10/16/2013

DIGITAL CONTROL SYSTEMS

Frequency Response and Sampling Theorem

Frequency Response of Discrete-time Systems

Frequency Response:

Steady-state response of a discrete-time system to a sampled sinusoidal input

The response is a sinusoid of the same frequency as the

input with frequency-dependent magnitude scaling

The scale factor

phase

shift

and

and phase shift define a complex function of frequency known as the frequency response

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Frequency Response Using Impulse Sampling and the Laplace Transform

The impulse-sampled representation of a discrete-time

waveform:

Define a transfer function for sampled inputs as

we obtain

the frequency response is given by

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Properties of The Frequency Response of Discrete-time Systems

DC gain: The DC gain is equal to H(1)

Periodic nature: The frequency response is a periodic

function of frequency with period

Symmetry: For transfer functions with real coefficients, the

magnitude of the transfer function is an even function of frequency and its phase is an odd function of frequency.

MATLAB Commands for the Discretetime Frequency Response

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10/16/2013

The Sampling Theorem

faster sampling of the two waveforms would produce

distinguishable (recoverable) sequences

sufficiently fast sampling is a prerequisite for successful

digital data processing

The sampling theorem: The band-limited signal with

with F denoting the Fourier transform, can be reconstructed from the discrete-time waveform

if and only if the sampling angular frequency satisfies the condition

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The spectrum of the continuous-time waveform can be

recovered using an ideal low-pass filter of bandwidth the range

in

Selection of the Sampling Frequency

In practice: finite duration signals implies infinite

bandwidth
Because all measurements are made over a finite time

period, infinite bandwidths are unavoidable

Nevertheless, a given signal often has a finite effective

bandwidth beyond which its spectral components are negligible

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In practice, the sampling rate chosen is often larger

than the lower bound specified in the sampling theorem

A rule of thumb is to choose

In many applications, the upper bound on the sampling

frequency is well below the capabilities of state-of-the-art hardware

Sensor delay computational time needed to update the control

For a linear system, the output of the system has a spectrum

given by the product of the frequency response and input spectrum. Because the input is not known a priori, we must base our choice of sampling frequency on the frequency response.
The frequency response of a first-order system is

The frequency response amplitude drops below the DC level by a

factor of about 10 at the frequency If we consider the sampling frequency is chosen as

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10/16/2013

For a second-order system with frequency response

the bandwidth of the system is approximated by the damped natural

frequency

choose the sampling frequency as

Given a first-order system of bandwidth 10 rad/s, select a suitable

sampling frequency and find the corresponding sampling period. A suitable choice of sampling frequency is 600 rad/sec The corresponding sampling period is approximately
A closed-loop control system must be designed for a steady-

state error not to exceed 5 percent, a damping ratio of about 0.7, and an undamped natural frequency of 10 rad/s. Select a suitable sampling period for the system if the system has a sensor delay of 1. 0.02 s 2. 0.03 s 1. T= 20 ms 2. T=30 ms

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