16CI622 Digital Control Systems

PTF of PID Controller

O. V. Ramana Murthy

B206, AB2
Electrical and Electronics Engineering
Amrita Vishwa Vidyapeetham, Coimbatore
 CL PTF of a Digital Control System

1  e Ts
G (s)  G p (s)
s
C ( s )  G ( s )GD
* *
E (s) E ( z )  R( z )  C ( z )
C * ( s )  G* ( s )GD
*
(s) E* (s) C ( z )  GD ( z )G ( z )R ( z )  C ( z )
C ( z )  G ( z )GD ( z ) E ( z ) C ( z) GD ( z )G ( z )

R ( z ) 1  GD ( z )G ( z )
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 PTF of a Digital PID Controller
The PID control action in analog controllers
 1t de(t ) 
m(t )  K e(t )   e(t )  Td 
 Ti0 dt 
Discretization of the equation to obtain the pulse transfer function

Define

e((h  1)T )  e( hT )
 f ( hT ), f ( 0)  0
2
𝑧 −1 + 1
𝐸 𝑧 = 𝐹(𝑧)
2

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 PTF of a Digital PID Controller
The PID control action in analog controllers
 1t de(t ) 
m(t )  K e(t )   e(t )  Td 
 Ti0 dt 
Discretization of the equation to obtain the pulse transfer function
 
e( kT )  
 
 T  e(0)  e(T ) e(T )  e( 2T ) e((k  1)T )  e( kT )  
m( kT )  K     ...   
Ti  2 2 2  
 e( kT )  e((k  1)T ) 
Td 
 T 
 T k e((h  1)T )  e( hT ) Td 
m( kT )  K e( kT )    e( kT )  e((k  1)T )

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Ti h1 2
4
T 
PTF of a Digital PID Controller
 k e((h  1)T )  e( hT )   k

Z    Z  f ( hT )
 h 1 2  h 1 


1
1
F ( z )  f (0) refer Example 2.5, Lec 3
1 z
1 1 1  z 1
 1
F ( z)  1
E( z)
1 z 1 z 2

 k e(( h  1)T )  e( hT )  1  z 1
Z    
E( z)
 h1 2  2(1  z ) 1

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 PTF of a Digital PID Controller
 T k e((h  1)T )  e( hT ) Td 
m( kT )  K e( kT )    e( kT )  e((k  1)T )
 Ti h1 2 T 

 T 1  z 1 Td 1 
M ( z )  K 1  1
 (1  z )  E ( z )
 2Ti 1  z T 
 T T 1 Td 1 
 K 1   1
 (1  z ) E ( z )
 2Ti Ti 1  z T 
 KI 1 
 K p  1
 K (1  z ) E ( z )
 1 z 
D

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 Example 3.7
𝐸(𝑘𝑇) 𝑮𝒉𝟎 (𝒔) 𝑮𝒑 (𝒔)
𝑟(𝑡) 𝑒(𝑡) c(𝑡)
PID Zero-order
+_ Plant
𝑇 Controller hold

1
Given 𝐺𝑝 𝑠 = Assume Sampling time T = 1sec.
𝑠(𝑠+1)
1−𝑒 −𝑠
Transfer function of zero-order hold is 𝐺ℎ0 𝑠 =
𝑠
1 − 𝑒 −𝑠 1
𝒵 =𝐺 𝑧 =
𝑠 𝑠(𝑠 + 1)

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 Example 3.7
𝐸(𝑘𝑇) 𝑮𝒉𝟎 (𝒔) 𝑮𝒑 (𝒔)
𝑟(𝑡) 𝑒(𝑡) c(𝑡)
PID Zero-order
+_ Plant
𝑇 Controller hold

1
Given 𝐺𝑝 𝑠 = Assume Sampling time T = 1sec.
𝑠(𝑠+1)
1−𝑒 −𝑠
Transfer function of zero-order hold is 𝐺ℎ0 𝑠 =
𝑠
1 − 𝑒 −𝑠 1 −1
1
𝒵 =𝐺 𝑧 = 1−𝑧 𝒵 2
𝑠 𝑠(𝑠 + 1) 𝑠 𝑠+1
1 1 1
= 1 − 𝑧 −1 2 − +
𝑠 𝑠 𝑠+1

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 Example 3.7
𝐸(𝑘𝑇) 𝐺𝐷 (𝑧) 𝐺ℎ0 (𝑠) 𝐺𝑝 (𝑠)
𝑟(𝑡) 𝑒(𝑡) c(𝑡)
PID Zero-order
+_ Controller Plant
hold
𝑇

1
Given 𝐺𝑝 𝑠 = 𝑠(𝑠+1) Assume Sampling time T = 1sec.
1−𝑒 −𝑠
Transfer function of zero-order hold is 𝐺ℎ0 𝑠 =
𝑠
1 − 𝑒 −𝑠 1 1
𝒵 = 𝐺 𝑧 = 1 − 𝑧 −1 𝒵 2
𝑠 𝑠(𝑠 + 1) 𝑠 𝑠+1
1 1 1
= 1 − 𝑧 −1 − +
𝑠2 𝑠 𝑠+1
𝑇𝑧 −1 1 1
= 1 − 𝑧 −1 − +
(1 − 𝑧 −1 )2 1 − 𝑧 −1 1 − 𝑒 −𝑇 𝑧 −1
0.3679𝑧 −1 + 0.2642𝑧 −2
=
9 Ramana Murthy (1 − 0.3679𝑧 −1 )(1 − 𝑧 −1 )
 Example 3.7
C(𝑠)
𝑅(𝑠)
𝐾𝐼 0.3679𝑧 −1 + 0.2642𝑧 −2
+_ 𝐾𝑝 + −1
+ 𝐾𝐷 (1 − 𝑧 −1 )
𝑅(𝑧) 1−𝑧 (1 − 0.3679𝑧 −1 )(1 − 𝑧 −1 )
C(𝑧)

Choose 𝐾𝑝 =1, 𝐾𝐼 =0.2, 𝐾𝐷 =0.2

1.4 − 1.4𝑧 −1 + 0.2𝑧 −2
𝐺𝐷 𝑧 =
1 − 𝑧 −1
Cl PTF C ( z )  GD ( z )G ( z )
R ( z ) 1  GD ( z )G ( z )
C ( z) 0.5151z 1  0.1452 z 2  0.2963 z 3  0.0528 z 4

R ( z ) 1  1.8528 z 1  1.5906 z  2  0.6642 z 3  0.0528 z  4
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 Example 3.7
clear all, clc
%Example 3-1 Unit step response till k = 40
num = [0 0.5151 -0.1452 -0.2963 0.0528];
den = [1 -1.8528 1.5906 -0.6642 0.0528];
r = ones(1,41); %Unit step function
k = 0:40;
%Unit step response
c = filter(num,den,r);
plot(k,c,'-o')
axis([0 40 0 2])
grid
title('Unit step response')
xlabel('k')
ylabel('c(k)')
display('Program Over')
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 Example 3.7

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 References
 Section 3.5, Chapter 3, Discrete-time Control Systems, K.
Ogata, 2nd edition.

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