Asamenew Nigussei Department of Electrical Engineering

DCS, EP-5511, by Asamenew
Defense University College

Bishoftu, Ethiopia
November 13, 2014
6/24/15
Asamenew Nigussei
Department of Electrical Engineering
Then the stability of the system (or other discrete-time

control systems) may be determined from the location
of the closed loop poles in the z-plane, or the roots of
the characteristics equation
P(z) = 1 + G(z)H(z) = 0
6/24/15
DESIGN OF CONVENTIONAL DTCS

Closed loop stability analysis
In this course we consider linear time-invariant
discrete-time SISO control systems.
Consider the following closed-loop pulse-transfer
function
For the system
6/24/15
To be stable, the closed-loop poles or the roots of the

characteristic equation must lie within the unit circle
in the z-plane.
Any closed-loop pole outside the unit circle makes
the system unstable.
If a simple pole lies at z = 1 or a single pair of
conjugate
complex poles lies on unit circle the system becomes
critically stable.
Any other multiple closed-poles on the unit circle
makes the system unstable.
Closed-loop zeros do not affect the absolute stability.
Example 1: Determine the stability of the closed-loop

transfer function of a system with
6/24/15
6/24/15
6/24/15
Methods for testing absolute stability

Stability tests can be applied directly to the
characteristic equation without solving for the roots.
Schur-Cohn stability test
Jury stability test
Bilinear transformation coupled with Routh-stability
criterion
The Schur-Cohn and Jury stability tests only reveal the
existence of any unstable roots.
They neither give the locations of the unstable roots nor
the effects of parameter changes on the system stability,
except for the simple case of low-order systems.
The Jury test will be the focus of this course.
6
6/24/15
The Jury stability test

Consider a given characteristic equation P(z) = 0 of a
system,
where
6/24/15
Note that;
The last row in the table consists of three elements.
The elements in any even-numbered row are simply
the reverse of the immediately preceding oddnumbered row.
Stability criterion by the Jury test

6/24/15
Example -1: Jury stability test

construct the jury stability table for the following
characteristics equation
6/24/15
Solution:
10
6/24/15
11
6/24/15
12
6/24/15
13
6/24/15
14
6/24/15
15
Example- 4: Jury stability test

6/24/15
16

6/24/15
17
6/24/15
18
Transient and Steady-State Response Analysis
The response of systems to arbitrary inputs may be

estimated from the response of the systems to standard
inputs (step inputs, ramp inputs, or sinusoidal inputs).
6/24/15
Transient response refers to that portion of the

response due to closed-loop poles of the system.
Steady-state response refers to that portion of the
response due to the poles of the input or forcing
function.
19
Transient Response Specifications

6/24/15
In almost all practical cases the performance of

systems is specified in-terms of time-domain
quantities, because systems with energy storage
cannot respond instantaneously and will always
exhibit transient response whenever they are
subjected to inputs or disturbances.
20
Transient Response Specifications (cont.)
The transient response of a system to a unit-step

input depends on the initial conditions.
6/24/15
Frequently, the performance characteristics of a

control system are specified in-terms of the transient
response to a unit-step input, since the unit-step input
is easy to generate and is sufficiently drastic to provide
useful information for both the transient response and
the steady-state response characteristics of the system.
The transient response of a practical control system,

where the output signal is continuous time, often
21
exhibits damped oscillations.
6/24/15
Like the continuous-time control systems, digital

control systems are also characterized by the transient
response specifications:
Figure: Unit-step response of control systems.
22
6/24/15
1) Delay time td
2) Rise time tr
3) Peak time tp
4) Maximum overshoot Mp
5) Settling time ts
23
Peak time tp: The peak time is the time required for the
response to reach the first peak of the overshoot.
Rise time tr : The time required for the response to rise

from 10% to90%, or 5% to 95%, or 0% to 100% of the
final value depending on the situation.
6/24/15
Delay time td : The time required for the response to

reach half the final value the very first time.
24
6/24/15
Maximum overshoot Mp: The maximum peak value of

the response curve measured from unity. If the final
steady-state value of the response differs from unity,
then it is common to use the maximum percent
overshoot.
i.e.,
Setlting time ts : The time required for the response

curve to reach and stay within a range about the final
value of a size specified as an absolute percentage of
the final value, usually 2%.
25
The settling time is related to the largest time constant
of the control system.
6/24/15
Note that
The control system being designed must be modified
until the transient response is satisfactory.
All transient response specifications does not apply to
any given case.
26
6/24/15
Steady-State Error Analysis

The steady-state performance of a stable control system
is generally judged by the steady-state error due to step,
ramp, and acceleration inputs.
Discrete-time control systems can be classified
according to the number of open-loop poles at z = 1.
Where: B(z)/A(z) contains neither a pole nor a zero at

z = 1. Then the pulse transfer function is called Type-N
system, where N = 0, 1, 2, . . .
27
Steady-State Error Analysis

Consider the discrete-time control system
6/24/15
28
Steady-State Error Analysis (cont.)
6/24/15
29
Steady-State Error Analysis (cont.)
Summary: Steady-State Analysis

6/24/15
30
Example 2. Steady-state error constant

Consider a discrete-time control system
6/24/15
31
Design Based On Root Locus Method
While using the root-locus method, for the discretetime control systems the stability boundary is the unit
circle in the z-plane.
6/24/15
In addition to the transient response characteristics of a

given system, it is often necessary to investigate the
effects of the system gain and/or sampling period on
the absolute and relative stability of the closed-loop
system. For such purposes the root-locus method
proves to be very useful.
32
Design based on root locus method(cont.)
The characteristic equation is

1 + G(z)H(z) = 1 + F(z) = 0,
where F(z) = G(z)H(z)
6/24/15
Definition:
Root-locus is the curve traversed by the roots of the
characteristic equation of a control system as the gain
(or a parameter) of the system varies.
Design based on root locus method
Consider the discrete-time control system
33
Design based on root locus method(cont.)
Thus, the values of z that satisfy the angle and

magnitude conditions are the roots of the closed-loop
system. As we vary some parameter of the angle and
magnitude conditions, the values of z that satisfy the
magnitude and angle conditions also vary.
The curve along which the values of z traverse is then
the root-locus.
6/24/15
1 + G(z)H(z) = 1 + F(z) = 0, where F(z) = G(z)H(z)

Implies that F(z) = 1
Leading to the Angle and Magnitude conditions
34
(z + p1)(z + p2) . . . (z + pn) + K(z + z1)(z + z2) . . . (z + zm) = 0
Then, when K = 0, the poles of F(z) are the roots of the

characteristic equation. When K =infinity, the zeros of
F(z) are the roots of the characteristic equation
This implies that
6/24/15
Procedure rules for constructing root loci

Step 1. Obtain the characteristic equation 1 + F(z) = 0
and rearrange the equation so that the parameter of
interest, such as gain K > 0,
appears as the multiplying factor in the form:
35
Procedure rules for constructing root loci (cont.)
6/24/15
Step 2. Find the starting and terminating points of the

root loci.
Step 3. Determine the root loci on the real axis. To
construct the root loci on the real axis choose a test
point on it. If the the total number of the real poles and
real zeros liying to the right of the test point is odd, the
the test point lies on a root locus.
Step 4. Determine the asymptotes of the root loci
36
6/24/15
Design based on root locus

Example 1:
Plot the root locus of feedback control system with
37
6/24/15
38
6/24/15
39
6/24/15
Example 2:
Determine the critical value of K and the poles of
the closed-loop poles for K = 2 for the system
described in Example (1).
40
The Bode-plot of discrete time systems can also be

plotted as follows:
1) Obtain the pulse transfer function of the system.
2) Transform the pulse transfer function in the zplane to -plane using the bilinear transformation.
6/24/15
Bode plot
The Bode-plot is the amplitude and plots of a
transfer function as a function of the frequency.
This can be treated as the scale of the magnitude
and the phase shift a transfer function can introduce
to sinusoidal signals of different frequencies.
41
Example 1:
Draw the Bode-plot of the following pulse transfer
function
6/24/15
3) Substitute a fictitious frequency j instead of

to obtain G().
4) Plot the bode plot of the G().
5) Remember the frequency relation of the
fictitious frequency ( )and is
42
were the sampling period is T = 0.1 s.
6/24/15
43
6/24/15
44
6/24/15
45
6/24/15
46
6/24/15
Individual assignments: From K. Ogata, DTCS,

Second edition
Use MATLAB to generate the Bode plot of the
transfer functions given in problems A-4-11, A-4-12,
and B-4-3 (MATLAB commands: tf, bode)
47
6/24/15
Solving DT state-space equations,

Example 1:
Consider the following state-matrix of a DT system
48
6/24/15
49
6/24/15
50
determine the pulse-transfer-function matrix
6/24/15
Pulse-transfer-function matrix,
Example 2:
Consider Example 1, with
51
6/24/15
52
CHAPTER SIX
Pole Placement and Observer Design
Given F(z) as the pulse-transfer function of a DT

system, the system is stable if the poles of F(z) are
within the unit circle in the complex z-plane.
6/24/15
Pole placement: Motivation

By now it is clear that the stability of DT LTI system
can be determined by the location of the poles of the
system pulse-transfer function.
53
Assignment: Practice determination of the eigen

values of a square matrix (or the poles of a pulsetransfer-function matrix).
The eigen values of the state matrix A can also be

determined by solving |zI A| = 0.
6/24/15
Thus, for a pulse-transfer-function matrix F(z) the

poles are the values of z such (zI A) = 0, which
are the eigen values of the state matrix A.
54
However, it is not always possible to relocate the

poles to the desired locations. It is important to
check if the system is full-state controllable and
observable.
What does controllability and observability mean?
6/24/15
Pole placement
As the location of the poles of pulse-transferfunction matrix (or the eigen values of the statematrix A) determines the stability of a DT LTI
system, a system can be stabilized or the
performance can be changed by relocating the
poles to the desired location.
55
It means that one can design a controller to the

system such that the system can operate as it is
desired to.
If it is possible to steer a system from any initial

state at any time to any arbitrary state within a
finite time, the system is called controllable
(specifically full-state controllable).
6/24/15
Controllability
The notion of controllability is concerned with the
problem of whether is it possible to steer a system
from a given initial state at a given time to an
arbitrary state.
56
6/24/15
Sometimes it is possible that the system is not

complete-state controllable, and the system states
can be steered to limited state-space.
This means that some of the states can be steered to
any desired state while other states cannot be.
Example 1
Determine if the following system is controllable
57
The analysis shows the control input u(k) can steer

all the states.
Therefore it is possible to steer the states from any
initial value to any desired value in finite time steps.
Hence, the given system is CONTROLLABLE.
6/24/15
Solution: Observe how the control input u(k) can

steer all the other states.
We see that the control input can directly affect the
fourth state x4(k).
x4(k) can steer directly x3(k + 1), which implies that
the control input can steer x3(k) indirectly. x3(k) can
steer x2(k + 1) and x2(k) can steer x1(k + 1).
58
rank{C} = rank{[B AB A2B . . . A n1B]} = n

Note also that: If rank{C} = n, then |zI A| 0.
Hence, checking the determinant of (zIA) is
sufficient to check complete state controllability of a
DT LTI system.
6/24/15
The analysis in Example 1 is simple, as the statespace representation is in controllable canonical

form.
In cases where the state-space representation is not
easy to analyze, if the state-space representation of
a DT LTI system has to satisfy the following
condition it is called complete state controllable.
59
Class-Work.: Determine the controllability of

Example 1 using the above controllability condition.
Note that |zI A| = 0 only at its roots (i.e., eigen

values of A).
6/24/15
Solution:
rank{C} = 4 or |zI A| = z4 3z3 2z2 + 2 0,
hence the system is complete state controllable.
60
Controllability, Output
A system is complete output controllable only if it is

possible to steer the output from any initial value to
any arbitrary output value.
Mathematically, a system is complete output
controllable if the following rank condition is fullfilled.
rank{[D CB CAB CA2B . . . CA n1B]} = m
6/24/15
Note that the notion a complete state controllability

does not imply complete output controllability.
61
Observability
If it is possible to determine all of the initial states

of a system from any the measurement of the output
of the system in a finite time, the system is called
observable (specifically complete-state observable).
6/24/15
The notion of observability is concerned with the

problem of whether is it possible to determine the
initial states of a system from measured output of the
system in a given time.
62
Consider the following DT LTI system:

x(k + 1) = Ax(k) + Bu(k)
y(k) = Cx(k) + Du(k)
Sometimes it is possible that the system is not fullstate observable, and the system states can only be
estimated from the system output measurements.
6/24/15
It means that one can design an observer that can

determine the all the initial state of a system from the
output measurements in a finite time.
63
Thus, it is sufficient to only consider an autonomous

system (i.e., B = 0 and D = 0).
A DT LTI system is complete state observable if
6/24/15
Since the effect of the control input u(k) on the

measurement y(k) is known, observability is mainly
concerned on the effect of the states x(k) on the
measured output.
64
6/24/15
Example 2.
Determine if the following DT-LTI system is
observable. If so, determine the values of x(0) given
y(1) = 19, y(2) = 39.
Solution: Determine the observability matrix O

65
6/24/15
The |O| = 5 0, thus it is full-rank system.

i.e, the system is full-state observable.
From the state-space model, we have
x1(k + 1) = x1(k) and
x2(k + 1) = 2x2(k)
From the output equation we also have that
y(1) = x1(1) + 5x2(1) = 19
y(2) = x1(2) + 5x2(2) = 39
66
6/24/15
On substitution of
x1(2) = x1(1) and x2(2) = 2x2(1) and
simplification of the equations we get
x1(1) = 1 and x2(1) = 4
Thus, from the state equation we get
x1(0) = 1 and x2(0) = 2 as the initial value of the
system states.
67
The pole locations are defined based on the desired

transient-response
or
frequency-response
characteristics.
In general, during the pole placement design
method, two important assumptions are:
1. All the states are observable (they are available
for feedback)
2. All the states are controllable (they can be steered
to any state desired)
6/24/15
Design via Pole Placement

Pole placement is a control design method where the
poles of the closed-loop system is placed at a desired
location to provide the required system performance.
68
Now let us derive the expression of Acl .

Let the state-feedback matrix be K such that
u(k) = Kx(k) + ucl (k)
where x(k) is the state of the open-loop system
6/24/15
Let assume that based on the desired characteristics,

the selected poles
z1 = 1, z2 = 2, . . . , zi = i , . . . , zn = n results in
the following closed-loop system:
x(k + 1) = Acl x(k) + Bucl (k)
y(k) = Cx(k) + Ducl (k)
69
Thus, we have
6/24/15
Then the poles i are the eigen values of

Acl = A BK
or
the roots of the characteristic equation
|zI A + BK| = 0.
70
Consider characteristic equations

6/24/15
71
Example 3
Given an LTI DT system
6/24/15
Design a state-feedback controller such that the poles

of the closed-loop system will be z1,2 = 0.5 j0.5
72
6/24/15
Solution: First determine the characteristic

equation of the original system and the closed-loop
system.
73
Design via Pole Placement, Ackermanns Formula

The characteristic equation
6/24/15
74
Solution: Compute (A): from the given pole

locations, we get the characteristic equation to be
z2 z + 0.5 = 0,
thus we have: 0 = 1, 1 = 1, 2 = 0.5. Now
6/24/15
Example 4, Ackremanns formula

Consider the system in Example 2, and design the
state feedback controller using Ackremanns formula.
75
6/24/15
End of the Course
76

Asamenew Nigussei Department of Electrical Engineering

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Asamenew Nigussei Department of Electrical Engineering

Uploaded by

Copyright:

Available Formats

DCS, EP-5511, by Asamenew

Defense University College

DCS, EP-5511, by Asamenew

Then the stability of the system (or other discrete-time

DESIGN OF CONVENTIONAL DTCS

For the system

To be stable, the closed-loop poles or the roots of the

Example 1: Determine the stability of the closed-loop

DCS, EP-5511, by Asamenew

Methods for testing absolute stability

The Jury stability test

DCS, EP-5511, by Asamenew

Stability criterion by the Jury test

Example -1: Jury stability test

Example -2: Jury stability test

Example -3: Jury stability test

Example- 4: Jury stability test

Example -5: Jury stability test

Transient and Steady-State Response Analysis

DCS, EP-5511, by Asamenew

The response of systems to arbitrary inputs may be

Transient response refers to that portion of the

Transient Response Specifications

In almost all practical cases the performance of

Transient Response Specifications (cont.)

DCS, EP-5511, by Asamenew

The transient response of a system to a unit-step

Frequently, the performance characteristics of a

The transient response of a practical control system,

Transient Response Specifications (cont.)

Like the continuous-time control systems, digital

DCS, EP-5511, by Asamenew

Figure: Unit-step response of control systems.

Transient Response Specifications (cont.)

Transient Response Specifications (cont.)

DCS, EP-5511, by Asamenew

Rise time tr : The time required for the response to rise

Delay time td : The time required for the response to

Transient Response Specifications (cont.)

Maximum overshoot Mp: The maximum peak value of

Setlting time ts : The time required for the response

Steady-State Error Analysis

Where: B(z)/A(z) contains neither a pole nor a zero at

Steady-State Error Analysis

Steady-State Error Analysis (cont.)

Steady-State Error Analysis (cont.)

Summary: Steady-State Analysis

Example 2. Steady-state error constant

Design Based On Root Locus Method

DCS, EP-5511, by Asamenew

In addition to the transient response characteristics of a

Design based on root locus method(cont.)

DCS, EP-5511, by Asamenew

The characteristic equation is

Design based on root locus method(cont.)

DCS, EP-5511, by Asamenew

Thus, the values of z that satisfy the angle and

1 + G(z)H(z) = 1 + F(z) = 0, where F(z) = G(z)H(z)

(z + p1)(z + p2) . . . (z + pn) + K(z + z1)(z + z2) . . . (z + zm) = 0

Then, when K = 0, the poles of F(z) are the roots of the

DCS, EP-5511, by Asamenew

This implies that

Procedure rules for constructing root loci