BEKC4683 Chap1 2019 2020

Digital Control System BEKC4683
Digital Control System

BEKC4683
Dr. Muhammad Nizam Kamarudin

Ext:
Email: nizamkamarudin@utem.edu.my
Room: A/2-3
BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 1

Learning outcomes:
Synopsis:
This course consists of discussions about an introduction to digital control systems, the relationship
between continuous-time and discrete –time control systems, digital system coding, sampling process,
quantization and z-transform, and digital control system representations. The notions of controllability,
observability, and stability of digital control systems and analyses in time, frequency, and z domains are
also included in this subject. The design of discrete PID controllers, lead-lag compensators, and discrete
state feedback and observer gain via a pole placement are covered in this course. The analyses and
design of discrete control systems are performed using MATLAB and Simulink. Students are encouraged
to gain scientific knowledge of contemporary issues related this course.
Assessment:
Assessment* Marks
Quiz 5%
Test 20%
Assignment 15%
Final Examination 60%
Total 100%

Course content:


Chapter 1
Introduction to Discrete Control
System

1. Discrete System
● System can be discrete or continuous
● Discrete systems may be contrasted with continuous systems (or analog systems)
where discrete system is a system with a countable number of states.
● In discrete system, the state of the system changes at discrete time intervals while a
continuous system changes continuously with respect to time.
Continuous Signals:
-Signals that are defined for all time instants.
Discrete signals:
-Signals that are defined only for certain
time instants: T, 2T, 3T, ….etc.
-(T) is the sampling time of the original
continuous signal.

2. Digital Control
● Continuous controller (or Analog controller)
● Digital controller

● What each of the signals in the digital control system look like:
Sampled discrete
signal
Original continuous
signal

● How the signal is digitized? Let observe the components in digital control block
diagram:
1. S&H : Sample-and-Hold circuit that sampling the continuous error signal ( ( )) at
certain instants in time with regular interval.
1.1 Sampler
- In general, the operation of the sampler may be regarded as one which converts a
continuous-time signal into pulse-modulated signal or digital signal.
- There are two (2) type of pulse modulation:

i) Pulse-width modulation (PWM)
ii) Pulse-amplitude modulation (PAM)
Pulse-amplitude modulation
- The most common type of modulation being used.
- Figure below shows a block diagram of PAM:
Carrier signal
( )
Continuous sampler
Sampled signal
signal

Pulse-amplitude modulation
- The most common type of modulation being used.
- Figure below shows a block diagram of PAM:
Carrier signal
( )
Continuous sampler
Sampled signal
signal
- Where p(t) is the delta pulse train and expressed as:
= −
Then, the sampled signal
= ( ) −
= ( ) − ⋯⋯ 1
= 0, <0
1.2 Hold
- Hold device simply maintains or freezes the value of the pulse or digital signal for a
prescribed time duration. Hold circuit can be zero-order hold (ZOH) or first-order hold
(FOH).
- Figure below shows an ideal sample-and-hold:
Sampled signal
Continuous Hold Continuous-

signal sampler time quantized
signal
2. ADC : Analog-to-digital converter converts an analog signal to a digital-coded signal. It

is also called an encoder. The conversion of an analog signal into the corresponding
digital signal is an approximation. The approximation process is called quantization.
3. DAC : Digital-to-analog converter converts a digital signal into an analog signal. It

performs the function of decoding on a digital-coded input.
4. ZOH : Zero-order hold

- We have so far considered the front end of the control system and we have our error
signal inside the processor. The control algorithm can now be executed and a demand
for the plant. This demand is in digital form and only exists ay each control cycle. So if
the control loop is being execute inside the processor every 100µsec then a valid output
is only available every 100µsec.
- The first thing that has to be done is a digital to analogue conversion, but then the gaps
between the 100µsec points have to be filled in. Because the plant is a continuous
system it will react to its input continuously. It is the job of the hold circuitry to fill in
the gaps and create a continuous signal from a discrete signal.
- In other word, ZOH reconstruct the analogue signal from a discrete signal in order to
be fed into a continuous plant.
- In general, the purpose of ZOH is “to produce staircase waveform (or sampled signal)
by holding the latest value of the controller’s output” as shown in figure below:
ZOH

- Figure below shows a sample and hold circuit.

- The behavior of the sample and hold (S&H) is similar to the zero order hold (ZOH)
where it fills in the gaps between sample points.

Effect does the sampling rate have on ZOH output

- In the control system shown in Figure below, suitable rate allow the ZOH to produce
sampled signal which is similar to the signal to be sampled. And hence, allow the signal to
be reproduced from the sampled signal without aliasing.
- According to the sampling theorem, to allow the signal to be reproduced from the
sampled signal and to avoid aliasing the sampling frequency must be at least twice the
frequency of signal being sampled .
Sampling Theorem:
> ⋯⋯( )
where
: sampling frequency
: freq. of signal being sampled
MATLAB example. 1
0.8
0.6
Generating 0.4
continuous 0.2
time signal -0.2
-0.4
-0.6
-0.8
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.8
0.6
0.4
Sampling the signal with 0.2
10Hz sampling rate (or 0.1 0
second intervals) -0.2
-0.4
-0.6
-0.8
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.8
0.6
0.4
Look at the 0.2
behavior of the 0
ZOH -0.2
-0.4
-0.6
-0.8
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

MATLAB example.
Demonstrate that the ZOH output should appear to be delayed Tsample/2 of the continuous
signal.
Sampling Theorem:
> ⋯⋯( )
1
0.8
0.6
0.4
0.2
-0.2
-0.4
-0.6
-0.8
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

MATLAB example 1
x1=sin(2*pi*t)
0.8
Effect of sampling rate. 0.6
0.4
0.2
0
sampling rate: -0.2
10Hz or 0.1 sec -0.4
-0.6
-0.8
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
x1=sin(2*pi*t)
1
0.8
0.6
0.4
0.2
sampling rate: 0
-0.2
20Hz or 0.05 sec -0.4
-0.6
-0.8
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
x1=sin(2*pi*t)
1
0.8
0.6
0.4
sampling rate: 0.2
100Hz or 0.01 sec -0.2
-0.4
-0.6
-0.8
-1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

3. Advantages to digital control

● Flexibility
With analogue circuitry it would be difficult to suddenly change a resistor to modify the integral gain
while the plant is operating! So it allows operators to, modify, to tune, to experiment with the
controller. With a good user interface any parameter inside that piece of control software can be
adjusted.
● Improved measurement sensitivity

The use of digitally coded signals, digital sensors and transducers, and microprocessors; reduced
sensitivity to signal noise; and the capability to easily reconfigure the control algorithm in software.
● Both algorithmic and decision-making control in one package

It's easy for parameters to be passed around in a program, far easier than hardware signals.
● More complex control can be realized

It allows algorithms such as vector control of machines involving flux modelling and reference frame
transformation to be carried out.
● Usually lighter / smaller
● Usually needs less power

- End of Chapter 1 -

BEKC4683 Chap1 2019 2020

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Digital Control System BEKC4683

Digital Control System

Dr. Muhammad Nizam Kamarudin

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 1

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 2

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 3

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 4

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 5

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 6

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 7

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 8

- There are two (2) type of pulse modulation:

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 9

- Where p(t) is the delta pulse train and expressed as:

Then, the sampled signal

Continuous Hold Continuous-

2. ADC : Analog-to-digital converter converts an analog signal to a digital-coded signal. It

3. DAC : Digital-to-analog converter converts a digital signal into an analog signal. It

4. ZOH : Zero-order hold

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 12

- Figure below shows a sample and hold circuit.

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 13

Effect does the sampling rate have on ZOH output

time signal -0.2

10Hz sampling rate (or 0.1 0

second intervals) -0.2

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 15

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 16

Effect of sampling rate. 0.6

10Hz or 0.1 sec -0.4

20Hz or 0.05 sec -0.4

sampling rate: 0.2

100Hz or 0.01 sec -0.2

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 17

3. Advantages to digital control

● Improved measurement sensitivity

● Both algorithmic and decision-making control in one package

● More complex control can be realized

● Usually lighter / smaller

● Usually needs less power

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 18

BEKC4683 | Dr.MuhammadNizamKamarudin | Email: nizamkamarudin@utem.edu.my 19

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