Chap 05x PDF

ECE 5700
Digital Control Systems

Chapter 5
Dr. Bradley J. Bazuin
Western Michigan University
College of Engineering and Applied Sciences
Department of Electrical and Computer Engineering
1903 W. Michigan Ave.
Kalamazoo MI, 49008-5329
Closed-Loop Systems
Preliminary Concepts
Derivation Procedure
State Variable Models
ECE 6950
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle,
Digital Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
2
The Systems of Figure 5-1
Differences in transfer functions based on where the
sampler is located.
(a)
(b)
( ) ( ) ( ) ( ) z E z G z G z C =
2 1
( ) ( ) ( ) z E z G G z C =
2 1
(b)
(c)
(d)
ECE 6950 Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T
Nagle, Digital Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
3
( ) ( ) ( )
2 1
( ) ( ) ( ) ( ) ( ) s E G s G s A s G s C
*
1 2
*
2
= =
( ) ( ) ( ) z E G z G z C
1 2
=
( ) ( ) ( ) ( ) z E z D z G
s
e
z C
p
sT

1
( ) ( ) ( ) ( ) z E z D z G z C =
Concern
The difference between
The cascaded linear response of a discrete input
Discrete time samples at all stages following sampling
4
Example Concern Using Feedback
Sampling the error term only
( ) ( ) ( ) s E s G s C
*
=
( ) ( ) ( ) ( ) s C s H s R s E =
( ) ( ) ( ) ( ) ( ) s E s G s H s R s E
*
=
( ) ( ) ( ) ( ) s E s GH s R s E
*
*
* *
=
( ) ( ) ( ) s E s G s C
* * *
=
5
( ) ( ) ( ) ( ) ( ) s E s G s H s R s E =
( ) ( ) ( ) ( ) s E s GH s R s E =
( )
( )
( ) s GH
s R
s E
*
*
*
1+
=
( ) ( )
( )
( ) s GH
s R
s G s C
*
*
1+
= ( ) ( )
( )
( ) s GH
s R
s G s C
*
*
* *
1+
=
( ) ( )
( )
( ) z GH
z R
z G z C
+
=
1
Derivation Dilemma
What if we directly formed E*
( ) ( ) ( ) ( ) s C s H s R s E =
( ) ( ) ( ) s CH s R s E
*
* *
=
( ) ( ) ( ) ( ) [ ]
( ) ( ) ( ) ( ) s CH s G s R s G
s CH s R s G s C
*
*
*
*
=
=
( ) ( ) ( ) ( ) ( ) s CH s G s R s G s C
*
* * * *
=
How do we salve for C*?
CH is a cascaded linear signal!
6
( ) ( ) ( ) ( ) s CH s G s R s G
*
*
=
( ) ( ) ( ) ( ) ( ) s CH s G s R s G s C
*
* * * *
=
Another Dilemma
Sampling prior to feedback (only)
( ) ( ) ( ) s E s G s C =
( ) ( ) ( ) ( ) s C s H s R s E
*
=
( ) ( ) ( ) ( ) ( ) [ ] s C s H s R s G s C
*
=
( ) ( ) ( ) ( )
* *
7
( ) ( ) ( ) ( ) ( ) [ ]
( ) ( ) ( ) ( ) ( ) s C s H s G s R s G
s C s H s R s G s C
*
=
=
( ) ( ) ( ) ( ) s C s GH s GR s C
*
* *
*
=
( )
( )
( ) s GH
s GR
s C
*
*
*
1+
=
( )
( )
( ) z GH
z GR
z C
+
=
1
( ) ( ) ( ) ( ) ( )
( )
( ) s GH
s GR
s H s G s R s G s C
*
*
1+
=
The Problem
There are really multiple inputs to the system
The normal input or error function
The input to the feedback
The sampler form of a continuous time signal, E* The sampler form of a continuous time signal, E*
8
Derivation Procedure
Construct the original signal flow graph.
Include starred terms as inputs.
Assign a variable to each sampler input
Express the sampler inputs and the system output in terms
of sampler outputs (starred terms) and system inputs. of sampler outputs (starred terms) and system inputs.
Take the starred transform of these equations and solve
as possible.
The new flow graph is called a sampled signal flow graph
Masons Flow may be used to solve
9
Applying the Procedure
Error sampling only block diagram
Write the new block diagram with E(s) and E*(s) not
connected.
( ) ( ) ( ) ( ) ( ) s E s H s G s R s E
*
=
( ) ( ) ( ) ( ) s E s GH s R s E
*
*
*
*
=
10
( ) ( ) ( ) ( ) ( ) s E s H s G s R s E
*
1 1
=
( ) ( ) ( ) s E s G s C
*
1
=
( ) ( ) ( ) ( ) s E s GH s R s E
*
1
*
*
*
1
=
( ) ( ) ( ) s E s G s C
*
1
* *
=
( )
( )
( ) s GH
s R
s E
*
*
*
1
1+
=
( )
( )
( )
( ) s R
s GH
s G
s C
*
*
*
*
1
+
=
( )
( )
( )
( ) s R
s GH
s G
s C
*
*
1
+
=
Notice the difference between C and C*
A new signal flow graph should be drawn, Fig. 5-6
Example 5.1: Figure 5-7
Convert Fig. 5-7b into the sampled signal flow graph
Use starred terms for discrete signals
( ) ( ) ( ) ( ) ( ) ( ) s E s D s H s G s R s E
* *
=
( ) ( ) ( ) ( ) s E s D s G s C
* *
=
( ) ( ) ( ) ( ) ( ) s E s D s GH s R s E
* *
*
* *
=
( ) ( ) ( ) ( ) s E s D s G s C
* * * *
=
11
( ) ( ) ( ) ( ) s E s D s G s C
* *
=
( )
( )
( ) ( ) s D s GH
s R
s E
*
*
*
*
1 +
=
( )
( ) ( )
( ) ( )
( ) s R
s D s GH
s D s G
s C
*
*
*
*
1
=
( ) ( ) ( ) ( ) s E s D s G s C
* * * *
=
( )
( ) ( )
( ) ( )
( ) s R
s D s GH
s D s G
s C
*
*
*
* *
*
1
=
( )
( ) ( )
( ) ( )
( ) z R
z D z GH
z D z G
z C
+
=
1
Notice the difference between C and C*
A new signal flow graph should be drawn
Example 5.2
Try it by inspection an extension of previous examples
( )
( )
( )
( )
( )
( )
( )
( ) s R
s H G
s G
s G
s H G
s G
s G
s C
*
*
2
*
2
*
1
*
2
*
2
*
1
*
1
1
1
+
+
+
=
12
( ) s H G
2
1+
( )
( ) ( )
( ) ( ) ( )
( ) s R
s H G s G s G
s G s G
s C
*
*
2
*
2
*
1
*
2
*
1
*
1
+ +
=
( )
( ) ( )
( ) ( ) ( )
( ) s R
s H G s G s G
s G s G
s C
*
*
2
*
2
*
1
2
*
1
1
+ +
=
Example 5.3: Figure 5-12 (1)
See text for the figure
( ) ( ) ( ) s C s R s E =
1
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) s C s G s G s G s E s C s R s C + =
2 2 1
*
1
( )
( )
( )
( ) ( ) s G s G s R
( ) ( ) ( )
* *
(

(
s G s G s R
13
( )
( )
( )
( )
( ) ( )
( ) s G
s G s G
s E
s G
s R
s C
2
2 1
*
1
2
2 2 +
+
+
=
( ) ( )
( )
( )
( )
( ) ( )
( ) s G
s G s G
s E
s G
s G
s R s E
2
2 1
*
1
2
2
1
2 2
1
+

+
+
=
( )
( )
( )
( )
( ) ( )
( )
*
2
2 1
*
1
*
2
*
2 2
(
+
(
+
=
s G
s G s G
s E
s G
s R
s C
( )
( )
( )
( )
( ) ( )
( )
*
2
2 1
*
2
2
*
1
2
1
2
1
(
+
(
+
+
=
s G
s G s G
s G
s G
s R
s E
( )
( )
( )
( )
( ) ( )
( )
*
2
2 1
*
2
2
*
1
2
1
2
1
(
+
(
+
+
=
s G
s G s G
s G
s G
s R
s E
( )
( )
( )
( )
( ) ( )
( )
*
2 1
*
2
*
1
(
(
(
(
s G s G s G
s R
14
( )
( )
( )
( )
( )
( )
( ) ( )
( )
( ) ( )
( )
*
2
2 1
2
2 1
2
2
*
2
*
2
1
2 2
2
(
+
(
+
(
+
=
s G
s G s G
s G s G
s R
s G
s R
s C
( )
( )
( )
( ) ( )
( )
( )
( )
( )
( ) ( )
( )
*
2
2 1
*
2
2
2
2 1
2
2
1
2
1
2 2
(
+
(
+
+
+
+
=
s G
s G s G
s G
s G
s R
s G
s G s G
s G
s R
s C
Not
Pretty!
What if the feedback is sampled?
Using a basic feedback structure
( ) ( ) ( ) ( ) s C s H s R s E
*
=
( ) ( ) ( ) s E s G s C
*
=
( ) ( ) ( ) ( ) s C s H s R s E
* * * *
=
( ) ( ) ( ) ( ) ( ) [ ] s C s H s R s G s C
* * * * *
=
( ) ( ) ( ) s E s G s C
* * *
=
15
( )
( )
( ) ( ) s H s G
s R
s E
* *
*
*
1 +
=
( )
( )
( ) ( )
( ) s R
s H s G
s G
s C
*
* *
1

+
=
( ) ( ) ( ) ( ) ( ) [ ] s C s H s R s G s C =
( )
( )
( ) ( )
( ) s R
s H s G
s G
s C
*
* *
*
*
1

+
=
( )
( )
( ) ( )
( ) z R
z H z G
z G
z C
+
=
1
Why did this work?
Samplers have been applied to eliminate multi-stage
continuous time blocks.
The inputs to samplers are either sourced from discrete
time sampled signals or from simple inputs.
A possible structure to simplify processing considerations.
16
State Variable Models
Using state-space to form the discrete time function
Reconfiguration to eliminate composite transfer function
sampling
(1) Form the closed-loop function (1) Form the closed-loop function
Fig. 5-17(a)
(2) Reconfigure into a multiple-input, multiple-output
structure
Fig. 5-17(b)
Notice: star-inputs, continuous time and per-sampler outputs
17
Example 5.5: Figure 5-17 & 18
Define the continuous time equivalent signal flow
( )
( ) 1
1
1
+
=
s s
s G
p
( )
2
2
2
+
=
s
s G
p
( )
10
10
+
=
s
s H
( ) ( ) ( ) ( ) ( ) ( ) s E s G s H s E s G s E
p p
2
2
1
1 2
=
( ) ( ) ( ) s E s G s Y =
Defining the state space model
18
( ) ( ) ( ) s E s G s Y
p
2
2
=
( ) ( )
( )
( )
(
(
(
(
(
+
(
(
(
(
=
t e
t e
t v t v
2
1
2 0
0 0
0 1
0 0
2 0 0 0
10 10 0 0
0 0 1 0
0 0 1 0
&
( )
( )
( ) t v
t e
t y
=
(
0 1 0 1
1 0 0 0
2
Example 5.5: MATLAB
Using the c2d function
Ad =
1.0000 0.0952 0 0
0 0.9048 0 0
0 0 0.3679 0.5636
0 0 0 0.8187
Bd =
19
Bd =
0.0048 0
0.0952 0
0 0.0686
0 0.1813
( ) ( )
( )
( )
(
(
(
(
(
+
(
(
(
(
= +
k e
k e
k v k v
2
1
1813 . 0 0
0686 . 0 0
0 0952 . 0
0 0048 . 0
8187 . 0 0 0 0
5636 . 0 3679 . 0 0 0
0 0 9048 . 0 0
0 0 952 . 0 1
1
( )
( )
( ) k v
k e
k y
=
(
0 1 0 1
1 0 0 0
2
Combining
The final step is to correct the state space equations
( ) ( ) ( ) ( )
)
`
+
(
(
(
(
(
+
(
(
(
(
= + k r k v k v k v
0
1
0 1 0 1
1 0 0 0
1813 . 0 0
0686 . 0 0
0 0952 . 0
0 0048 . 0
8187 . 0 0 0 0
5636 . 0 3679 . 0 0 0
0 0 9048 . 0 0
0 0 952 . 0 1
1
( )
( )
( ) ( ) k r k v
k e
k e
+
(
=
(
0
1
0 1 0 1
1 0 0 0
2
1
20

1813 . 0 0 8187 . 0 0 0 0
( ) [ ] ( ) k v k y = 1 0 0 0
( ) ( ) ( ) ( ) k r k v k v k v
(
(
(
(
+
(
(
(
(
+
(
(
(
(
= +
0
0
0952 . 0
0048 . 0
0 1813 . 0 0 1813 . 0
0 0686 . 0 0 0686 . 0
0952 . 0 0 0 0
0048 . 0 0 0 0
8187 . 0 0 0 0
5636 . 0 3679 . 0 0 0
0 0 9048 . 0 0
0 0 952 . 0 1
1
( ) ( ) ( ) k r k v k v
(
(
(
(
+
(
(
(
(
= +
0
0
0952 . 0
0048 . 0
8187 . 0 1813 . 0 0 1813 . 0
5636 . 0 2993 . 0 0 0686 . 0
0952 . 0 0 9048 . 0 0
0048 . 0 0 952 . 0 1
1
The Adjusted Equation Elements
Tracking the equation elements
Resulting in
( ) ( ) ( ) k e B k v A k v + = +
1 1
1
( ) ( ) ( ) k r D k v C k e + =
1 1
Resulting in
21
( ) [ ] ( ) ( ) k e D B k v C B A k v + + = +
1 1 1 1 1
1
Architecture Note
Each input must be sampled prior to being applied to the
analog part of the system
If an input varies slowly over the sampled period, it is often
assumed to be sampled. The resulting model has some error due to
this approximation.
22
State Space with a Digital Controller
Modified state equation
1 to ith state of v is due to analog plant with input m(k)
i+1 to nthe state of v is due to digital controller with input e(k)
( ) ( ) ( ) ( ) k e B k m B k v A k v + + = +
2 1 1
1
23
( ) ( ) ( ) ( ) k e B k m B k v A k v + + = +
2 1 1
1
( ) ( ) ( ) k e D k v C k m + =
1 1
( ) ( ) k v C k y =
( ) ( ) ( ) ( ) ( ) k v C k r k y k r k e = =
Digital Controller (2)
Combining the state equation
( ) ( ) [ ] ( ) ( ) { } ( ) ( ) { } k v C k r B k r D k v C D C B k v A k v + + + = +
2 1 1 1 1 1
1
( ) ( ) ( ) ( ) ( ) k v C k r k y k r k e = =
( ) ( ) ( ) ( ) [ ]
[ ] ( ) ( ) k r D k v C D C
k v C k r D k v C k m
+ =
+ =
1 1 1
1 1
24
( ) ( ) [ ] ( ) ( ) { } ( ) ( ) { } k v C k r B k r D k v C D C B k v A k v + + + = +
2 1 1 1 1 1
1
( ) [ ] ( ) ( ) ( ) k r B k r D B k v C B C D B C B A k v + + + = +
2 1 1 2 1 1 1 1 1
1
( ) ( ) [ ] ( ) [ ] ( ) k r B D B k v C B D B C B A k v + + + + = +
2 1 1 2 1 1 1 1 1
1
Note: error in 5-37
Based on example 4.13, the state equation for the plant
becomes
The filter is
( ) ( ) ( ) k m k v k v
(
+
(
= +
952 . 0
048 . 0
9048 . 0 0
0952 . 0 1
1
( ) [ ] ( ) k v k y = 0 1
The filter is
25
( ) ( ) ( ) k e k v k v + = +
3 3
9 . 0 1
( ) ( ) ( ) k e k v k m + = 9 . 0 01 . 0
3
( )
( ) 9 . 0
01 . 0
9 . 0
9 . 0
8 . 0 9 . 0
+ =

=
z z
z
z E
z M
The combined state equation becomes
( ) ( ) ( ) ( ) k e k m k v k v
(
(
(
+
(
(
(
+
(
(
(
= +
1
0
0
0
952 . 0
048 . 0
9 . 0 0 0
0 9048 . 0 0
0 0952 . 0 1
1
( ) [ ] ( ) k v k y = 0 0 1
The error equation and m(k) equation becomes
26
( ) ( ) ( ) ( ) ( ) ( ) [ ] ( ) k v k r k v C k r k y k r k e = = = 0 0 1
( ) [ ] ( ) k v k y = 0 0 1
( ) [ ] ( ) ( ) k e k v k m + = 9 . 0 01 . 0 0 0
(
(
(
=
9 . 0 0 0
0 9048 . 0 0
0 0952 . 0 1
1
A
(
(
(
=
0
952 . 0
048 . 0
1
B
(
(
(
=
1
0
0
2
B
[ ] 01 . 0 0 0
1
= C
9 . 0
1
= D
[ ] 0 0 1 = C
Solving ( ) [ ] ( ) k v k y = 0 0 1
( ) ( ) [ ] ( ) [ ] ( ) k r B D B k v C B D B C B A k v + + + + = +
2 1 1 2 1 1 1 1 1
1
( ) [ ] [ ] ( ) ( ) k r k v k v
(
(
(
(
(
(
+
(
(
(
+
(
(
(
|
|
|
\
|
(
(
(
+
(
(
(

(
(
(
+
(
(
(
= +
1
0
0
9 . 0
0
952 . 0
048 . 0
0 0 1
1
0
0
9 . 0
0
952 . 0
048 . 0
01 . 0 0 0
0
0952 . 0
0048 . 0
9 . 0 0 0
0 9048 . 0 0
0 0952 . 0 1
1
27
(
(
(
=
9 . 0 0 0
0 9048 . 0 0
0 0952 . 0 1
1
A
(
(
(
=
0
0952 . 0
0048 . 0
1
B
(
(
(
=
1
0
0
2
B
[ ] 01 . 0 0 0
1
= C
9 . 0
1
= D
[ ] 0 0 1 = C
( ) [ ] ( ) ( ) k r k v k v
(
(
(
+
(
(
(
(
(
(
(
(
(
= +
1
8568 . 0
04356 . 0
0 0 1
1
8568 . 0
04356 . 0
9 . 0 0 0
00952 . 0 9048 . 0 0
00048 . 0 0952 . 0 1
1
( ) ( ) ( ) k r k v k v
(
(
(
+
(
(
(
= +
1
8568 . 0
04356 . 0
9 . 0 0 1
00952 . 0 9048 . 0 8568 . 0
00048 . 0 0952 . 0 9565 . 0
1

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ECE 5700

Digital Control Systems

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