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Discrete Time Domain

This document discusses digital control systems and discrete-time domain systems. It begins with an introduction to continuous and computer-controlled digital control systems. It then describes the components of a digital control loop including the analog-to-digital and digital-to-analog converters. It discusses the signals in the discrete-time and continuous-time domains. It explains the sequence of events in a digital control loop and the forms that signals can take. Finally, it briefly introduces the z-transform which is important for analyzing discrete-time systems.

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furqan
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44 views

Discrete Time Domain

This document discusses digital control systems and discrete-time domain systems. It begins with an introduction to continuous and computer-controlled digital control systems. It then describes the components of a digital control loop including the analog-to-digital and digital-to-analog converters. It discusses the signals in the discrete-time and continuous-time domains. It explains the sequence of events in a digital control loop and the forms that signals can take. Finally, it briefly introduces the z-transform which is important for analyzing discrete-time systems.

Uploaded by

furqan
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Digital control systems/ discrete

time domain systems


Introduction
Continuous Control system

R(s) E(s) M(s) Y(s)


Gc(s) GP(s)

Controller Plant
Introduction
Computer controlled/Digital control system
GHP(z)

M(z) Y(z)
E(z)
R(z) ZOH GP(s)
Gc(z)
A/D D/A

Computer system Plant


Digital control loop: Components
• GHP(z) is the transfer function of control object +
ZOH, where z indicates the discrete time domain
• GC(z) is a controller implemented in computer
languages.
• A/D is the Analog-to-Digital converter (Voltage
Binary number).
• D/A is the Digital-to-Analog converter (Binary
number  Voltage).
• The little switch indicate a sampling operation.
Digital control loop:
Signals
Discrete time domain
• R(z) is the desired output
• E(z) is the error signal
• M(z) is the controller output/control action
• C(z) is the actual output
Continuous time domain
In continuous time domain, R(z), E(z), M(z) and C(z) are
corresponding to r(t), e(t) m(t) and c(t).
1.2 Digital control loop:
Sequence of events
1. Get desired output r(t) at this instant in time
2. Measure actual output c(t)
3. Calculate error e(t)=r(t)-c(t)
4. Derive control signal m(t) based on proper control
algorithm
5. Output this control signal m(t) to controlled object
6. Save previous history of error and output for later
use
7. Repeat step 1 to 6 (go to 1)
1.2 Digital control loop:
Forms of signals
• Computer cannot sample while calculating, so there
is a sample frequency 1/T for data acquisition
through a A/D, where T is sampling interval.
• The data of a signal are recorded and represented as
a sequence of number in memory.
• Based on these numbers, a control signal is derived
and then conveyed to controlled object through a
D/A
1.2 Digital control loop:
Forms of signals
• In between sample instants, the input is
supposed as constant and the output is held
as a constant by a device termed as zero-
order-hold (ZOH).
• The reconstruction of a signal will be a ‘stair-
step, and a low-pass filter is employed to
smooth out the rough edges
Introduction
Cons of analog control
• Slow development
difficult to do accurate design
tolerances of electronic components
• Hard to do complicated controls
• Interference
• Hard to modify
testing alternatives is difficult
• Hard to build in comparative logic
• Hard to build in ‘intelligence’
• Hard to ‘back-up’
• Hard to do MIMO
Pros of analog control
• Robust
doesn’t (often) break down
doesn’t crash
• Dynamic range
‘easier’ to avoid being limited by ‘self’ noise
• Continuous processing
no inherent band-width limits
• Hard to modify
• Available diagnostic instrumentation is good
Pros of digital control
• Flexibility • Diagnostics
can do really complicated in particular, remote
controllers off-line testing and diagnostics
easy to modify store signals
quick to develop • Can do lots of DIO
easy to make back-up • Can do MIMO
• Can build in lots of logic • Error detection
intelligence for switching • Signal generation and
states injection
locking logic • Control interfaces are more
adaptive filtering precise
Cons of digital control
• Easy to break
backup, backup, backup!
• Hard to do ‘fast’ loops
can get really fast ADC/DAC cards, but processing and
integration becomes an issue
• Interference?
• Dynamic range
best systems limited to about 20-bit
typical systems more like 10-14-bit
often need good whitening, both at ADC and DAC
• Software interfaces are currently not as user-friendly as
• real knobs and switches
Z-Transform
• The z-transform is the most general concept for the transformation
of discrete-time series.
• The Laplace transform is the more general concept for the
transformation of continuous time processes.
• For example, the Laplace transform allows you to transform a
differential equation, and its corresponding initial and boundary
value problems, into a space in which the equation can be solved by
ordinary algebra.
• The switching of spaces to transform calculus problems into
algebraic operations on transforms is called operational calculus.
The Laplace and z transforms are the most important methods for
this purpose.
• Generalization of the Fourier Transform
– Fourier Transform does not exist for all signals
The Transforms
The Laplace transform of a function f(t):


 st
F (s )  f (t )e dt
0
The one-sided z-transform of a function x(n):

X (z)  
n 0
x(n )z  n

The two-sided z-transform of a function x(n):



X (z)  
n  
x(n )z  n

15
• The z-Transform is often time more convenient to use
• Definition:

Xz   xn z
n  
n

• Compare to DTFT definition:

    xn e

j  jn
Xe
n  

• z is a complex variable that can be represented as z=r ej


• Substituting z=ej will reduce the z-transform to DTFT
The z-transform and the DTFT

• The z-transform is a function of the complex z variable


• Convenient to describe on the complex z-plane
• If we plot z=ej for =0 to 2 we get the unit circle
Im  
X e j

Unit Circle

r=1
 0
Re 
2 0 2
Relationship to Fourier Transform
Note that expressing the complex variable z in polar form reveals the
relationship to the Fourier transform:


X (re i )  
n  
x (n )(re i ) n , or


X (re i )  
n  
x (n )r n e in , and if r  1,


X (e i )  X ( )  
n  
x (n )e in

which is the Fourier transform of x(n).


Region of Convergence
The z-transform of x(n) can be viewed as the Fourier transform of x(n)
multiplied by an exponential sequence r-n, and the z-transform may converge
even when the Fourier transform does not.
By redefining convergence, it is possible that the Fourier transform may
converge when the z-transform does not.
For the Fourier transform to converge, the sequence must have finite energy, or:


n  
x(n )r  n  
Convergence
The power series for the z-transform is called a Laurent series:


X (z)  
n  
x(n )z  n

The Laurent series, and therefore the z-transform, represents an analytic function
at every point inside the region of convergence, and therefore the z-transform
and all its derivatives must be continuous functions of z inside the region of
convergence.
In general, the Laurent series will converge in an annular region of the z-plane.
Z and Laplace Transform
Z Transform Properties
State Space Model

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