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e(kT )
Gc ( z )
u (kT )
ZOH
u (t )
y (t )
G p ( s)
ADC
y (kT )
ADC
3( s 5)
s 15
becomes
z 1
3 T2
5
6
6
2
z 1 3 T z 1 5 z 1 15 T z 15 T
Gc ( z )
2
.
2 z 15 2
z
15
z
1
15
2 z 1 15
T
T
T
T
z
2015 z 1985
z 0.9851
or
E ( z ) 2015 z 1985
z 0.9851
or
U ( z ) 0.9851z 1U ( z ) 2.985E ( z ) 2.97 z 1E ( z )
Kamman ME 4710: page 2/3
sb
Gc ( z ) K
bT
ze
o Here, K is found by applying the final value theorems to each transfer function and
equating the results.
1 z 1
1 e aT
a
1
lim s s Gc ( s) K b lim
Gc ( z ) K
s 0
z 1
1 z 1
1 ebT
or
1 e bT
a
K K b
aT
1 e
o More details on this method may be found in Franklin, Powell, and Emami-Naeini,
Feedback Control of Dynamic Systems, Prentice-Hall, 2002.