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Dig Cont 08

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9 views

Dig Cont 08

Uploaded by

alsamanisust
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Transfer Function of Digital

Control System
Scaled unit impulses
• Depending on singularity functions we can
describe any arbitrary function as sum of scaled
unit impulses:
Scaled unit impulses
Analog to digital converter output
• The Simplest model of the A/D converter is switch
which repeatedly closes for a very short duration
(tw) after every T seconds.
• The output of such switch would consist of series
of pulses separated by T seconds.
• If tw is very small the kth pulse can be
approximated by unit-impulse as:

• Where: τ=kT and Δτ=tw


Analog to digital converter output
• The above equation represents a real sampler that
gives a sampled signal ftw*(t).
• The sampled signal is obtained by sampling the
function f(t) at sampling rate of 1/T with pulses of
duration tw.
• The ideal sampler produces a series of impulses
f*(t) when tw=1:
Zero Order Hold (z.o.h)
• The holding process is an interpolation of the
sampled input so that the gaps are filled.
• The z.o.h holds the function constant over each
time interval T.
• As a result the held function fh(t) has staircase time
plot:
Zero order hold transfer function
As the input to z.o.h is a series of impulses
the expected response should be:
h (t )  u (t ) u (t T )
taking laplace transform:
sT sT
1 e (1e )
H (s )   
s s s
thus the transfer function of z.o.h is:
sT
H (s ) (1e )
G (s )  
 (s ) s
Block diagram of A/D converter with ideal
sampler and z.o.h
Pulse transfer function for SISO system

The sampled input is:



u*(t )   u(nT ) (t  nT )
n 0
the output is given by discretized convolution integral:

y(t )   u(nT ) g (t  nT )
n 0
where: g (t  nT )is the impulse response of the analog
system to a unit impulse applied at time t = nT, then the
imaginary digitized output sampling is:

y*(t )  y(kT )   u(nT ) g (kT  nT )
n 0
Pulse transfer function for SISO system
Results:
• The pulse transfer function of a sampled-data analog
system is the z-transform of the digitized impulse
response g(mT).
• The analog system essentially becomes a digital
system with the pulse transfer function, G(z).
• We can directly obtain G(z) from G(s) by using the
transformation table and denote G(z) by the
convenient notation: G(z) = z{G(s)}.
Example-1:
Find the pulse transfer function of the z.o.h. which
has a transfer function of: G (s )  (1  e sT ) / s .
Solution :
1 e  sT
G(z )  z { }  z { }
s s
using the table of z-transform:
1 z
z{ }
s z 1
e  sT 1 1 z 1
z{ }  z {u s [ kT  T ]}  z .z {u s [kT ]}  z . 
s z 1 z 1
z 1 z 1
G ( z )    1
z 1 z 1 z 1
Example-2: Referring to example-1, if an anlog system
s
having a transfer fuction of ( 2 ) is inserted in
s 1
series with the z.o.h device, find the overall transfer
function of the system.
s 1e sT 1 e sT
solution: G(s )  2 .  2  2
s 1 s s 1 s 1
1 e sT
G (z )  z { 2 }  z { } using the table of z-transform:
s 1
s 1
2

1 e sT
z{ }  z {sin[kT ]} and: z { 1
}  z .z {sin[kT ]}
s 1
s 1
2
2

z sin(T )
G (z )  (1 z ).z {sin[kT ]}  (1  z ). 2
 1  1
z  2z cos(T ) 1
(z 1)sin(T )
 2
z  2z cos(T ) 1
Common z-transform function

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