Beruflich Dokumente
Kultur Dokumente
Department of Engineering
Chapter 1
Introduction
In recent years, control systems have assumed an increasingly important role in the development
and advancement of modern civilization and technology. Particularly every aspect of our day to
day activities is affected by some type of control system. For example in the domestic domain,
automatic controls in heating and air-conditioning systems regulate the temperature and humidity
of homes and buildings for comfortable living. To achieve maximum efficiency in energy
consumption many modern heating and air conditioning systems in large office and factory
buildings are computer controlled.
1.1 The principles of control system can be illustrated in many fields.
By turning a key the driver of an automobile can start a large H.P engine.
A person can lower the temperature in the room simple by turning a knob on the air
conditioner.
The driver of several tones automobile can control as motion by the simple use of steering
wheel, accelerator, and brake pedal.
Every physical object is actually a system. A class room is a good example of physical
system. A room along with the combination benches, whiteboard, fans, AC and lighting
arrangement can be called a classroom which acts as elementary system.
1.2.1 DEFINITION OF CONTROL SYSTEM
A control system can be defined combination or an arrangement of different physical
components in some fashion or configuration in order to regulate, direct or command itself or
some other system.
*Referred : Modern Control Engineering by K .Ogata
Examples:
a) TV Remote is a control system which is not connected but related to it. It is used for
controlling different channels of the TV.
b) Car speedometer is control system used for controlling the speed of the car. It is
connected to the car.
1.3 CLASSIFICATION OF CONTROL SYSTEMS
Control Systems are broadly classified into many types depending upon following:
1. Based on presence of feedback in control System
a. Open-loop control system
b. Closed-loop control system
2. Based on input-output relationship of the control System
a) Linear Control System
b) Non Linear Control System
3. Based on type of components of the control system
a) Mechanical Control System
b) Electrical and Electromechanical Control System
1.4 OPEN LOOP CONTROL SYSTEMS (NON FEED BACK SYSTEMS)
Those systems in which the output has no effect on the control action are called open
loop control systems.
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In other words, in an open - loop control systems the output is neither measured nor
feedback for comparison with the input.
Rotational Generator
Induced Voltage
No
1
2
3
4
5
6
10
the system.
4. The transfer function between an input and output of a system is defined as the Laplace
transform of impulse.
*Referred : Modern Control Engineering by K .Ogata
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Element
Resistor
Inductor
Capacitor
Representation
Voltage Equation
Current Equation
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Example 1:
Write the modeling equation of the electrical system given and determine the transfer
function.
Solution
The required Transfer function is
Example 2:
Write the modeling equation of the electrical system given and determine the transfer
function.
Solution
Applying KVL for loop 1 corresponding to i1(t) we get
V(t) = L di1(t)/dt + R1 i1(t) + R2 [ i1(t) i2(t) ] (1)
Applying KVL for loop 2 corresponding to i2(t) we get
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This time varies from system to system and is dependent on different factors. The factors
like friction mass or inertia of moving elements some nonlinearities present etc.
Example: Measuring instruments like Voltmeter, Ammeter.
Classification of Time Response:
The time response of a control system is divided into two parts.
1 Transient response ct(t)
2 Steady state response css(t)
C(t) = Ct(t) +CSS(t)
Where C(t)= Time Response
Total Response=Zero State Response +Zero Input Response
1. Transient Response:
It is defined as the part of the response that goes to zero as time becomes very large.
Lim Ct(t)=0
t
A system in which the transient response does not decay as time progresses is an unstable
system.
The transient response may be experimental or oscillatory in nature.
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The time domain analysis essentially involves the evaluation of the transient and steady
state response of the control system.
The performance of a system can be evaluated with respect to these test signals.
Based on the information obtained the design of control system is carried out.
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for t 0.
In LT form R(S) = A
S2
If A=1, it is called Unit Ramp Input
Mathematically
r(t) = t u(t)
t for t 0
=
{ 0 for t 0
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In LT form R(S) = A
1 = 1
S2 S2
3. Parabolic Input Signal (Acceleration function):
The input which is one degree faster than a ramp type of input as shown in fig (3.4 )
or it is an integral of a ramp.
Mathematically a parabolic signal of magnitude
A is given by r(t) = A t2 u(t)
2
At2 for t 0
=
2
0 for t 0
In LT form R(S) = A
S3
If A = 1, a unit parabolic function is defined as r(t) = t2 u(t)
2
2
ie., r(t) = t for t 0
{ 2
0 for t 0
In LT for R(S) = 1
S3
4. Impulse Input Signal :
It is the input applied instantaneously (for short duration of time ) of very high amplitude
as shown
Eg: Sudden shocks i e, HV due lightening or short circuit.
It is the pulse whose magnitude is infinite while its width tends to zero.
Area of impulse = Its magnitude
If area is unity, it is called Unit Impulse Input denoted as (t)
Mathematically it can be expressed as
r(t) = A for t = 0
= 0 for t 0
In LT form R(S) = 1 if A = 1
Standard test Input Signals and its Laplace Transforms.
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r(t)
R(S)
Unit Step
1/S
Unit ramp
1/S2
Unit Parabolic
1/S3
Unit Impulse
The T.F. b/w the actuating error signal e(t) and the i/p
G(S) H(S)
=
1 + G(S) H(S)
1
1 + G(S) . H(S)
Where e(t) = Difference b/w the i/p signal and the feed back signal
E(S) =
1
. .R(S)
1 + G(S) . H(S)
The steady state error ess may be found by the use of final value theorem and is as follows;
ess = lt e(t) = lt
t S O
Substituting (1),
ess = lt
SO
s E(S)
s.R(S)
.
1+G(S) . H(S)
In the above equation the term present in the numerator will give the information of Zeros and
the term in denominator will give the information of poles.
Number of poles in origin will decide type of the system and total number of poles decides order
of the control system.
STATIC ERROR CONSTANTS
Steady state error is represented by
ess = lt
SO
s.R(S)
1+G(S) . H(S)
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Where
Kp=
(Type -1 System)
Where
is called as velocity error constant and common in type -1 system
Case 3: Input is unit parabolic
R(s) = 1/s3
Substitute in steady state error equation
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Where
is called as acceleration error constant
Time response (Transient) Specification (Time domain) Performance:The performance characteristics of a controlled system are specified in terms of the transient
response to a unit step i/p since it is easy to generate & is sufficiently drastic.
The transient response of a practical control system often exhibits damped oscillations before
reaching steady state. In specifying the transient response characteristic of a control system to
unit step i/p,
it is common to specify the following terms. They are called time domain
specifications.
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1) Delay time :-
(td)
It is the time required for the response to reach 50% of its final value for the 1st time.
Where
3) Peak time :- (tp)
It is the time required for the response to reach the 1st of peak of the overshoot.
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For 4%
PROBLEMS;
1. The time response of a feed back system to a step input is
a)
C(t) = 1+0.2e-60t 1.2e-10t
b)
C (t) = 5/2 +5t 5/2 e-2t.
Obtain the expression for closed loop transfer function. Also determine the natural frequency and
damping ration of the system.
2.Obtain the time response of the unity feedback system whose open loop transfer function is
Determine the closed loop transfer function, damping ratio and percentage overshoot.
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Determine the value of K so that the system will have damping ratio of 0.5. Also determine
setting time, peak overshoot for a unit step input.
5.Find the steady state error constants and steady state error for the system whose open loop
transfer function is given by
a)
b)
c)
d)
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Chapter 2
Stability Analysis in Time Domain
2.1 Introduction
Every system, for small amount of time has to pass through a transient period whether
system will reach its steady state after passing through transients or not. The answer to this
question is whether the system is stable or unstable. This is stability analysis.
For example, we want to go from one station to other. The station we want to reach is our
final steady state. The traveling period is the transient period. Now anything may happen during
the traveling period due to bad weather, road accident etc, there is a chance that we may not
reach the next station in time. The analysis of whether the given system can reach steady state
after passing through the transients successfully is called the stability analysis of the system.
2.1.1 Concept of stability:
In Pendulum where pointer keeps on oscillating when certain force is applied. Such
systems are neither stable nor unstable & hence called critically stable or marginally stable
systems. The stability of control systems is an important property. Considering any bounded
input signal of a system, and if the output signal of the system to such a signal is also bounded,
then the system is called bounded-input-bounded-output stable. If the output signal does not
show this property, the system is unstable.
Figure 5.1: (a) Stable and (b) unstable system response to a bounded input signal
2.1.2 Stable system:
Stability in a system implies that small changes in the system input, in initial conditions
or in system parameters do not result in large changes in system output.
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ii)
When no input is applied, the output tends towards zero irrespective of the
initial conditions. This stability is called asymptotic stability.
iii)
iv)
v)
critically or marginally stable if for a bounded input its output oscillates with
constant frequency & Amplitude. Such oscillation of output are called
Undamped or Sustained oscillations.
vi)
C(s)
=
R(s)
Where a & b are constants.
a0 sn + a1 sn-1 + . + an
To find the closed loop poles we equate F(s) =0. This equation is called as Characteristic
Equation of the system.
F(s) = a0 sn + a1 sn-1 + a2 sn-2 + .. + an = 0.
Thus the roots of the characteristic equation are the closed loop poles of the system which decide
the stability of the system.
Rouths Table:
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It is also called Rouths array method or Routh-Hurwitzs method. Routh suggested a method of
tabulating the coefficients of characteristic equation in a particular way. Tabulation of
coefficients gives an array called Rouths array.
Consider the general characteristic equation as,
F(s) = a0 sn + a1 sn-1 + a2 sn-2 + .. + an = 0.
Method of forming an array :
Sn
a0
a2
Sn-1
a1
a3
Sn-2
b1
Sn-3
c1
c2
S0
an
a4
a6
a5
b2
a7
b3
c3
Coefficients of first two rows are written directly from characteristics equation.
From these two rows next rows can be obtained as follows.
a1 a2 a0 a3
b1 =
a1 a4 a0 a5
,
b2 =
a1
,
a1
a1 a6 a0 a7
b3 =
a1
2. Non of the coefficient vanishes i.e. all powers of s must be present in descending order
from n to zero.
These conditions are not sufficient.
Examine the stability of given equation using Rouths method :
Routh stability criterion:
For a system to be stable, it is necessary and sufficient that each term of the first column of the
Routh array of its characteristics equation be positive if a0 > 0.
If this condition is not met, the system is unstable and the number of sign changes of the terms
of the first column of the Routh array correspond to the number of roots of the characteristic
equation in the right half of the S-plane .
Difficulty 1: The first element in any row of the Routh array is zero while the rest of the row
has at least one non-zero element.
Difficulty 2:
All the elements in any one row of the Routh array are zero.
s6+2s5+8s4+12s3+20s2+16s+16=0
s5+s4+2s3+2s2+3s+5=0
9s5-20s4+10s3-s2-9s-10=0
S7+9s6+24s5+24s4+24s3+24s2+23s+15=0
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In addition to determining the stability of the system, the root locus can be used to design
the damping ratio and natural frequency of a feedback system.
Consider a simple second order system
G(s) =
k
; k constant
s ( s 6)
The open-loop transfer function has two poles, one at s = 0 and the other at s = -6.
The closed-loop transfer function
C (s)
G ( s)
=
;
R( s)
1 G ( s ).H ( s )
s + 6s + k = 0;
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Figure 4.4
Rule 2:
As the open-loop gain K is varied from zero to infinity, each branch of the root locus
originates from an open-loop pole where K = 0 and terminates on an open-loop zero or zero at
infinity where K = .
The number of branches of root locus terminating on infinity equals the number of openloop poles minus open-loop zeros.
If n number of open-loop poles; and
open loop transfer function has (n - m) zeros at infinity and (n m) branches of the root locus
terminates on these zeros.
Rule 3:
Segments of the real axis having an odd number of real axis open-loop poles and
Rule 4: The (n-m) branches of the root locus which go to infinity travel along straight line
asymptotes whose angles are given by
q =
Rule 5:
( 2q 1)
; q = 0,1,2, (n-m-1)
( n m)
Rule 6:
The break away point of the root locus are the solution of
dK
ds
= 0
-----------------------------------------------------------------------------------------------------------Problem
G(s). H(s) =
K
s ( s 1)( s 3)
Solution: There are three open-loop poles at s = 0, s = -1, s = -3. So there are three branches of
the root locus. There are no finite open-loop zeros. So all the three zeros are at infinity.
Therefore, there are three asymptotes. The three branches of the root locus start at the open-loop
poles s = 0, s = -1, and s = -3 where K = 0 and terminates at the open-loop zeros at infinity where
k = .
The three branches of the root locus go to the zeros at infinity along straight line
asymptotes making angles of
( 2q 1)
q =
; q = 0,1,2
0 =
= 60 ;
( n m)
3
1 =
= 180 ;
3
2 =
5
= 300 ; with the real axis.
3
The point of intersection of the asymptotes on the real axis is called centroid .
Centroid = =
=
(0 1 3) (0)
= - 1.33
(3 0)
dK
= 0.
ds
1 + G(s).H(s) = 0
| G(s).H(s) | = 1
|
K
|=1
s.( s 1).( s 3)
K = s.(s+1).(s+3) = s3 + 4s2 + 3s
dK
d
=
(s3 + 4s2 + 3s) = 3s2 + 8s + 3 = 0
ds
ds
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s=
8 82 (4 3 3)
8 28
=
= - 0.451 or - 2.28.
6
( 2 3)
Out of these two break points, s = - 0.451 is the actual break point and s = - 2.28 break point
can be ignored as no root locus exists there.
Out of the three branches of the root locus, one is the real root locus branch. It starts at
s = -3, travels along the negative real axis along the asymptote with 180 and ends at s = - . The
other two branches of the root locus start at s = 0 and s = -1, move in opposite directions on the
negative real axis approaching each other, meet at point s = - 0.451 called the break away point,
breakaway from the real axis, and one branch moves to infinity along the 60 asymptote and the
second one moves to infinity along the 300 asymptote.
approach which establishes with relative ease the stability of a system, but its adoption to
determine the relative stability is involved and requires repeated application of the criterion. The
Root Locus method is a very powerful time domain approach as it reveals not only stability but
also the actual time response of the system. On the other hand, the Nyquist criterion (discussed
later in this Chapter) is a powerful frequency domain method of extracting the information
regarding stability as well as relative stability of a system without the need to evaluate roots of
the characteristic equation.
Slope of the log-magnitude curve near cur off frequency is called cut off rate. The cut off rate
indicates the ability of a system to distinguish the signal from noise.
Gain Margin: It is the reciprocal of the magnitude of open loop transfer function at phase cross
over frequency. .
Gain Crossover frequency: This is the frequency at which the open loop gain first reaches the
value 1.
Phase Margin: This is the number of degrees by which the phase angle is smaller than -180o at
the gain crossover. A good stable control system usually has typically an open loop phase shift of
between 45o and 65o
Phase Crossover Frequency: The phase crossover frequency at which the phase angle reaches
-180o
Graphical Methods to Represent Frequency Response Data
Two graphical techniques are used to represent the frequency response data. They are:
1)
2)
3)
4)
5)
Bode plot
Polar plots
Nichols plots.
M&N circles
Nichols chart
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complex frequency response functions to be obtained by merely adding together the plots
obtained for each constituent element.
Example :
Find the gain and phase margins along with their crossover frequencies for the system
represented by following transfer function
Phase Angle in
Degrees
Magnitude
Magnitude in db =
20*log10(magnitude)
0.1
-91.632
4.16
12.393
-106.073
0.407
-7.8046
-157.619
0.0544
-25.2890
10
-193.240
0.0143
-36.8842
12
-202.380
0.0094
-40.4976
50
-250.793
1.93 10-4
-74.2650
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100
-260.294
20
2.47 10-5
-92.1147
Bode Diagram
Gm = 32.213 dB (at 7.746 rad/sec), Pm = 83.276 deg (at 0.41492 rad/sec)
Magnitude (dB)
0
-20
-40
-60
-80
-100
-90
Phase (deg)
-135
-180
-225
-270
-1
10
10
10
10
Frequency (rad/sec)
Result:
Gain Margin= 32.21 db, Phase Margin=83.27 deg, Wgc=0.414 rad/sec ,Wpc=7.746 rad/sec
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G(S )
1 H (S ) G(S )
where G(S) represents the system and H(S) is the feedback element, the closed loops are
obtained by solving the following equation which is a characteristic equation.
1 H (S ) G(S ) 0
D(S ) 1 H (S ) G (S )
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sIrRR
-me
p{0{
lss
a}}
n
e
The number of unstable closed-loop poles (Z) is equal to the number of unstable open-loop
poles (P) plus the number of encirclements (N) of the point (-1,j0) of the nyquist plot of G(S)
H(S)
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Chapter 3
3.1 State variables method
Definitions:
State: A minimal set of variables such that knowledge of these variables at t = to together with
knowledge of the inputs t greater than to.
State variables: The variables involved in determining the state of a dynamic system X(t). These
are normally energy storage elements contained in the system.
State space: The space whose coordinates axes are nothing but the n state variables with time as
the implicit variable is called state space.
4
7
2Y (t ) 5U (t )
3
2
dt
dt
dt
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X AX 0
[I A] X 0
The set of homogeneous equations have a nontrivial solution only under the condition,
I A 0
The determinant
I A
I A 0
is called the
characteristic equation.
Hence values satisfying characteristic equation are the closed loop poles of the system. The
eigen values are the closed loop poles of the system.
[i I A] X 0
Then solution of this equation is called eigen vector of A associated with eigen value i and is
denoted as Mi.
Mthematically the eigen vector can be calculated by taking cofactors of matrix [i I A]
Along any row.
0 2
A 4 0
48 34
1
9
0 1 0
A 0 0 1
6 11 6
Solution of state equations by Laplace transform method
The laplace transform method converts integro differential equations to simple algebraic
equations. Thus the equations shows response obtained earlier by classical approach.
X (t ) L1[ ( s )] X (0) L1[ ( s ) BU ( s )]
( s ) [ sI A] 1
Adj [ sI A]
sI A
L1[ ( s )] (t ) e At
Problems
1. Find the state transistion matrix for
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0 1
A
2 3
Chapter 4
4.1 Introduction to Digital Control
In most modern engineering systems, there is a need to control the evolution with time of
one or more of the system variables.
The controller that manipulates the error signal to determine the desired control action
has classically been an analog system, which includes electrical, fluid, pneumatic, or mechanical
components. These systems all have analog inputs and outputs (i.e., their input and output
signals are defined over a continuous time interval and have values that are defined over a
continuous range of amplitudes). In the past few decades, analog controllers have often been
replaced by digital controllers whose inputs and outputs are defined at discrete time instances.
The digital controllers are in the form of digital circuits, digital computers, or microprocessors.
4.1.1 Why Digital Control?
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Digital control offers distinct advantages over analog control that explain its popularity. Here are
some of its many advantages:
Accuracy: Digital signals are represented in terms of zeros and ones with typically 12 bits or
more to represent a single number. This involves a very small error as compared to analog
signals where noise and power supply drift are always present.
Implementation Errors: Digital processing of control signals involves addition and
multiplication by stored numerical values. The errors that result from digital representation and
arithmetic are negligible. By contrast, the processing of analog signals is performed using
components such as resistors and capacitors with actual values that vary significantly from the
nominal design values.
Flexibility: An analog controller is difficult to modify or redesign once implemented in
hardware. A digital controller is implemented in firmware or software, and its modification is
possible without a complete replacement of the original controller. Furthermore, the structure of
the digital controller need not follow one of the simple forms that are typically used in analog
control. More complex controller structures involve a few extra arithmetic operations and are
easily realizable.
Speed: The speed of computer hardware has increased exponentially since the 1980s. This
increase in processing speed has made it possible to sample and process control signals at very
high speeds. Because the interval between samples, the sampling period, can be made very small,
digital controllers achieve performance that is essentially the same as that based on continuous
monitoring of the controlled variable.
Cost: Although the prices of most goods and services have steadily increased, the cost of digital
circuitry continues to decrease. Advances in very large scale integration (VLSI) technology have
made it possible to manufacture better, faster, and more reliable integrated circuits and to offer
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them to the consumer at a lower price. This has made the use of digital controllers more
economical even for small, low-cost applications.
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is
The reading of an analog signal A, and, at regular time intervals (frequency), sampling the value
of the signal at the point. Each such reading is called a sample and may be considered to have
infinite precision at this stage;
Quantization
Samples are rounded to a fixed set of numbers (such as integers), a process known as
quantization
Sampling Process:
Sampling is a process of converting a continuous-time signal into discrete-time signal. A
discrete-time signal is constructed by sampling a continuous-time signal, and a continuous-time
signal is reconstructed by interpolating a discrete-time signal.
Sampling interval:
After sampling, the signal is defined at discrete instants of time and the time interval
between two subsequent sampling intervals is called sampling interval.
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In the figure above the switch is closed for a very short interval of time , during which the
signal available at the output.
Therefore, if the input is x(t), the output is x(nT), n = 0, 1, 2, and x(nT) is called the
sampling sequence of x(t).
Where T time interval between successive samples and
Fs =
1
Hz Sampling frequency
T
Consider the signal x(t) is band limited to f m. That is the highest frequency component of x(t) is
is fm. Then X(j) = 0 for || > m
Figure 5.4
From the figure 5.4
If
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The frequency spectrum X(j) can be recovered from Xs(j) by using a low pass filter which
has sharp cut off at =
If
< m, the frequency replicas will overlap as shown in fig 5.4(d) and as a result, the
frequency spectrum X(j) will not be recovered from the frequency spectrum of Xs(j).
4.2.4 Aliasing:
The superimposition of high frequency component on the low frequency is known as frequency
aliasing. Aliasing error can be prevented if the highest frequency component m in the signal
x(t) is less than or equal to
That is
if fs =
1
then
T
. fs m
. fs 2fm
or
fs 2fm
That is, to avoid aliasing the sampling frequency must be greater than twice the highest
frequency present in the signal.
Sampling theorem:
A band limited signal x(t) with X(j) = 0 for || > m is recovered from its samples x(nT), if
the sampling frequency fs 2.fm, i.e, sampling frequency must be at least twice the highest
frequency present in the signal.
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Nyquist rate: The frequency 2.fm, which under sampling theorem, must be exceeded by the
sampling frequency is known as the Nyquist rate.
Chapter 5
5.1 Continuous and Discrete Signals
The signal here occupies a continuous range in the time domain. At each instant, within the signal
time interval, the amplitude of the signal is well defined.
Continuous both in the time domain & amplitude domain
Example
Figure 6.1.
Y(t)= T [f(t)]
When the signal in the time domain occurs only at certain time instants, it is called discrete time
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Definition of Z-Transform
The Z - transform of a discrete time signal or sequence x[n] is defined as
Where x(n) and X(z) are said to form an z-transform pair. This is written symbolically as x [n ] X
(z ) Here the variable z is a complex variable.
If r = 1, we get a circle of radius unity. It is called the unit circle
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We see from the definition of the z-transform that it is an infinite power series and hence the
summation may not converge (i..e. becomes finite value) for all values of z.
The set of values of z for which the summation converges is called the Region of Convergence
(ROC) of the Z-transform. ROC should always be mentioned along with the z-transform.
For a finite series, the Z-transform will converge but not at all values of z.
Figure 6.3
Example of ROC
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EXAMPLE: Find the z-transform and ROC of the right sided sequence
We see that X(z) becomes infinity at z =0. Except at z = 0, X(z) is finite for all values of z.
Therefore we can say that the ROC of this z transform is the entire z-plane except at z = 0. ie.,
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Figure 6.4
Left sided Sequence
A sequence x(n) is said to be left sided if x(n) = 0 for all n > 0. A left handed sequence is
called a non causal sequence. x[n] = [ 2 3 1 5 ]
EXAMPLE: Find the z-transform and ROC of the Left sided sequence
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We see that X(z) becomes infinity at z = . Except at z = , X(z) is finite for all values of z.
Therefore we can say that the ROC of this z transform is the entire z-plane except at z =
ie.,ROC: |z| <
5.4 Stability of Digital Control Systems
Stability is a basic requirement for digital and analog control systems. Digital control is based on
samples and is updated every sampling period, and there is a possibility that the system will
become unstable between updates. This obviously makes stability analysis different in the digital
case. We examine different definitions and tests of the stability of linear time-invariant (LTI)
digital systems based on transfer function models.
Asymptotic Stability:
A system is said to be asymptotically stable if its response to any initial conditions decays to zero
asymptotically in the steady statethat is, the response due to the initial conditions satisfies
Lim Y(k) =0 as k
Marginally stable:
If the response due to the initial conditions remains bounded but does not decay to zero, the
system is said to be marginally stable.
Bounded-inputbounded-output (BIBO): A system is said to be BIBO stable if its response to
any bounded input remains bounded.
A discrete-time system is said to be bounded-input, bounded-output stable or simply stable, if
every bounded input sequence excites a bounded output sequence. The condition for a system
with digital transfer function G(z) to be stable is that every pole of G(z) must lie inside the unit
circle of the z-plane or have a magnitude less than 1. This condition can be deduced from the
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continuous-time case where stability requires every pole to lie inside the open left half s plane.
Discrete stability requires every pole to lie inside the unit circle of the z-plane.
In the continuoustime case, we can use the Routh test to check whether all roots of a
polynomial lie inside the open left half s-plane. In the discrete time case , we have similar test
called the jury test. Consider the polynomial
D( z ) a0 z 4 a1 z 3 a2 z 2 a3 z a 4
a 0 greatertha n0
It is a polynomial of degree 4 with a positive leading coefficient. We form the table below. The
first row is simply the coefficient of D(z) arranged in the descending power of z. the second row
is the reversal of the order of the coefficients in the first row. We then take the ratio k1 of the last
elements of the first two rows as shown in the table. The subtraction of the product k1 and the
second row from the first row yields the first b row. The last element of the b row will be zero
and will be disregarded in the subsequent development. We reverse the order of the coefficients
of the b row and repeat the process as shown in the table. If D(z) is of degree n, then table
consists of 2n+1 rows.
5.5 Jury test conditions
All roots of the polynomial of degree 4 and with a positive leading coefficient lie inside the unit
circle if and only if the four leading coefficients in the table are positive (b0 , c0 , d 0 , e0 )
Although this test is stated for a polynomial of degree 4, it can be easily extended to the general
case.
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Example Problem
Exercises:
Test the stability of the control system described by difference equation give below
F(z) = Z5+26Z4-0.56Z3-2.05Z2+0.00775Z+0.35
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