the input signal into continuous one.
• The output of the zero order hold circuit is shown below.
Now we are interested in finding out the transfer
function of the zero order hold circuit.
• The high frequencies presented in the reconstructed
signal are easily filtered out by the various elements of
control system because the control system is LPF.
• Unit Impulse input given to a ZOH which holds the input
signal for a duration T and therefore ,the output appears
to be a unit step function till duration T.
• The input to the ZOH is impulse function. The Laplace of
input is 1.
 Region of Convergence
• The region of convergence, known as the ROC, is
important to understand because it defines the
region where the z-transform exists.
• The ROC of F(z) is the set of all values of Z for
which F(z) attains a finite value.
• The ROC of a finite – duration signal is the entire
z plane, except possibly the point z=0 and z=∞.
• The above points are excluded,because ZK
becomes unbounded for z=∞ and Z-K becomes
unbounded for z=0
 ROC
• In general, the z-transform is an infinite sum! This means it
(the z-transform) may not exist for all values of z. More
specifically, it is the value of r = |z| that is important. If
x(n) = (0.5)nu(n), then


X (z )   (0. 5 ) n n
z
n 0
z-plane 
  (0. 5 z 1 n
) only if |Z|>0.5 !
n 0
1
0.5 
ROC 1  0.5 z 1

01-Oct, 98 EE421, Lecture 7 56

 Example
Region of convergence
x ( n )  a u( n )
n

The z-transform is given by: a

 
X (z)  
n  
a nu(n )z  n  
n 0
(az 1)n

Which converges to:

1 z
X (z)  1
 for z  a
1  az za
Clearly, X(z) has a zero at z = 0 and a pole at z = a.

57
 ROC

Here’s what the ROC can look like:

|z|<a b<|z| b<|z|<a