Lecture7 Small
Lecture7 Small
P(s) C(s)
P(z) C(z)
Discrete-time
design
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).
y(k) r(k)
& M(z) &
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.
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:
Which gives,
1 M(z)
C(z) =
P (z) (1 − M(z))
1 z −1
C(z) =
P (z) (1 − z −1 )
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
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)
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.
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
-1.5
1
P (s) = desired response: M(z) = z −1
s2
2
0.5
0
5 10 15 20 25
Time: seconds
-0.5
-1.5
Deadbeat control
Sample rate selection
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)
1. 4
0. 2
0
0 1 2 3 4 5 6 7 8 9 10
Time: seconds
2.5
1
Sample period:
0.5
T = 0.5 seconds
Plant input, u(t)
0
-1
0 1 2 3 4 5 6 7 8 9 10
Time: seconds
Deadbeat control
Sample rate selection
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)
1.4
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
1.4
Plant output, y(t), T = 0.5 seconds
0.8
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time: seconds
Deadbeat control
Sample rate selection comparison
5
P (s) = , desired response: M(z) = z −1
(s2 + 2s + 5)
2
Plant input, u(t), T = 1.0 seconds
1.5
Plant input:
0.5
-0.5
-1
0 1 2 3 4 5 6 7 8 9 10
Time: seconds