Introduction To Discrete Control System

INTRODUCTION TO DISCRETE CONTROL SYSTEM
UPON COMPLETION OF THIS CHAPTER, STUDENTS SHOULD BE ABLE T0:
DESCRIBE THE ADVANTAGES AND DISADVANTAGES OF

DIGITAL CONTROL
DIFFERENTIATE BETWEEN ANALOGUE AND DIGITAL SYSTEM EXPLAIN THE SAMPLING PROCESS AND SIGNAL COVERSION FROM ANALOG TO DIGITAL SIGNAL
INTRODUCTION
The use of a digital computer as a compensator (controller) device has grown during the past three decades as the price and reliability of digital
computers have improved dramatically .
The cost of microcontrollers and digital signal processors has reduced and you can buy an 8-bit micro controller for a few RM.
A digital control system uses digital signals and a digital computer to
control a process.
The measurement data are converter from analog form to digital form by means of the analog-to-digital converter shown in Figure 1.1.
Figure 1.1: A block diagram of a computer control system
Digital control systems are used in many applications: for

machine tools, metalworking processes, chemical processes, aircraft control, and automobile traffic control and others.
Digital Control Problem
Usually trying to control a continuous time system, but using a digital controller to control it.
Need to be able to convert from continuous time signal to discrete time signal (A/D converter) this is just sampling
Need to be able to convert from discrete time to continuous time

signal (D/A converter) may ways to do this
Flexibility. With analogue circuitry it would be difficult to suddenly change a
resistor to modify the integral gain while the plant is operating! So it

allows operators to, modify, to tune, to experiment with the controller. With a good user interface any parameter inside that piece of control software can be adjusted.
Improved measurement sensitivity

the use of digitally coded signals, digital sensors and transducers, and microprocessors; reduced sensitivity to signal noise; and the
capability to easily reconfigure the control algorithm in software.
Both algorithmic and decision-making control in one package It's easy for parameters to be passed around in a program, far easier than
hardware signals.
More complex control can be realised It allows algorithms such as vector control of machines involving
flux modelling and reference frame transformation to be carried

out. Usually Smaller/lighter Usually needs Less power Often More precise Can Re-program
Computation is performed serially, Instructions take a finite time, albeit in the region of nanoseconds, but if sever hundred instructions are required to carry out a task then this time can add up. This can limit the complexity, but each year faster processors are launched and this
problem becomes less significant for all but the cheapest micros.
New theory involved
There is generally a resistance by industry to adopt new ideas,

although this is becoming less of a problem.
Sampled Data Systems
The basic difference between these controllers is that the digital system operates on discrete signals (or samples of the sensed signal) rather than on continuous signals.
A typical sampled data control system is shown in Figure 1.2.
Figure 1.2
Sampled Data Systems
The digital computer performs the compensation function within the system.
The A/D converter converts the error signal, which is a continuous signal, into digital form so that it can be processed by the computer.
At the computer output the D/A converter converts the digital output of the computer into a form which can be used to drive the plant.
A sampler is basically a switch that closes every T seconds, as shown in Figure 1.3.
Figure 1.3
The ideal sampling process can be considered as the

multiplication of a pulse train with a continuous signal, i.e.
Figure 1.4
where P(t) is the delta pulse train and expressed as:
Taking the Laplace transform gives:
A D/A converter converts the sampled signal
r *(t ) into a continuous signal y(t).
The D/A can be approximated by a zero-order hold (ZOH) circuit as shown in
Figure 1.5.
Figure 1.5: sampler and zero-order hold This circuit remembers the last information until a new sample is obtained, i.e. the
zero-order hold takes the value r(nT) and holds it constant for and the value r(nT) is used during the sampling period.
The transfer function of a zero-order hold is given by
Where H(t) is the step function, and taking the Laplace transform yields
Figure 1.6: waveforms after the sampler and zero-order hold
A sampler and zero-order hold can accurately follow the input signal if the sampling time T is small compared to the transient changes in the signal.
Example 1.1 Figure 1.7 shows an ideal sampler followed by a zero-order hold. Assuming the input signal r(t) is as shown in the figure. Show the waveforms after the sampler and also after the zero-order hold.
Figure 1.7 Solution
Systems

The z-transform can be defined through the following equation: Its used in sampled data systems just as the Laplace transformation is used in continuous-time systems.
The z-transform of the function r(t) is Z[r(t)]=R(z) which is given by:
The response of a sampled data system can be determined easily by finding the z-transform of the output and then calculating the inverse
z-transform, just like the Laplace transform techniques used in

continuous-time systems.
UNIT STEP FUNCTION
Unit step function ( continuous signal )
Unit step function ( Discrete signal )
UNIT RAMP FUNCTION
EXPONENTIAL FUNCTION
SINE FUNCTION
From
Previously we already know the z-transform of an exponential function is:
so that
)
From e jx e jx 2 cos x e jx e jx 2 sin x
COSINE FUNCTION
Previously we already know the z-transform of an exponential function is:
e jx e jx 2 cos x e jx e jx 2sin x
DISCRETE IMPULSE FUNCTION
DELAYED DISCRETE IMPULSE FUNCTION
THE Z TRANSFORM OF COMMON DISCRETE TIME FUNCTIONS
THE Z TRANSFORM OF COMMON DISCRETE TIME FUNCTIONS (cont..)
Example 1.2 Determine G(z) for the system with transfer function:
Solution: G(s) can be express as a sum of its partial fractions:
The inverse Laplace transform of this equation is :
In z-transforms we can write this equation as:
Properties of z-Transforms
1. Linearity property
Suppose that the z-transform of f (nT ) is F(z) and the z-transform of g(nT ) is
G(z). Then and for any scalar a
2.
Then
Left-shifting property
Suppose that the z-transform of f (nT ) is F(z) and let y(nT ) = f (nT+mT ).
If the initial conditions are all zero, i.e. f (iT ) =0, i = 0,1,2,..., m1, then,
3. Right-shifting property
Suppose that the z-transform of f (nT ) is F(z) and let y(nT ) = f (nTmT). Then
If f(nT ) = 0 for k < 0, then the theorem simplifies to
4. Attenuation property
Suppose that the z-transform of f (nT ) is F(z). Then,
This result states that if a function is multiplied by the exponential eanT then in the z-transform of this function z is replaced by zeaT .
5.
Initial value theorem

Suppose that the z-transform of f (nT ) is F(z). Then the initial value of the time response is given by
6.
Final value theorem

Suppose that the z-transform of f (nT ) is F(z). Then the final value of the time response is given by Note that this theorem is valid if the poles of (1 z 1)F(z) are inside the unit circle or at z =1.
Example 1.3
The z-transform of a unit ramp function r(nT ) is

Find the z-transform of the function 5r(nT ).
Solution Using the linearity property of z-transforms,
Example 1.4
The z-transform of trigonometric function r(nT ) =sinnwT is
find the z-transform of the function y(nT) = e 2T sin nW T .
Example 1.5

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INTRODUCTION TO DISCRETE CONTROL SYSTEM

UPON COMPLETION OF THIS CHAPTER, STUDENTS SHOULD BE ABLE T0:

DESCRIBE THE ADVANTAGES AND DISADVANTAGES OF

computers have improved dramatically .

A digital control system uses digital signals and a digital computer to

Figure 1.1: A block diagram of a computer control system

Digital control systems are used in many applications: for

Digital Control Problem

Need to be able to convert from discrete time to continuous time

Flexibility. With analogue circuitry it would be difficult to suddenly change a

resistor to modify the integral gain while the plant is operating! So it

Improved measurement sensitivity

capability to easily reconfigure the control algorithm in software.

flux modelling and reference frame transformation to be carried

New theory involved

There is generally a resistance by industry to adopt new ideas,

Sampled Data Systems

A typical sampled data control system is shown in Figure 1.2.

Sampled Data Systems

The ideal sampling process can be considered as the

where P(t) is the delta pulse train and expressed as:

Taking the Laplace transform gives:

A D/A converter converts the sampled signal

r *(t ) into a continuous signal y(t).

The D/A can be approximated by a zero-order hold (ZOH) circuit as shown in

The transfer function of a zero-order hold is given by

Figure 1.6: waveforms after the sampler and zero-order hold

Figure 1.7 Solution

The z-transform of the function r(t) is Z[r(t)]=R(z) which is given by:

z-transform, just like the Laplace transform techniques used in

UNIT STEP FUNCTION

Unit step function ( continuous signal )

Unit step function ( Discrete signal )

UNIT RAMP FUNCTION

Previously we already know the z-transform of an exponential function is:

Previously we already know the z-transform of an exponential function is:

DISCRETE IMPULSE FUNCTION

DELAYED DISCRETE IMPULSE FUNCTION

THE Z TRANSFORM OF COMMON DISCRETE TIME FUNCTIONS

THE Z TRANSFORM OF COMMON DISCRETE TIME FUNCTIONS (cont..)

Solution: G(s) can be express as a sum of its partial fractions:

The inverse Laplace transform of this equation is :

In z-transforms we can write this equation as:

If f(nT ) = 0 for k < 0, then the theorem simplifies to

Initial value theorem

Final value theorem

The z-transform of a unit ramp function r(nT ) is

Solution Using the linearity property of z-transforms,

find the z-transform of the function y(nT) = e 2T sin nW T .

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