Feng-Li Lian 2010

Outline NTUEE-RTCS24-DTDesign-2

SPRING 2010 Design of Digital Control Systems

Design of Real-Time Control Systems Transfer Function Design Methods

> Design by Emulation

Lecture 24
> Discrete Design
Controller Design of Digital Control Systems
State-Space Design Methods
Feng-Li Lian
NTU-EE
Feb10 Jun10

Feng-Li Lian 2010 Feng-Li Lian 2010

Introduction NTUEE-RTCS24-DTDesign-3
Design by Emulation NTUEE-RTCS24-DTDesign-4

Two basic digital controller design techniques: Design by emulation:

1. Design a continuous compensation
1. Emulation: 2. Digitalize the continuous compensation
Design a continuous compensation D(s) 3. Use discrete analysis, simulation, or experimentation
by using any CT controller design methods
Approximate that D(s)
by using any approximation methods such as Tustins Method

Design techniques:
2. Discrete Design:
1. Tustins Method or bilinear approximation
Model in DT (difference equations)
2. Matched Pole-Zero method (MPZ)
Design in DT (z-transform)
3. Modified Matched Pole-Zero method (MMPZ)

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Design by Emulation NTUEE-RTCS24-DTDesign-5
Design by Emulation NTUEE-RTCS24-DTDesign-6

Tustins method: Tustins method:

Franklin et al. 2002 Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

Design by Emulation NTUEE-RTCS24-DTDesign-7
Design by Emulation NTUEE-RTCS24-DTDesign-8

Tustins method: Tustins method:

sysDs = tf( 10*[0.5 1], [0.1 1] );

sysDd = c2d( sysDc, 0.025, tustin);

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Design by Emulation NTUEE-RTCS24-DTDesign-9
Design by Emulation NTUEE-RTCS24-DTDesign-10

Matched Pole-Zero (MPZ) method: Matched Pole-Zero (MPZ) method:

Case 1:

1. Map poles and zeros according to the relation

2. If the numerator is of lower order than the denominator,
add powers of (z+1) to the numerator
until numerator and denominator are of equal order
3. Set the DC or low-frequency gain of D(z) = that of D(s)

Franklin et al. 2002 Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

Design by Emulation NTUEE-RTCS24-DTDesign-11
Design by Emulation NTUEE-RTCS24-DTDesign-12

Matched Pole-Zero (MPZ) method: Matched Pole-Zero (MPZ) method:

Case 2: The same power of z in the num & den of D(z):

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Design by Emulation NTUEE-RTCS24-DTDesign-13
Design by Emulation NTUEE-RTCS24-DTDesign-14

Matched Pole-Zero (MPZ) method: Matched Pole-Zero (MPZ) method:

Space station attitude digital controller Space station attitude digital controller

Franklin et al. 2002 Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

Design by Emulation NTUEE-RTCS24-DTDesign-15
Design by Emulation NTUEE-RTCS24-DTDesign-16

Matched Pole-Zero (MPZ) method: Modified Matched Pole-Zero (MMPZ) method:

Space station attitude digital controller u[k+1] depends only on e[k], but not e[k+1]

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Design by Emulation NTUEE-RTCS24-DTDesign-17
Outline NTUEE-RTCS24-DTDesign-18

Comparison of Digital Approximation Methods: Design of Digital Control Systems

Transfer Function Design Methods

> Design by Emulation

> Discrete Design

State-Space Design Methods

Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

Discrete Design NTUEE-RTCS24-DTDesign-19
Discrete Design NTUEE-RTCS24-DTDesign-20

The Exact Discrete Equivalent: Discrete Root Locus:

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Discrete Design NTUEE-RTCS24-DTDesign-21
Discrete Design NTUEE-RTCS24-DTDesign-22

Feedback Properties: Space Station Digital Controller example:

Proportional:

Derivative:

Integral:

Lead Compensation:

Franklin et al. 2002 Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

Discrete Design NTUEE-RTCS24-DTDesign-23
Discrete Design NTUEE-RTCS24-DTDesign-24

Space Station Digital Controller example: Space Station Digital Controller example:
P + D feedback P + D feedback

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
Discrete Design NTUEE-RTCS24-DTDesign-25
Outline NTUEE-RTCS24-DTDesign-26

Step Response of the continuous & digital systems: Design of Digital Control Systems

Design by Emulation

Discrete Design

Transfer Function Design Methods

State-Space Design Methods

Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

State-Space Design Methods NTUEE-RTCS24-DTDesign-27
State-Space Design Methods NTUEE-RTCS24-DTDesign-28

State-Space Model: State-Space Model:

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
State-Space Design Methods NTUEE-RTCS24-DTDesign-29
State-Space Design Methods NTUEE-RTCS24-DTDesign-30

Discrete Transfer Function: Discrete SS Model of 1/s^2:

Franklin et al. 2002 Franklin et al. 2002

Feng-Li Lian 2010 Feng-Li Lian 2010

State-Space Design Methods NTUEE-RTCS24-DTDesign-31
State-Space Design Methods NTUEE-RTCS24-DTDesign-32

Discrete SS Model of 1/s^2: Pole Placement by State Feedback:

Franklin et al. 2002 Franklin et al. 2002

 Feng-Li Lian 2010 Feng-Li Lian 2010
State-Space Design Methods NTUEE-RTCS24-DTDesign-33
Hardware Characteristics NTUEE-RTCS24-DTDesign-34

Discrete Full-Order Estimator: Hardware Characteristics:

A/D Converters
D/A Converters
Anti-Alias Prefilters
The Computer
Word-Size Effects
Sample-Rate Selection

Franklin et al. 2002 Franklin et al. 2002