Modern Control

Engineering
Design of Digital Controller
Dr. Syed Saad Azhar Ali
saad.azhar@petronas.com.my
23-03-06
7838

Reminder

Course Outcomes
Upon the completion of the course, you are expected to be able to:

1.

Develop state-space and transform models for continuous or discrete time

multivariable linear systems

2.

Analyze and design of linear control systems for stability, controllability and
observability

3.

Design and analyze digital controller using transform method for SISO systems

4.

Design state feedback controller

and observer
to enhance system performance
Have basic
knowledge and understanding of the methods

5.

used forfor
digital
system analysis and design.
LQRcontrol
systems
Construct optimal control strategy

The learning outcomes related to Digital control design.

Be able to design a PI/PID digital controller for a system.

Last Lesson
Introduction
What and why of Digital Control
Review of Continuous and Discrete-time signals and systems
Basic block diagram of Digital Control System
A/D and D/A

This Lesson . . .
Effect of Zero Order Hold
Overall transfer function

A simple Digital Control Design approach

Digital to Analog conversion

D/A
Essentially a sample and hold circuit. Usually uses a zero-order-hold (ZOH) to

keep output fixed at latest digital value until the next sample time arrives

The ZOH introduces a significant time delay unless the sampling frequency is

very high.

Zero order hold

r(t)=
r(t)

r*(t)

ZOH

c(t)

The output can be expressed as,

(t)
c(t)

Time

c(t) u(t) - u(t- T)

1 1 sT 1 e sT
C(s) e

s s
s

Therefore, GZOH (s), the transfer function of ZOH

is:
1 e sT
G ZOH (s )
Remember that the input is
s
an impulse R(s) = 1

First Order and Second Order

Hold .. ?
First Order Hold: Rather than a flat line, slopes are taken. Straight line from one

sample to the next one.

Second Order Hold: rather than straight line, parabolic lines from one sample to the

next one.

Effect of Zero Order Hold

Zero Order
Hold

Analog
System

Continued

Effect of ZOH

Now if GZA(s) is sampled and then converted to Z-domain

the resulting TF is:

Transform GZA(s) into time domain by taking

Laplace inverse to get gZA(t).
Then sample it to get gZAS(t)
Then take Z-Transform to get GZAS(s)

{Ref: FYI see handout # 3 for derivation}

Zero Order
Hold
So whenever you see an
analog system with ZOH

Analog
System

How to get
Review from DSP
Impulse Invariance Method with sampling Period T
Obtain partial fraction expansion for G(s) as

++
Obtain G(Z) as

++
Bilinear Method
Replace to get G(Z)

Example 1
A sampled-data system for a plant in open-loop form is shown in
the figure. The open-loop transfer function of the plant G(s), is given as

1
G (s)
s ( s 1)
ZOH

U(s)

G(s)

Y(s)

T=1 sec

a.

Determine the z-transfer function of the equivalent digital plant,

using a sampling period of T = 1 sec.

b.

Given that u(t)=e-t , determine the output of the system, Y(nT).

Carry out your answer to the first three sampling instants.

Example 2
a.The sampled-data control system of the plant in its closed-loop form
is as shown.

1
G (s)
s ( s 1)

ZOH

R(s)
-

G(s)

T=1 sec

Determine the closed-loop transfer function, Y(z)/R(z).

Y(s)

Example 3
Find GZAS(Z) for the cruise control system for the vehicle, where u is
the input force, v is the velocity of the car, and b is the viscous friction coefficient.

The corresponding partial fraction expansion with 1/s is

Digital control system design using

emulation

In this approach,
we design a continuous-time controller
(Simple PI Controller that meets all design
specifications.
Then discretize it using a bilinear
transformation or other discretization
technique to obtain an equivalent digital
controller.

This method works if the sampling rate is high enough. Normally

30 times faster than the system bandwidth.
Further refinement is necessary for the case where the sampling
rate is not high enough. Normally less than 10 times the
bandwidth.

Design Example 4
Consider a car (BMW), which has a weight m = 1000 kg.
Assuming the average friction coefficient b = 100, design a
cruise control system such that the car can reach 100 km/h
from 0 km/h in 8 s with an overshoot less 20%.

Let us try a PI controller, i.e.,

The first component is proportional to the error and the
second consists of an integration action.
.
PID
Following results derived earlier, we have

D erivin g an d n from th e d esig n

sp ecif i
cation s

C alcu latin g d esired con troller p aram eters

Recall from ( * ) the closed-loop transfer function of the cruise
control system with the PI control law, i.e.,

and the desired transfer function that produces desired

performance

Comparing the coefficients on the denominators, we have

V erif i
cation th rou g h S IM U LIN K

Effective
Bandwidth
at -3dB

1.8rad/sec

D ig ital con troller w ith a sam p lin g rate 30 tim es th e

b an d w id th

We first discretize
the continuoustime PI control law
with
T = 1/(300.3)
0.1 seconds, using
a bilinear
transformation
method, i.e.,

Remark:
Performance is
about
the same as the
continuous-time
case.

D ig ital con troller w ith a sam p lin g rate 6 tim es th e

b an d w id th

Observe Overshoot

We now
discretize the
continuoustime PI control
law with T =
1/(60.3)
0.6 seconds
using the
bilinear
transformatio
n method, i.e.,
Remarks:
Performance is not
as good as the
continuous-time
case.

End of Lecture 2
This lecture covered
Effects of ZOH
How to obtain overall TF with Sampler and

ZOH
Design of a simple Digital PI controller

Next Lecture
Detailed analysis of Digital Control

Design and performance analysis

Assignment 1 will posted on eLearning