DIGITAL CONTROL SYSTEM

MODELING DISCRETE TIME SYSTEM

Presenter: Tran Manh Tuan

Nguyen Duc Anh
Le Quang Duy

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CONTENTS

Z transform
Relationship between s-plane and z-plane
Pulse transfer function
Pulse transfer functions of closed loop system
Sample signal flow graph

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Z TRANSFORM

Motivation
Z-transform is a mathematical tool commonly used for the analysis and
synthesis of discrete time control systems. The role of Z-transform in discrete
time systems is similar to that of the Laplace transform in continuous systems
Laplace transform of the output of an ideal sampler:

= = ()
=0

Making the manipulation in the Laplace domain difficult

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Z TRANSFORM

Motivation
Choosing =

= ()
=0
If () is Laplace transformable then it also has a Z-transform

=
0

=
=0

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RELATIONSHIP BETWEEN S-PLANE AND
Z-PLANE
In s-plane, we know that:
Left haft of s-plane => Stable region
Right half of s-plane => Unstable region = 1
= = (+) =

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RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Mapping guidelines
All points in the left haft s-plane correspond to points inside the unit circle in z-
plane.
All the point in the right haft of s-plane corresponding to point outside the unit circle.
Point all the axis in the s-plane correspond to points on the unit circle =1 in
the z-plane

Primary and complementary strips in s-plane Primary strips in z-plane

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RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant damping loci
The real part of a pole = + of a transfer function in s-domain
determines the damping factor which represents the rate of rise or
decay of time response of the system.

Constant damping loci in (a) s-plane and (b) z-plane

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RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant frequency loci
In the s-plane: there are horizontal lines, parallel to the real axis.
In the z-plane: = = , when =constant, it represents a straight
line from the origin at an angle of = rad, measured from positive
real axis.

Constant frequency loci in (a) s-plane and (b) z-plane

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 RELATIONSHIP BETWEEN S-PLANE AND Z-PLANE
Constant damping ratio loci
If denotes the damping ratio:

= 1 2 = = tan
1 2
Where is the nature damped frequency and = 1

2 tan
We take z = ( tan +) = 2/

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PULSE TRANSFER FUNCTION
()
o In LTI continuous time system, =
()

o Pulse transfer function relate z-transform of the output at the sampling

instants to the z-transform of the sample input.
o When the same system is subject to a sampled data or digital signal (),
the corresponding block diagram is as following:

The output of the system is = ()

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PULSE TRANSFER FUNCTION
o We express the system characteristics by a transfer function that relates to a
fictitious sampler output
o We have

1
= = ( + )

=0 =

1 1
= = ( + ) = + +

=0 = =

1 1
= + = + =

= =

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PULSE TRANSFER FUNCTION

LTI continuous time Discrete time system

system

() () ()
= = =
() () ()

Pulse transfer function Z-transfer function

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PULSE TRANSFER FUNCTION

Pulse transfer function of ZOH

1
=

1 1
= = 1 1


= (1 1 )
1

=1

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PULSE TRANSFER FUNCTION

Pulse transfer function of discrete data systems with cascaded elements

Following two cases will be consider:
Cascade element are separated by a sampler
Cade element are not separated by a sampler

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PULSE TRANSFER FUNCTION

First case: Cascade element are separated by a sampler

The input-output relations of the system

= 1 2

()
=> = = 1 ()2
()

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PULSE TRANSFER FUNCTION

First case: Cascade element are separated by a sampler

The input-output relations of the system

= 1 2

()
=> = = 1 ()2
()

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PULSE TRANSFER FUNCTION

Second case: Cascade element are not separated by a sampler

The output of the fictitious sampler is: = 1 2

Taking z-transform: = 1 2 = 1 2
()
=> = = 1 2
()

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 PULSE TRANSFER FUNCTION
OF CLOSED LOOP SYSTEMS

A single loop system with a sampler in the forward path

The input output relations can be formulated as

= (1)
= (2)

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 PULSE TRANSFER FUNCTION
OF CLOSED LOOP SYSTEMS

Taking pulse transform on both side of (1)

= =
1 +

2 = =
1 +
Taking pulse transform on both side of (2)


= = =
1 + 1 +

=
1 +

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 PULSE TRANSFER FUNCTION
OF CLOSED LOOP SYSTEMS

Placing the sampler in the feedback path

The input output relations

= (3)
= = (4)

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 PULSE TRANSFER FUNCTION
OF CLOSED LOOP SYSTEMS

Taking pulse transform on both side of (4)

= =
1 +

() =
1 +
The sampled signal r*(t) does not exist
The output C(s) can be expressed in terms of input as

= =
1 +

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 CHARACTERISTICS EQUATION

An order LTI discrete data system can be represented by an order difference

equation
+ + 1 + 1 + 2 + 2 + + 1 + 1 + 0 =
+ + 1 + 1 + + 0
: input sequence c : output sequence
Taking Z-transformation on both sides, with zero initial conditions
+ 1 1 + + 1 + 0
= =
+ 1 1 + + 1 + 0
The characteristic equation is obtained by equating the denominator of G(z) to 0
+ 1 1 + + 1 + 0 = 0

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 CHARACTERISTICS EQUATION

EXAMPLES

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 CAUSALITY AND PHYSICAL REALIZABILITY

In causal system, the output depends only on the past and present inputs
The transfer function of causal system is physically realizable
For a causal discrete data system, the power series expansion of its transfer function
must not contain any positive power in z

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SAMPLE SIGNAL FLOW GRAPH (SFG)
The first step in applying signal graph to discrete data system is to express the
systems equation in term of discrete data variables only
Let consider the block diagram of a SFG

We have: E s = R s G s H s E s (1) and C s = G(s)E s (2)

The SFG is show in below figure

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SAMPLE SIGNAL FLOW GRAPH (SFG)
Taking pulse transform equations (1) and (2)
s = s s s
s = s s
The equivalent SFG will take as a form

Apply Masons gain formula, we get the following transfer functions

s 1
s
= s 1 =
s 1 + s 1 + s
s 1
=
s 1 + s

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SAMPLE SIGNAL FLOW GRAPH (SFG)

The composite signal follow graph is formed by combing the equivalent and the
original SFG

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SAMPLE SIGNAL FLOW GRAPH (SFG)
Let consider another block diagram of a SFG

We have: E s = R s G s H s E s (1) and C s = G(s)E s (2)

The SFG is show in below figure

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