Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Design Approach to Analog-to-Digital Transforms

Presented by, Sonal N. Shingnapure Under The guidance of Dr.R V. Sarwadnya Department of Instrumentation Engineering, S.G.G.S. Institute of Engineering and Technology, Nanded-431 606

January 3, 2013

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

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Introduction Analog PID Digital PID Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods Derrivation of the new s to z transform Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros Examples Conclusion References

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Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Introduction
The PID controller is one of the most popular controllers. However, the conventional design in the time domain as a digital controller is performed using the zero-pole cancellation method. This method, certainly improves the characteristics of the system, but doesnt give the designer any control about the nal specications of the system. The conventional design is also performed by the direct conversion of the analog PID (previously designed in the continuous time domain) to its digital counterpart using the corresponding s-to-z transformations.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Introduction

There are two major approaches to designing digital controller One approach is the Direct Digital Design approach
least-squares pole-zero placement methods

The second approach is the emulation of the analog controller and appropriate transformations, or mappings, from the s-plane to the z-plane

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Introduction

It is desirable that the mapping procedures have the following two properties:
1

They should map the left half of the s-plane to the interior of the unit circle in the z-plane to assure that real, causal, stable, and rational analog transfer functions result in real, causal, stable, and rational discrete-time transfer functions and The imaginary axis of the s-plane should be mapped onto the unit circle circumference in the z-plane

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Basic analog PID controller

Uc (s) = kp + kI + kD s E (s) s

Figure : Arcitecture of Analog PID controller

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Digital PID Controller

Before designing the digital PID, it must be certain that the digital model gives the best representation of the analog PID. The emulation approach may be further subdivided into three groups Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Time-Invariant Response Methods

This approach preserves the time response of the original analog signal at the sampling instants only. The approach suers from inherent aliasing which renders it unsuitable for designing high-pass and bandstop lters. The impulse-invariant method may be summarized as follows. Determine the transfer function H(s) of the analog controller. Expand H(s) using partial fraction expansion Obtain h(t) the inverse Laplace transform of H(s). Find the corresponding z-transform of each term of the expansion Obtain H(z)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Numerical Approximation Methods

Numerical integration or dierentiation techniques are often employed to obtain s-to-z transformations.The most common are listed in Table.
Table : Transformations for Dierentiator and Integrator

Transformation Forward Rect Backward Rect Tustin

Dierentiator z 1 T z 1 zT 2 z 1 x T z +1

Integrator T z 1 zT z 1 T z +1 x 2 z 1

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

To test the performance of each of these transformations in the time domain, a simulation for the unit step response has been done considering a second order plant with the transfer function Gp (s) = s2 100 + 10s + 100 (1)

and an analog PID controller in cascade with the plant, with the transfer function 4s 2 + 40s + 100 Gc (s) = (2) s

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Step Response

Figure : Step Response of Analog PID Analog-to-Digital Transform Design Approach to

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

The same simulation has been repeated for the digital PIDs obtained using the transformations shown in Table. Forward rect Gf (z) = Backward rect Gb (z) = Tustin method Gt (z) = 8z 2 + 40Tz 2 + 50T 2 z 2 + 100zT 2 16z 40T + 8 T (z 2 1) (5) 4z 2 8z + 100T 2 z 2 + 40Tz 2 40Tz + 4 T (z 2 z) (4) 4z 2 8z + 40zT 40T + 100T 2 + 1 T (z 1) (3)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Step Response

Figure : Step Response of Digital PID

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Table : Time domain Transformations with Performances

Analog Forward Backward Tustin

Overshoot 0 0 0 0

Rise Time 0.0055 1.9089 1.9127 1.9080

Settling Time 0.0099 3.5767 3.5880 3.5667

Peak 0.9971 0.9989 0.9994 0.9989

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

The bilinear (Tustin) method may be summarized as follows Find the transfer function H(s) of an analog lter that corresponds to the desired digital lter specications Determine the corresponding band-edge or critical frequencies of the desired digital lter and prewarp the corresponding analog frequencies as follows: = (2/Td )tan(/2) Obtain H(s) by replacing the s variable in H(s) by s= 2 1 z 1 Td 1 + z 1 (6)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Heuristic Methods

The most celebrated of these methods is the matched pole-zero (MPZ) transform, also known as the matched z-transform (MZT) method. The MPZ maps poles and zeros of H(s) on the s-plane to poles and zeros on the z-plane using z = e sT . Note that the impulse-invariant method provides this mapping only to the poles of H(s).

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Time-Invariant Response Methods (Hold Equivalence Methods) Numerical Approximation Methods Heuristic Methods

Heuristic Methods
The MPZ (MZT) method may be summarized as follows: Determine a suitable analog transfer function H(s) that meets the specications of the desired lter Find the locations of the poles and zeros of H(s) Map the nite poles and zeros from the s-plane to the z-plane as follows: (s + a) (1 z 1 e aT ) The zeros at H(s) at s = are mapped in H(z) to the point z = 1. Combine the z-plane equations appropriately to obtain H(z) up to a constant multiplier.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

The new s to z transform by Mohamad Alaoui

The bilinear (Tustin) s-to-z transformation is derived from the Taylor series expansion of z = e sT or equivalently from s = ln(z)/T . Assume that we have the following transfer function, the transfer function of a leaky dierentiator G (s) = (s + c) (7)

To obtain the z-transform for the corresponding discrete equivalent of (7),substitute s = ln(z)/T to obtain, with = e cT or cT = ln() , the following equation: G (z) = ln(z) + cT ln(z) = T T (8)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

The new s to z transform by Mohamad Alaoui

Expand ln(z) as a Laurent series, by rst expressing z as the ratio 1+u z = (9) 1u Solving (9) for u yeilds u= 1 (z)1 1 + (z)1 (10)

From (9) and the properties of the logarithm, the following equation is obtained: ln(z) = ln(1 + u) ln(1 u) (11) Applying the Taylor expansion to each of the two right-hand terms of (11) yields the following two equations:

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

The new s to z transform by Mohamad Alaoui

u2 u3 + +... 2 3 u2 u3 + + ... ln(1 u) = u + 2 3 ln(1 + u) = u From (11) - (13), the following expansion is obtained: ln(z) = 2 u + u3 u5 + + ... 3 5 (14)

(12) (13)

In practice, approximations of (14) are obtained by taking appropriately a few of the right-hand-side terms. In the following, a rst-order approximation is obtained.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Case of Simple Real Zeros or Real Poles

A rst-order s-to-z transform is obtained by retaining only the rst term in the expansion in (8) to obtain ln(z) 2u = 2 1 (z)1 1 + (z)1 (15)

Thus, from (8), (15), and (7), G (s) = (s + c) maps to the following G (z): (s + c) G (z) = 2 1 (z)1 1 e cT z 1 =K ; = e cT T 1 + (z)1 1 + e cT z 1 (16)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Case of Simple Real Zeros or Real Poles

The new transformation maps a zero at s = c to a zero at z = e cT and a pole at z = e cT , which are symmetrical with respect to the origin in the z-plane. The pole lies inside the unit circle only if c is positive, i.e., only if the zero lies in the left half of the s-plane.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Case of Simple Real Zeros or Real Poles

If instead of (7), we had a factor of (s + a) in the denominator of G (s) , then the resulting equivalent discrete-time transfer function for this factor would be the inverse of (16). In particular, the transfer function H(s) = 1 s +a (17)

would map into the following transfer function in the -plane: H(z) T 2 1 + (z)1 1 (z)1 =K 1 + e aT z 1 ; = e aT 1 e aT z 1 (18)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Case of Simple Complex Conjugate Pairs of Poles or Zeros

Since poles and zeros occur in complex conjugate pairs, suppose that we have the following analog transfer function, where a, and b are real constants: H(s) = 1 1 = 2 (s + a + jb)(s + a jb) s + 2as + a2 + b 2 (19)

Applying (16) to each of the factors of (19) yields H(z) K (1 + e (a+jb)T z 1 )(1 + e (ajb)T z 1 ) (1 e (a+jb)T z 1 )(1 e (ajb)T z 1 ) 1 + 2e aT cos(bT )z 1 + e 2aT z 2 =K 1 2e aT cos(bT )z 1 + e 2aT z 2 (20) (21)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Case of Simple Complex Conjugate Pairs of Poles or Zeros

assume the following transfer function of an analog system, where c, and d, are real constants: G (s) = (s + c + jd)(s + c jd) = s 2 + 2cs + c 2 + d 2 (22)

The transfer function of the corresponding discrete-time system will be G (z) K (1 e (c+jd)T z 1 )(1 e (cjd)T z 1 ) (1 + e (c+jd)T z 1 )(1 + e (cjd)T z 1 ) 1 2e cT cos(dT )z 1 + e 2cT z 2 =K 1 + 2e cT cos(dT )z 1 + e 2cT z 2 (23) (24)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Case of Simple Real Zeros or Real Poles Case of Simple Complex Conjugate Pairs of Poles or Zeros Case of Multiple Poles or Zeros

Higher degree factors appear in many transfer functions due to multiple poles and multiple zeros. Consider the following transfer function, which could be a factor in a more general transfer function, where n is an integer: H(s) = 1 (s + a)n (25)

The method would be to apply the approximation of the rst degree factor n times. The same approach would apply for the case of multiple zeros as in (25) G (s) = (s + c)n (26)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example
This example consists of designing a series controller D(s), connected to the plant G (s) in the forward path of a unity feedback system as shown in Fig.

Figure : Analog control system

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example

Figure : Mixed control system

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example

Figure : Pure Discrete equivalent

The corresponding analog closed-loop transfer function F (s) and the plant transfer function G (s) are F (s) = Y (s) D(s)G (s) 1 = ; G (s) = 2 R(s) 1 + D(s)G (s) s (27)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example

The design should obtain a closed-loop natural frequency n 0.3 rad/s and a damping ratio = 0.7. In the analog case, the specications can be met by the lead compensation s + 0.2 D(s) = 0.81 s + 2.0

(28)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example

Figure : Step responses of the unity feedback system using the analog compensation

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Example
The discrete model representation of the plant preceded by a zeroth-order hold lter is G (z) = 1 z +1 T2 z + 1 = 2 2 (z 1) 2 (z 1)2 forT = 1s (29)

In the discrete design, the plant is preceded by a zeroth-order hold. To digitize D(s), rst an appropriate sampling rate is chosen. Since the bandwidth is approximately equals to 0.3 rad/s, a safe sampling rate would be more than 20 times the bandwidth, which is equal to 6 rad/s or about 1 Hz.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Thus, the selected sampling period is T = 1s. Note that, since the pole has no imaginary part, it lies at the center of the baseband strip and is thus immune to polezero aliasing. Using a digital compensator with a transfer function D(z) = Di (z), the corresponding overall closed-loop transfer function is Fi (z) = Y (z) Di (z)G (z) = R(z) 1 + Di (z)G (z) (30)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

An ith digitization scheme will obtain a corresponding Di (z) and Fi (z). The bilinear digitization of (29) yields D1 (z) = 0.4455z 0.3645 z 0.389 0.319z 1 1 0.135z 1 (31)

The MPZ digitization of (29) yields D2 (z) = (32)

The direct digital(MPZ) design adds a derivative term to the proportional term to obtain [1] D3 (z) = 0.374 z 0.85 z (33)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

The Alaoui new design is obtained by using , (16) for the denominator of (28), the inverse of (16) for the numerator of (28), and evaluating the constant multiplier to obtain the same dc gain as the dc gain of (28). The transfer function resulting from the new approach is given by D4 (z) = 0.619 1 0.6834z 1 0.1108z 2 1 + 0.6834z 1 0.1108z 2 (34)

The step response of the overall compensated system, corresponding to (30), using all of the above discrete approximations to the analog controller in addition to the continuous control design.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

The step response of the overall compensated system

Figure : Step responses of the unity feedback system using the analog compensation and the discrete-time approximations using Equations (27) - (34)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

The step response of the overall compensated system

Figure : Step responses of the unity feedback system using the analog compensation and the discrete-time approximations using Equations (27) - (34)

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Table : Time domain Transformations with Performances

Analog Bilinear Transform MPZ Transform Direct Digital control Alaoui

Overshoot 26.7224 38.4149 43.8413 32.4191 33.2866

Rise Time 2.5480 2 2 3 2

Settling Time 15.6193 14 18 17 14

Peak 1.2672 1.3841 1.4384 1.3242 1.3329

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Conclusion

A new approach to discretization of analog systems, using a leaky integrator/dierentiator concept is given. The new method subsumes the Tustin (bilinear) and the MPZ transformations. The new transforms are capable of providing a good approximation of the desired responses. They gave a better approximation to the analog lters than the bilinear and MPZ methods.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Refrences
M. A. Al-Alaoui,Novel Approach to Analog-to-Digital transforms, IEEE Trans. Circuits Syst. I, Fundam. Theory Appl., vol. 54, no. 2, pp. 10577122,February. 2007. Jose L.Tong and James P. Bobis,A Model For Designing Digital PID Controllers,IEEE Trans.,pp.0-7803-0582,1992 F. G. Franklin, J. D. Powell, and A. Emami-Naeini,Feedback Control of Dynamic Systems, Reading, MA: Addison-Wesley, 1994. J. G. Proakis and D. G. Manolakis, Introduction to Digital Signal Processing,3rd ed. Englewood Clis, New Jersey: Prentice-Hall, 1996.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Refrences

Ioan D. Landau and Gianluca Zito,Digital Control Systems Design, Identication and Implementation, Springer-Verlag London Limited 2006. M. A. Al-Alaoui,Novel stable higher order s-to-z transforms, IEEE Trans. Circuits Syst. I, Fundam. Theory Appl., vol. 48, no. 11, pp. 13261329,Nov. 2001.

Design Approach to Analog-to-Digital Transform

Introduction Analog PID Digital PID Derrivation of the new s to z transform Examples Conclusion References

Thank You

Design Approach to Analog-to-Digital Transform