DIGITAL CONTROL SYSTEM

MODELING DISCRETE TIME SYSTEM

1
Presenter: Tran Manh Tuan
Nguyen Duc Anh
Nguyen Quang Duy

10/15/2017
2 CONTENTS

Z transform
Relationship between s-plane and z-plane
Pulse transfer function
Pulse transfer functions of closed loop system

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3 Z TRANSFORM

Motivation
Z-transform is a mathematical tool commonly used for the
analysis and synthesis of discrete time control systems. The role of
Z-transform in discrete time systems is similar to that of the
Laplace transform in continuous systems
Laplace transform of the output of an ideal sampler:

= = ()
=0

Making the manipulation in the Laplace domain difficult

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4 Z TRANSFORM

Motivation
Choosing =

= ()
=0

If () is Laplace transformable then it also has a Z-transform

=
0

=
=0

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5 RELATIONSHIP BETWEEN S-PLANE AND Z-
PLANE
In s-plane, we know that:
Left haft of s-plane => Stable region
Right half of s-plane => Unstable region = 1

= = (+) =

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6 RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Mapping guidelines
All points in the left haft s-plane correspond to points inside the unit circle in z-plane.
All the point in the right haft of s-plane corresponding to point outside the unit circle.
Point all the axis in the s-plane correspond to points on the unit circle =1 in the z-
plane

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Primary and complementary strips in s-plane Primary strips in z-plane
7 RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant damping loci
The real part of a pole = + of a transfer function in s-domain determines
the damping factor which represents the rate of rise or decay of time response
of the system.

Constant damping loci in (a) s-plane and (b) z-plane

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8 RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant frequency loci
In the s-plane: there are horizontal lines, parallel to the real axis.
In the z-plane: = = , when =constant, it represents a straight line from
the origin at an angle of = rad, measured from positive real axis.

Constant frequency loci in (a) s-plane and (b) z-plane 10/15/2017

9 RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant damping ratio loci
If denotes the damping ratio:

= 1 2 = = tan
1 2
Where is the nature damped frequency and = 1

2 tan
We take z = ( tan +)
= 2/

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Constant damping ratio loci in (a) s-plane and (b) z-plane
10 PULSE TRANSFER FUNCTION
()
o In LTI continuous time system, =
()

o Pulse transfer function relate z-transform of the output at the sampling instants to the
z-transform of the sample input.
o When the same system is subject to a sampled data or digital signal (), the
corresponding block diagram is as following:

The output of the system is = ()

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11 PULSE TRANSFER FUNCTION

o We express the system characteristics by a transfer function that relates

to a fictitious sampler output
o We have

1
= = ( + )

=0 =

1 1
= = ( + ) = + +

=0 = =

1
1
= + = + =

= =

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12 PULSE TRANSFER FUNCTION

LTI continuous time Discrete time system

system

() () ()
= = =
() () ()

Pulse transfer function Z-transfer function

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13 PULSE TRANSFER FUNCTION

Pulse transfer function of ZOH

1
=

1 1
= = 1 1


= (1 1 ) 1

=1

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14 PULSE TRANSFER FUNCTION

Pulse transfer function of discrete data systems with cascaded

elements
Following two cases will be consider:
Cascade element are separated by a sampler
Cade element are not separated by a sampler

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15 PULSE TRANSFER FUNCTION

First case: Cascade element are separated by a sampler

= 1 2
Taking z-transform: = 1 2 = 1 2
()
=> = () = 1 2

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16 PULSE TRANSFER FUNCTION OF CLOSED
LOOP SYSTEM
Sampler in the forward part

The input-output relations can be formulated as

= and = ()

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17 PULSE TRANSFER FUNCTION OF CLOSED
LOOP SYSTEM
Sampler in the forward part
Taking pulse transform: =

()
=
1 + ()
() ()
= = 1+ ()

() ()
=
1 + ()
We obtain:
()
=
() 1 + ()
()
=
1 + ()
Where = [ ]
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18 PULSE TRANSFER FUNCTION OF CLOSED
LOOP SYSTEM
Sampler in the feedback path

The corresponding input output relation:

=
= = () ()

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19 PULSE TRANSFER FUNCTION OF CLOSED
LOOP SYSTEM
Sampler in the feedback path
Taking pulse transform: =
= () ()
Where = ()
and = ()

can be written as
()
=
1 + ()
()
=
1 + ()
Where = and =

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