CISE318

Computer Control Systems

Lecture 6:
Open Loop Systems
Dr Amar Khoukhi Dr. Amar Khoukhi
(Term 092)
CISE318_Topic 4 1 (c) Khoukhi 2010
Objectives Objectives
T b bl t bt i t f f ti f To be able to obtain transfer function of
open loop systems
To be able to solve difference equations
CISE318_Topic 4 2 (c) Khoukhi 2010
Transfer function Transfer function
For
CISE318_Topic 4 3 (c) Khoukhi 2010
Sampling and Reconstruction p g
Input
t l
) (t e
to sampler
output
Of zero
order
hold
CISE318_Topic 4 4 (c) Khoukhi 2010
Star Transform
G(s)
Star Transform
ZOH
) (s G
p
G(s)
) (t e
) (
+
kT e
ZOH
) (
p
The Output signal of an ideal sampler is the signal whose Laplace transform is
T

0
( ) ( )
nTs
n
E s e nT e
-
=
=

CISE318_Topic 4 5 (c) Khoukhi 2010

Star Transform Star Transform
The star transform is so named because it is frequently
represented by an asterisk or "star" in the notation
The star transform, is a discrete-time variation of
th L l T f th t t
.
the Laplace Transform that represents an
ideal sampler with period of time T.
Similar to Z-Transform with a simple change of variables,
but the star transform explicitly identifies each sample in p y p
terms of the sampling period (T), while the Z transform
only refers to each sample by integer index value.
CISE318_Topic 4 (c) Khoukhi 2010 6
RelationshipbetweenX*(s) andX(z) Relationship between X (s) and X(z)
X(s) X*(s) X(s) X (s)
0
( ) ( )
st
X s x t e dt

=
}
0
}
*( ) ( )
skT
X kT

The function called the star transform is defined as:

*( ) X s
0
*( ) ( )
skT
k
X s x kT e

=
=

CISE318_Topic 4 7
( ) *( )
sT
e z
X z X s

=
=
(c) Khoukhi 2010
Example Example
X(s) X*(s) X(s) X (s)
Star transform is related to Laplace Transform by taking
) 2 )( 1 (
1
) (
s s
s X
+ +
=
(3-10) from Textbook
andAppendix 3
the residues of the Laplace transform of a function
1
1
) ( Residues ) (
) 2 )( 1 (
1 T
e z
X of z X
s s

=
+ +

and Appendix 3
) )( (
) (
1
1
) 1 (
1
1
1
) 2 (
1
) (
1
2
2
1 1
2 , 1
T T
T T
T T
e z e z
e e z
e z s e z s
z X
e z



=

=
+
+
+
=

) )( (
) (
) ( *
) )( ( 1 ) 1 ( 1 ) 2 (
2
2
2 1
T sT T sT
T T sT
e e e
s X
e z e z e z s e z s


= =

=
+ +

CISE318_Topic 4 8
) )( (
) (
2T sT T sT
e e e e
(c) Khoukhi 2010
ResidueFormula Residue Formula
z z X of
poles all
k
z z E of residues k x
k

) (
1
) ( ) (
1
( )
k k
z z X of
E E f id
poles simple for
1 1
) (
) ( ) ( ) ( ( )
a z
k
a z
k
m ty multiplici with poles for
z z E a z z z E of residues
=
=
=
1 1
) ( ) ( ) (
( ) ( )
a z
k m
m
m
a z
k
z z E a z
dz
d
m
z z E of residues
=

=
1
1
1
1
) ( ) (
)! 1 (
1
) (
CISE318_Topic 4 (c) Khoukhi 2010 9
Example Example
X(s) X*(s) X(s) X (s)
Star transformis related to Z-Transformby taking
1
Star transform is related to Z Transform by taking
The change of variable
Ts
z e =
) 2 )( 1 (
1
) (
s s
s X
+ +
=
) )( (
) (
) (
2
2
T T
T T
e z e z
e e z
z X




=
Ts
e z
s X z X
=
= ) ( * ) (
) (
) ( *
) )( (
2
2
T T T T
T T sT
e e e
s X
e z e z

=
CISE318_Topic 4 10
) )( (
) (
2T sT T sT
e e e e
s X


(c) Khoukhi 2010
Example
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Example
CISE318_Topic 4 12 (c) Khoukhi 2010
PulseTransfer functionG(z) Pulse Transfer function G(z)
ZOH
) (s G
G(s)
X(s) X*(s)
Y(s)
ZOH
) (s G
p
| | ) ( * ) ( * * ) ( * ) ( ) ( *
) ( * ) ( ) (
s X s G s X s G s Y
s X s G s Y
= =
=
| |
) ( ) ( ) (
) ( * ) ( * * ) ( * ) ( ) ( *
z X z G z Y
s X s G s X s G s Y
=
= =
The pulse transfer function is the transfer function between the
sampled input and the output at the sampling instants
G(s)
CISE318_Topic 4 13 (c) Khoukhi 2010
PulseTransfer functionG(z) Pulse Transfer function G(z)
) (s G
) (s G
X(s) X*(s)
Y(s)
A(s)
) (
1
s G
) (
2
s G
) ( ) ( ) (
1 2
z X z G G z Y = ) ( ) ( ) (
1 2
CISE318_Topic 4 14 (c) Khoukhi 2010
PulseTransfer functionG(z) Pulse Transfer function G(z)
) ( ) ( ) (
1 2 1 2
z G z G z G G = ) ( ) ( ) (
1 2 1 2
Ts
e z
s G z G s G s G s G
=
= = ) ( * ) ( ) ( ) ( ) (
1 1 1 2 3
Ts Ts
e z e z
s G z G s G z G G
= =
= = ) ( * ) ( ) ( * ) (
2 2 3 1 2
CISE318_Topic 4 15 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
X(s) X*(s)
Y(s)
A(s)
) (
1
s G
) (
2
s G
) ( ) ( ) ( ) ( X G G Y ) ( ) ( ) ( ) (
1 2
z X z G z G z Y =
CISE318_Topic 4 16 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
Y(s)
A(s)
) (s G
B(s)
X(s)
) (
2
s G
) (
3
s G
) (
1
s G
) ( ) ( ) ( ) ( ) (
1 2 3
z X z G z G z G z Y =
CISE318_Topic 4 17 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
Y(s)
A(s)
) (s G
B(s)
X(s)
) (
2
s G
) (
3
s G
) (
1
s G
) ( ) ( ) ( ) (
1 2 3
z X z G z G G z Y = ) ( ) ( ) ( ) (
1 2 3
CISE318_Topic 4 18 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
X(s)
Y(s)
A(s)
) (
1
s G
) (
2
s G
) ( ) ( ) (
1 2
z X G z G z Y =
We can not write a transfer function for
this systembecause we cannot factor X(z)
) ( ) ( ) (
1 2
this system because we cannot factor X(z)
CISE318_Topic 4 19 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
Y(s)
A(s)
) (s G
B(s)
X(s)
) (
2
s G
) (
3
s G
) (
1
s G
) ( ) ( ) (
1 2 3
z X G z G G z Y = ) ( ) ( ) (
1 2 3
CISE318_Topic 4 20 (c) Khoukhi 2010
MoreExamples More Examples
) (s G
) (s G
Y*(s) A(s)
) (s G
B(s)
X(s)
) (
2
s G
) (
3
s G
) (
1
s G
) ( ) ( ) ( ) (
1 2 3
z X z G z G G z Y = ) ( ) ( ) ( ) (
1 2 3
CISE318_Topic 4 21 (c) Khoukhi 2010
M E l More Examples
CISE318_Topic 4 22 (c) Khoukhi 2010
More Examples
CISE318_Topic 4 23 (c) Khoukhi 2010
MoreExamples More Examples
CISE318_Topic 4 24 (c) Khoukhi 2010
Homeworkproblems Homework problems
Check the course webCT for the Homework
Assignment
CISE318_Topic 3 (c) Khoukhi 2010 25