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chapt 2_DT Systems

This document outlines the modeling and design of discrete-time systems (DTS) in digital control systems, focusing on various design approaches, including emulation and discrete-time domain techniques. It discusses the use of constant coefficient difference equations (CCDEs), discretization methods, and the importance of Z-transforms in system representation. Additionally, it covers practical aspects such as system modeling with MATLAB and the role of zero-order and first-order holds in digital control.

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Haronicle
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3 views43 pages

chapt 2_DT Systems

This document outlines the modeling and design of discrete-time systems (DTS) in digital control systems, focusing on various design approaches, including emulation and discrete-time domain techniques. It discusses the use of constant coefficient difference equations (CCDEs), discretization methods, and the importance of Z-transforms in system representation. Additionally, it covers practical aspects such as system modeling with MATLAB and the role of zero-order and first-order holds in digital control.

Uploaded by

Haronicle
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Chapter-2

Discrete-time System Modeling and Analysis

Addis Ababa University


Addis Ababa Institute of Technology
School of Electrical & Computer Engineering
Digital Control Systems
ECEG-5352
Spring 2021

Addis Ababa University -1- Digital Control Systems


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In this lecture you will learn the following:

• Modeling and design issues of Discrete-time


systems(DTS) ,
• Design approaches of DTS, and
• Discrete time representation of systems and the Z-
transforms
• Discretization methods
• Zero Order Hold(ZOH)
• First order hold
• System modeling with MATLAB

Addis Ababa University -2- Digital Control Systems


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Modeling Issues

• Discrete-time:
– Constant Coefficient Difference Equations(CCDEs)
are used to model the systems.
– No information on discrete variables is available
between sampling instances.
– Magnitudes of digital signals are quantized.
• Continuous-time:
– Ordinary Differential Equations (ODEs) are used.
– Time and every physical quantity are continuous.
– Magnitudes are usually not quantized.

Addis Ababa University -3- Digital Control Systems


The Importance of the DAC ‘’hold’’ operation
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Design Issues

• How do we design a digital controller?


– How to devise a control algorithm (CCDE)
yielding the desired control performance?
• There are two design approaches to address this issue:
– Design by emulation
– Design for discrete-time domain

Addis Ababa University -5- Digital Control Systems


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1 - Design by Emulation

• Treat controller as a pseudo continuous-time


system:
– Use control theory to design a continuous-time
controller:
• State-space
• Laplace (frequency or s) domain
• Once such a controller is designed, implement its
counterpart in discrete-time domain:
– This approach relies on mapping techniques:
• Assumes high sampling rates (small T!)
• Not practical for many applications.

Addis Ababa University -6- Digital Control Systems


-7- Digital Control Systems
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2 - Design for Discrete-time Domain

• Represent the plant as a discrete-time process:


– Use discrete-time controller design techniques:
• State-space techniques
• z-domain techniques
• Most practical and reliable approach!

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Design Paradigm

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CONSTANT COEFFICIENT DIFFERENCE EQUATIONS(CCDE)

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CCDE(cntd…)

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Z-Transform

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Z-transform properties

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The Inverse z-transform

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Discrete-time System Modeling

Addis Ababa University - 24 - Digital Control Systems


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Assumptions in Digital Modeling

• A/D & D/A conversions are non-linear operations


- such converters cause a major difficulty in developing
mathematical models in discrete-time domain
• For the sake of convenience, these elements embedded inside the
I/O interfaces are ignored.
- implies the use of high resolution converters in the actual control
system
• Thus, only latch(i.e.zero-order hold) and sampler are taken into
consideration

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Sampled Impulse Response

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Sampled Impulse Response(cntd…)

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Sampled Response to an Impulse Sequence

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Transfer Function of ZOH/Latch

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Example: Motor Control

Addis Ababa University - 30 - Digital Control Systems


Discretization Methods
• The design of control system consists of two main steps:
- The mathematical model of the plant is obtained to analyze its
behavior
- Using the model, an appropriate controller is designed to get the
desired response from the controlled system
• In continuous-time domain, the dynamics of the plant are represented by
a set of differential equations.
• In control literature, there exist various approximation techniques to
convert such equations conveniently into discrete-time forms without z-
transforms.
• The methods discussed here approximate the time derivative(d/dt) in ODE
using a corresponding difference equation:
1. Forward difference(Euler’s rule)
2. Backward difference
3. Trapezoidal(integration rule)
- also known as Tustin or bilinear transformation

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1) Forward Difference

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2) Backward Difference

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3) Trapezoidal(Tustin) Rule

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Alternative Derivation for Tustin Transformation

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Notes on Discretization Methods

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Example

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Zero-Order Hold(ZOH)

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First-Order Hold(FOH)

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System Modeling with MATLAB

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Example

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