KON 509E: Design of Discrete Control Systems

Introduction to Discrete Control Systems

Assoc. Prof. Dr. Tufan Kumbasar

Course Info
• Class Instructor: Assoc. Prof. Dr. Tufan Kumbasar
• Website: http://web.itu.edu.tr/kumbasart/
• Room 4204 / Deanery
• Tel: 0212 285 3578
• Email: kumbasart@itu.edu.tr
• Office Hours
• by appointment
• Teaching Assistant: Ömer Faruk Dik
• Email: diko@itu.edu.tr

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 http://dost.kontrol.itu.edu.tr
DOST ?  Password: KOM509E

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KOM 509E Design of Discrete Control Systems

What do I expect from you?:

Homework (4): %30
Midterm Exam (1): %30
Final Exam (1): %40
Lecture
starts at  09:00
Date of the midterm exam will be finalized next week
Zero Tolerance to Cheating !

--
What should you expect from me?:
??

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I will assume that you know....
• Root Locus, Bode, Nyquist plots
• Effect of the poles and zeros of the transfer functions
• Transient and Steady State responses
• Characteristics of 1st and 2nd and high order transfer functions
• Time constant, damping ratio, natural frequency….
• Stability
• Routh Hurwitz, BIBO stability
• Controller design
• Pole placement
• Root loci design
• Frequency Domain Design
• State Space Design

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Topics to be covered
• Introduction
• Difference Equations, Discrete –Time Systems and z-Transforms
• Digital System Modeling
• Analysis of Discrete Transfer Functions
• Structures and Implementation of Discrete Controller
• Design of Discrete Controllers
• Analysis of Discrete State Space Systems
• Design of Discrete State Space Systems

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Course Books:

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Your Questions?

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1.1 An Overview of Control Systems
• Closed-Loop Control Systems utilizes feedback to compare the actual output to the desired
output response.

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1.1 An Overview of Control Systems
• Closed-Loop Control Systems utilizes feedback to compare the actual output to the desired
output response.

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1.1 An Overview of Control Systems
• Analysis and Design Objectives
• Transient Response
• Steady-State Response
• Sensitivity to parameter changes
• Stability
• Disturbance Rejection

How??
• Choosing sensors and actuators
• Developing models!
• Designing the Controller!

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1.2 An Overview of Discrete Control Systems
• What is a Continuous Control System?

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1.2 An Overview of Discrete Control Systems
• What is a Digital/Sampled Control System?

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1.2 An Overview of Discrete Control Systems
• Different types of signals
• Continuous-time signal
• Discrete-time signal
• Amplitude-quantized discrete-time signal
• Amplitude-quantized continuous-time signal
• (New) Elements / Components
• Sampler
• Analog-to-Digital (A/D) Converter
• Latch
• Digital-to-Analog (D/A) Converter
• Digital Control Device
• Difference Equation
𝑥(𝑘 + 1) = 𝐴𝑥(𝑘) + 𝐵𝑢(𝑘)
•
𝑦 𝑘 = 𝐶𝑥 𝑘 + 𝐷𝑢(𝑘)
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1.3 Different types of signals
• Continuous-time signal
• Time: 𝑡 ∈ [0, +∞)
• The signal ranges between a lower bound (𝑓min ) and an upper bound (𝑓max ):
𝑓 ∈ 𝑓min , 𝑓max
𝑓(𝑡) = 0 when t < 0.

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1.3 Different types of signals
• Discrete-time signal
• Time: 𝑡 ∈ {0, 𝑇, 2𝑇, … 𝑘𝑇, … + ∞}
• The signal ranges between a lower bound (𝑓min ) and an upper bound (𝑓max ):
𝑓 ∈ 𝑓min , 𝑓max

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1.3 Different types of signals
• Discrete-time signal
• Time: 𝑡 ∈ {0, 𝑇, 2𝑇, … 𝑘𝑇, … + ∞}
• The signal ranges between a lower bound (𝑓min ) and an upper bound (𝑓max ):
𝑓 ∈ 𝑓min , 𝑓max

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1.3 Different types of signals
• Amplitude Quantized Discrete-time signal
• Quantization Level for N-bit Resolution :
𝑓𝑚𝑎𝑥 − 𝑓𝑚𝑖𝑛
∆𝑓 =
2𝑁
• Quantized Signal
𝑓 𝑡
෪∗ = ∆𝑓 ∙ 𝑓𝑙𝑜𝑜𝑟 𝑡 ∈ {0, 𝑇, … }
𝑓 ∆𝑓
0 𝑒𝑙𝑠𝑒

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1.3 Different types of signals
• Quantized Continuous-time signal
• The signal 𝑓ሚ reside at the quantized levels during the sampling time 𝑇

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1.4 (New) Elements / Components
• Sampler
• Samples a continuous-time signal at sampling instances.
• Converts an continuous-time signal into a discrete-time one.
• Issue
• Setting Sampling Time 𝑇
• Perfect Sampling!

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1.4 (New) Elements / Components
• A/D Converter
• It converts a voltage level into a binary number representation at a particular instant of time.
• Issue
• Resolution ( N- bit)
• Unipolar (0 −> 5𝑉) or Bipolar (−5𝑉 −> 5𝑉)
• Finite word length & Conversion time !

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1.4 (New) Elements / Components
• Sampler and A/D Converter
• Practical implementation
• Issue
• Setting Sampling Time 𝑇
• Resolution ( N- bit) & Conversion time !
• Unipolar (0 −> 5𝑉) or Bipolar (−5𝑉 −> 5𝑉)

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1.4 (New) Elements / Components
• Latch / Hold
• Latch holds a binary number during one sampling period.
• D/A Converter
• Converts digital signal to quantized continuous signal
• Range: Range: Unipolar/ Bipolar
• Resolution & Conversion Time
• Latch and DAC / Sample and Hold
• Practical implementation

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1.4 (New) Elements / Components
• Digital Control Device
• PC with DAQ, Microcontroller, PLC, etc…
• Control Algorithm
• Pseudo code of a P controller
1. Fetch sensor value b(k)
2. Fetch (or generate) command r(k)
3. Compute error e(k) = r(k) - b(k)
4. Calculate compensation m(k)=e(k)*K
5. Output m(k)
6. Wait till end of sampling time (𝑇)
7. Go to Step 1
• Repeat it every sampling time 𝑇
• Interrupts

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1.5 Errors in Digital Control Systems
• We have to take these ones in account in the design!

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1.6 Roadmap: Discrete Controller Design
• There are two possible approaches to design a discrete controller
• Emulation based Design
• Design a continuous-time controller:
• s domain representation
• State space representation
• Discretize the continuous controller
• This approach relies on mapping techniques
• Assumes high sampling rates (small T!)
• Might not be practical for many applications.
• Direct Design
• Represent the plant with discrete-time model
• Use discrete-time controller design techniques
• z domain representation
• State space representation

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1.6 Summary
• Different types of signals
• Sampled Control Systems are Hybrid systems!
• Selection of proper Sampling Time
• Hardware and Software design is important
• Resolutions, Accuracy, computation time….
• Discrete Controller Design
• Objectives
• Transient and Steady-State Response
• Sensitivity to parameter changes
• Stability, Disturbance Rejection
• Difference Equations of the controller
• Emulation based Design
• Direct Design

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Your Questions?

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