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Lecture7 Small

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Lecture7 Small

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© © All Rights Reserved
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Direct digital design

Calculating C(z) to control P (z)


Continuous-time
design

P(s) C(s)

Model P(s), and


sample/hold as Approximation
P(z) of C(s) with C(z)

P(z) C(z)
Discrete-time
design

• ZOH equivalence gives P (z).


• Design C(z) for good closed-loop control of P (z)

Roy Smith: ECE 147b 7: 1

Direct digital design


Design methods for P (z)

1
• Pole placement for
1 + P (z)C(z)
• Frequency response based designs (loopshaping)
• Root locus
• Tuning PID controllers

The above methods are analogous to the continuous time methods (except for the different
interpretation between s-plane and z-plane).

The following does not have a continous time analogue.

• Finite settling time (deadbeat) control.

Roy Smith: ECE 147b 7: 2


Deadbeat control
Ideal closed-loop response:

y(k) r(k)
& M(z) &

Consider the best possible closed-loop response:

M(z) = z −1

z
A step input, r(z) =
z−1
1
Gives y(z) = (a delayed step output).
z−1
The error (e(z) = r(z) − y(z)) is simply a unit pulse: e(z) = 1.

Roy Smith: ECE 147b 7: 3

Deadbeat control
Approach:

y(z) #$
r(z)
! % P (z) ! C(z) ! +!
!"
"

P (z)C(z)
The closed-loop response is: M(z) = .
1 + P (z)C(z)
So:

• Choose M(z), the desired closed-loop response.


• Solve the above to get C(z).

Roy Smith: ECE 147b 7: 4


Deadbeat control
Approach:
P (z)C(z)
M(z) = .
1 + P (z)C(z)
So,

P (z)C(z) = M(z) + M(z)P (z)C(z)


C(z)P (z)(1 − M(z)) = M(z)

Which gives,
1 M(z)
C(z) =
P (z) (1 − M(z))

Ideal case: M(z) = z −1

1 z −1
C(z) =
P (z) (1 − z −1 )

Why can’t we do this for continuous time systems ?

Roy Smith: ECE 147b 7: 5

Deadbeat control
Example:

1
P (s) = A double integrator: e.g. satellite force to position response
s2

ZOH equivalent

! "
P (s)
P (z) = (1 − z −1 )Z
s
! "
−1 1
= (1 − z )Z
s3
2 −1
T z (1 + z −1 )
= (1 − z −1 )
2(1 − z −1 )3
2 −1
T z (1 + z −1 )
=
2 (1 − z −1 )2

Roy Smith: ECE 147b 7: 6


Deadbeat control
Example:
1
P (s) = A double integrator: e.g. satellite force to position response
s2

Ideal response: M(z) = z −1

1 z −1 2 (1 − z −1 )2 z −1
C(z) = =
P (z) (1 − z −1) T 2 z −1(1 + z −1 ) (1 − z −1 )
−1
2 (1 − z ) 2 (z − 1)
= 2 =
T (1 + z −1 ) T 2 (z + 1)

In the time domain:

2 (1 − z −1)
u(z) = e(z)
T 2 (1 + z −1 )
2 −1 −1
u(z)T (1 + z ) = 2(1 − z )e(z)
T u(k) + T 2u(k − 1) = 2e(k) − 2e(k − 1)
2

2 2
u(k) = −u(k − 1) + 2 e(k) − 2 e(k − 1)
T T

This is causal.

Roy Smith: ECE 147b 7: 7

Deadbeat control
Deadbeat control example:

1
P (s) = desired response: M(z) = z −1
s2

1.5
Sampled plant output, y(k)

0.5

0
5 10 15 20 25
Time: seconds
-0.5

-1 Controller output, u(k)

-1.5

Roy Smith: ECE 147b 7: 8


Deadbeat control
Intersample behavior

1
P (s) = desired response: M(z) = z −1
s2
2

Plant output, y(t) Sampled plant output, y(k)


1.5

0.5

0
5 10 15 20 25
Time: seconds
-0.5

-1 Controller output, u(k) Plant input, u(t)

-1.5

Roy Smith: ECE 147b 7: 9

Deadbeat control
Sample rate selection
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)

1. 4

Sampled plant output, y(k)


1. 2

Plant input, u(t)


0. 8
Controller output, u(k) Sample period:
0. 6
T = 1.0 seconds
0. 4 Plant output, y(t)

0. 2

0
0 1 2 3 4 5 6 7 8 9 10
Time: seconds

Roy Smith: ECE 147b 7: 10


Deadbeat control
Sample rate selection
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)

2.5

Sampled plant output, y(k)


1.5
Plant output, y(t)

1
Sample period:
0.5
T = 0.5 seconds
Plant input, u(t)
0

Controller output, u(k)


-0.5

-1
0 1 2 3 4 5 6 7 8 9 10
Time: seconds

Roy Smith: ECE 147b 7: 11

Deadbeat control
Sample rate selection
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)

1.4

1.2 Controller output, u(k)


Sampled plant output, y(k)
1

0.8
Plant input, u(t) Sample period:
0.6
T = 2.0 seconds
Plant output, y(t)
0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time: seconds

Roy Smith: ECE 147b 7: 12


Deadbeat control
Sample rate selection comparison
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)

1.4
Plant output, y(t), T = 0.5 seconds

Plant output, y(t), T = 1.0 seconds


1.2

0.8

Plant output, y(t), T = 2.0 seconds


Plant output:
0.6

0.4

0.2

0
0 1 2 3 4 5 6 7 8 9 10
Time: seconds

Roy Smith: ECE 147b 7: 13

Deadbeat control
Sample rate selection comparison
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)

2.5 Plant input, u(t), T = 0.5 seconds

2
Plant input, u(t), T = 1.0 seconds

1.5

Plant input:
0.5

Plant input, u(t), T = 2.0 seconds

-0.5

-1
0 1 2 3 4 5 6 7 8 9 10
Time: seconds

Roy Smith: ECE 147b 7: 14


Deadbeat control
Potential problems:

1. An aggressive design can lead to poor intersample behavior.


2. Making the sampling faster, without modifying the closed-loop requirement
(e.g. M(z) = z −1 ), makes the design more aggressive.
3. The calculated controller may not be causal if the specified response, M(z), is “faster”
than the system can respond.
4. P (z)C(z) could have an unstable pole/zero cancellation. Note that
1 M(z)
C(z) = ,
P (z) (1 − M(z))
and if P (z) has a zero outside the unit circle, the C(z) will have a pole outside the unit
circle.
Be aware that the zeros of P (z) will change as a the sampling period changes.

Roy Smith: ECE 147b 7: 15

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