IGEE/Master 1 Monday, February 11,2019

Digital Control Systems

1
𝐺𝐺(𝑠𝑠) =
(𝑠𝑠 + 1)2 + 1
Find the equivalent digital time filter
- Using the matched pole zero method.
- Using impulse invariance method; T is the sampling period.

Y(z)
b) In the following block diagram, determine the output Y(z) and the TF: if possible?
R(z)

Ex2:

Find the stable range of the gain for the digital position control system with the analog plant
transfer function:
k
G(s) =
s(s + 10)

and with DAC and ADC if T=0.05 s .

Ex3:

Ex4:
Obtain the characteristic equation, the root locus plot and the critical gain for the
system:
1
L(z) = (z−1)(z−0.5)

Dr. BOUSHAKI
IGEE/Master 1 Monday, February 11,2019
Solution of Digital Control Systems -Make up
Ex1 :
-Using the matched pole zero method.
1
G(s) = → sp = −1 ± j
s2 +2s+2

• For finite poles and zeros:

k(z + 1)2
GD (z) =
(z − e−(1+j)T )(z − e−(1−j)T )
 4K
GD (1) = GD ( z ) z =1 = (1 + e −2T − 2e −T cos T )
 4K 1 1 + e −2T − 2e −T cos T
⇒ ⇒ = ⇒ K =
G (0) = 1 1 (1 + e −2T − 2e −T cos T ) 2 8
=
 ( s + 1) 2
+ 1 2
 s =0

-Using impulse invariance method

1 −1
K1 = ; K2 =
2j 2j
1 1 1 1
G(z) = � � − � �
2j (1 − e−(1+j)T z −1 ) 2j (1 − e−(1−j)T z −1 )
e−T sinT. z
= 2
z − (2e−T cosT)z + e−2T
GD (z) = T. G(z)
e−T sinT. z
GD (z) = T� 2 �
z − (2e−T cosT)z + e−2T
b) Y(s) = E ∗ (s)C(s) ⇒ Y(s)∗ = E ∗ (s)C(s)∗
E(s) = R(s) − H1 (s)(Y(s)H2 (s))∗ ⇒ E(s) = R(s) − H1 (s)(E ∗ (s)C(s)H2 (s))∗

⇒ E(s) = R(s) − H1 (s)E ∗ (s)CH2 (s)∗ ⇒ E(s)∗ = R(s)∗ − H1 (s)∗ E ∗ (s)CH2 (s)∗

∗
R(s)∗ ∗
R(s)∗ C(s)∗
E(s) = ⇒ Y(s) =
1 + H1 (s)∗ CH2 (s)∗ 1 + H1 (s)∗ CH2 (s)∗
R(z)C(z) 𝐘𝐘(𝐳𝐳) 𝐂𝐂(𝐳𝐳)
⇒ Y(z) = 1+H ⇒ 𝐑𝐑(𝐳𝐳)
= 𝟏𝟏+𝐇𝐇
1 (z)CH2 (z) 𝟏𝟏 (𝐳𝐳)𝐂𝐂𝐇𝐇𝟐𝟐 (𝐳𝐳)
IGEE/Master 1 Monday, February 11,2019
Ex2 :

C.L. Characteristic Equation

Stability Testing

Ex3:
1)
IGEE/Master 1 Monday, February 11,2019

Ex4:
1+0.5
• Break-away point : zb = = 0.75
2
• k cr (critical) intersection of RL & unit circle.
• Closed loop characteristic equation:
(z − 1)(z − 0.5) + K = z 2 − 1.5z + K + 0.5 = 0
On the unit circle, �z1,2 � = K cr + 0.5 = 1 ⇒ K cr = 0.5, z1,2 = 0.75 ± j0.661

Dr. BOUSHAKI