Chap 03x PDF

ECE 5700
Digital Control Systems

Chapter 3
Dr. Bradley J. Bazuin
Western Michigan University
College of Engineering and Applied Sciences
Department of Electrical and Computer Engineering
1903 W. Michigan Ave.
Kalamazoo MI, 49008-5329
Sampling and Reconstruction
Sampled-Data Control Systems
The Ideal Sampler
ZOH sampler evaluation
Fourier Transform Rel=sults
Properties of the Sampler
ECE 6950
Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T Nagle,
Digital Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
2
Properties of the Sampler
Data Reconstruction
D to A Conversion
A to D Conversion
Digitized Control System
Using switches to represent digitization of a continuous
time system
ECE 6950 Notes and figures are based on or taken from materials in the course textbook: C.L. Phillips and H.T
Nagle, Digital Control System Analysis and Design, Prentice Hall, 1995, ISBN: 0-13-309832.
3
R.C. Dorf and R.H. Bishop, Modern Control Systems, 9
th
ed., Prentice Hall, 2001. ISBN 0-13-030660-6
Digital Equivalent of a PI Actuator
Unit gain error response, aircraft angle (desired
A
) vs
system output (actual
R
)
In a discrete time system, the error is only evaluated every
( ) ( ) ( ) t t t e
R A
=
In a discrete time system, the error is only evaluated every
T sec.
The simplest assumption for the function is a zero order
hold (ZOH or OH), see Fig. 3-3
4
( ) ( ) { } kT e f t e =
( ) ( ) ( ) ( ) [ ] ( ) ( ) ( ) [ ] ( ) ( ) ( ) [ ] L + + + = T t u t u e T t u T t u e T t u t u e t e 3 2 2 2 1 0
The Laplace Transform
Transform of a ZOH
Transform of the Sampled Sequence
( ) ( )
s
e
e
s
e
s
e
s
dt e t zh s L
T s
T s
t
t s t s
zh

= =
1 1 1 1
0
0
0
A ZOH term independent of k
The Laplace equivalent of the z-transform
(the star transform in the text)
5
( ) ( ) ( ) ( ) ( ) ( ) [ ] L + + +
|
|
\
|

=

T s e sT e e
s
e
s E
T s
2 exp 2 exp 1 0
1
( ) ( ) ( ) ( ) s E
s
e
skT k e
s
e
s E
T s
k
T s
*
0
1
exp
1
|
|
\
|

=
(

|
|
\
|

=

The DORF Chap. 13 Equivalent

Open Loop Example
Closed Loop Example
6
th
th
The Ideal Sampler
The star notation represents and ideal sampler in time.
The sampling function is a train of impulses in time (Fig. 3-6)
( ) ( ) ( ) ( ) ( ) kT e kT e kT t t e t e
* *
= = =
An alternate definition: the impulse string is a carrier and the error
represents a signal to be modulated by the impulse string
(similar to AM, where e(t) is the amplitude)
If e(t) is discontinuous and discontinuous at t=kT, we use the
right handed value or value at e(kT
+
).
Defined as the value as e(kT is approached from the right)
7
ZOH system in the Laplace Domain
Dorf 13-1 Notes, p. 4-7
Dorf 13-2 Notes, p. 4-9
8
Example 3.1
Find E start of the unit step function
( ) ( ) ( )
=
=
0
*
exp
k
skT k e s E
( ) ( ) t u t e =
( ) ( )
=
=
0
*
exp 1
k
skT s E
9
=0 k
( )
( )
( ) 1 exp ,
exp 1
1
*
<

= skT for
skT
s E
Example 3.2
Find E start of the exponential decay in time
( ) ( ) ( )
=
=
0
*
exp
k
skT k e s E
( ) ( ) t t e = exp
( ) ( ) ( )
=
=
0
*
exp exp
k
skT kT s E
10
=0 k
( )
( ) ( )
( ) ( ) 1 exp exp ,
exp exp 1
1
*
<

= sT T for
sT T
s E
( )
( ) ( )
( ) ( ) 1 1 exp ,
1 exp 1
1
*
< +
+
= T s for
T s
s E
Evaluation of E star
The sampled transform equivalent can be formed using the
residues of the Laplace transform as follows
( ) ( )
( ) ( )
( )

=
s E of poles
sT T
E of residues s E
exp exp 1
1
*
Replication in the frequency domain

Note that
11
( ) ( ) ( )
T
w for T jnw s sT
s s
2
, exp exp = + =
Laplace Consideration-Replication
Poles of the unit step function E
*
( )
( )
( ) 1 exp ,
exp 1
1
*
<

= sT for
sT
s E
( ) 0 exp 1 = sT
for s=jw
s
=j*2/T, on the real axis (see App. III)
12
( ) 1 exp = sT
( ) 1 exp = sT
T
w for T w jn jn sT
s s

2
, 2 = = =
{ } L , 2 , , 0 2
s s
w j jw jn s = =
Theorem of Residues
The Theorem of residues is used to derive equations (3-10)
and (3-11)
The derivation is shown in Appendix III
We will use the results, but not spend time on the derivation
13
Using 3-10
Example 3.3
( ) ( )
( ) ( )
( )

=
s E of poles
sT T
E of residues s E
exp exp 1
1
*
( )
( ) ( ) b s a s
s E
+ +
=
1
Poles at s=-a and s=-b
14
( )
( ) ( ) b a
E
+ +
=

1
( )
( ) ( ) ( ) ( ) ( ) ( )
b a
sT T a sT T b
s E
= =

+
+

+
=

exp exp 1
1 1
exp exp 1
1 1
*
( )
( ) ( ) ( ) ( ) ( )
(
=
sT bT sT aT a b
s E
exp exp 1
1
exp exp 1
1 1
*
Example 3.4
( ) ( )
( ) ( )
( )

=
s E of poles
sT T
E of residues s E
exp exp 1
1
*
( )
( )
2 2
+
=
s
s E
Poles at s=j and s=-j
( ) ( ) t t e sin =
15
( )
( )
( ) ( ) ( ) ( ) ( )
(
+
=
sT T j sT T j j j
s E
exp exp 1
1
exp exp 1
1
*

( )
( ) ( ) [ ] ( )
( ) ( ) [ ] ( ) ( ) T s sT T j T j
sT T j T j
j
s E
2 exp exp exp exp 1
exp exp exp
2
1
*
+ +

=

( )
( ) ( )
( ) ( ) ( )
( ) ( )
( ) ( ) ( ) T s sT T
sT T
T s sT T
sT T j
j
s E
2 exp exp cos 2 1
exp sin
2 exp exp cos 2 1
exp sin 2
2
1
*
+

=
+

=
Example 3.5
( ) ( )
( ) ( )
( )

=
s E of poles
sT T
E of residues s E
exp exp 1
1
*
( )
( ) 1
1
+
=
s s
s E
Poles at s=0 and s=-1
( )
( ) ( ) ( ) ( ) ( )
*
1 1 1 1
+ = s E
16
( )
( ) ( ) ( ) ( ) ( )
1 0
*
exp exp 1
1 1
exp exp 1
1
1
1
= =

+

+
=

sT T sT T
s E
( )
( ) ( ) ( )
1 0
*
exp exp 1
1
exp 1
1
= =

=

sT T sT
s E
Laplace and Fourier
The Fourier and Laplace Transforms are forms of
generalized transforms and are related as
Relationship of Laplace to frequency domain processing
The response for each frequency w is defined as
( ) ( ) [ ] ( ) ( ) [ ]
jw s
t u t e Laplace t u t e Fourier
=
=
The response for each frequency w is defined as
For the z-transform
17
( ) ( ) ( ) ( ) ( ) ( ) ( ) jw E jw where jw j jw E jw E arg , exp = =
( ) ( ) jwT sT z exp exp = =
Properties of E star (1)
Periodic
( ) ( ) ( )
=
=
0
*
exp
k
skT k e s E
( ) ( ) ( ) ( ) nT jmw s k e jmw s E
n
s s
0
*
exp + = +

=
18
( ) ( ) ( )
( ) ( )
( ) ( )
( ) s E
nT k e
nT
T
jm nT k e
nT jmw nT k e
n
n
n
s
*
0
0
0
2 exp
2
exp 2 exp
exp 2 exp
=
=
|
\
|
=
=
Properties of E star (2)

Banded replication of poles
For a pole at s=s
1
there must also be poles at s=s
1
+jmw
s
This is a logical extension of the previous property
The primary band or strip in the s-plane is defined for
s s
w
w
w

See Fig. 3-8
Note: the zeros may not be replicated; therefore, no equivalent
statement can be made
19
2 2
s s
w
w
w

Sampling in T
See MATLAB from Mitra Chap. 2
Program_M2_4.m and Program_M2_5.m
Identical sample values for frequencies that are multiples
of 2 of 2
20
Alternate E star definition
The alternate definition (App. III) is
( )
( )
( )
=
+ + =
n
s
jnw s E
T
e
s E
1
2
0
*
( )
( )
( ) ( ) ( ) ( ) ( ) [ ] L L + + + + + + + + + + =
s s s s
w j jw E jw jw E jw E jw jw E w j jw E
T
e
jw E 2 2
1
2
0
*
From the single spectrum continuous time
To the 1/T scaled replicated spectrum
21
T 2
Aliasing
The easy way to describe aliasing is when the continuous
time spectrum extends into one of the adjacent s-plane or
frequency response strips defined by
( ) ( )
2
1 2
2
1 2
s s
w
k w
w
k +
If the continuous time signals spectral power is sufficiently small,
we say that there is no aliasing ...
This sets a general filter design specification
It is also a requirement of Nyquist rate sampling
22
2 2
max
2
1 1
f
T
f
s
s

=
s
s
f
T
f =
1
2
max
Data Sampling and Reconstruction
The ZOH previously described is more indicative of the
digital to analog function than modern analog to digital
converters.
If we review the original description
e e
T s T s
1 1
| |
(
| |

E star describes the sampled data
The other term describes a window of sample time that could be
shorter than the sample period
We are digitally processing E star and then putting out the ZOH (or
other alternate holding function) .
23
( ) ( ) ( ) ( ) s E
s
e
skT k e
s
e
s E
T s
k
T s
*
0
1
exp
1
|
|
\
|

=
(

|
|
\
|

=

Data Reconstruction
Zero-Order Hold
First-Order Hold
Fractional-Order Hold
24
Text Descriptions
Use the Taylor series expansion to describe the continuous
time signal about a sample point
for m derivatives, the approximation becomes
( ) ( )
( ) [ ]
( )
( ) [ ]
( )
( ) [ ]
( ) L L + + + + + =
2 2
2
2
!
1
! 2
1
nT t
dt
nT e d
m
nT t
dt
nT e d
nT t
dt
nT e d
nT e t e
m
m
for m derivatives, the approximation becomes
where
25
( ) ( ) ( ) T n t nT for t e t e
n
+ 1 ,
( ) [ ]
( ) ( ) ( ) [ ] T n e nT e
T dt
nT e d
1
1
+ =
( ) [ ]
( ) ( ) ( ) ( ) ( ) [ ] T n e T n e nT e
T dt
nT e d
2 1 2
1
2 2
2
+ + + =
Zero-Order Hold Reconstruction
The simplest to implement as there are no computations or
system memory involved
Using no derivatives (m=0)
( ) ( ) nT e t e =
( )
s
e
s G
T s
h

=
1
0 ( ) ( ) ( ) T t u t u t g
oh
=
26
( )
( )
jw
T w
j
e
jw
e e
e
jw
e
jw G
T w
j
T w
j
T w
j
T w
j
T jw
h
2
sin 2
1
2
2 2
2
0

( )
( )
( )
2 2
0
2
sinc
2
2
sin
T w
j
T w
j
h
e
T w
T e
T w
T w
T jw G

( )
s s
w
w
j
s
w
w
j
s
s
h
e
w
w
T e
w
w
w
w
T jw G

\
|
=
\
|

= sinc
sin
0
ZOH Spectrum Response
See Fig. 3-13 is the ZOH only
Sinc function manitude
Saw-tooth phase response (0 to w
s
)
When the ZOH convolves in the time domain and/or When the ZOH convolves in the time domain and/or
multiplies in the frequency domain,
the output spectral response of the D to A for a cosine wavr input
is shown in Fig. 3-14.
The time response is shown in Fig. 3-15
27
First-Order Hold Reconstruction
The simplest to implement as there are no computations or
system memory involved
Using only the first order derivative approximation (m=1)
( ) ( )
( ) [ ]
( ) nT t
dt
nT e d
nT e t e + =
28
( ) [ ]
( ) ( ) ( ) [ ] T n e nT e
T dt
nT e d
1
1
=
( ) ( ) ( ) ( ) ( ) [ ] ( ) ( ) ( ) ( ) [ ] T n t u nT t u nT t T n e nT e
T
nT e t e 1 1
1
+
)
`
+ =
After considerable time, I have not been able to show
that this equation results in the equation that follows in
the textbook ...
First-OH Reconstruction
Therefore, I will not describe what is in the book
See http://en.wikipedia.org/wiki/First-order_hold
The author is attempting to make a Predictive first-order hold
which is causal.
The Basic first order hold is considered a convolution of
two zero order holds resulting in a sinc^2 magnitude
response. The author is describing something else .
The basic first order hold is equivalent to a linear approximation
between two points. As such, it requires knowledge of the next
sample making it a non-causal response.
29
Predicative First Order Hold
Based on the filter time response in Fig. 3-16.
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) T t u T t
T
T t u T t u T t
T
T t u t u t
T
t u t g
h
2 2
1
2
2
2
1
1
+ + + =
( )
( ) ( ) ( ) ( )
2
1
2 exp exp 2 1 2 exp exp 2 1 +
+
+

=
T s
T s sT
s
T s
s
sT
s
s G
h
30
( )
2
2
1
exp 1 1
|
\
|

+
=
s
sT
T
sT
T s s s s
h
PFOH Frequency Response
( )
( )
2
1
exp 1 1
|
|
\
|
+
=
jw
jwT
T
jwT
jw G
h
( )
( )
( ) jwT
jw
wT
j
T
jwT
jw G
h

|
|
\
|

+
= exp
2
sin 2
1
2
1
( ) ( ) ( ) ( ) jwT
wT
jwT T jw G + = exp sinc 1
2
31
( ) ( ) ( ) ( ) jwT
wT
jwT T jw G
h
+ = exp
2
sinc 1
2
1
( )
|
\
|

|
\
|
\
|
+ =
s s s
h
w
w
j
w
w
w
w
j T jw G 2 exp sinc 2 1
2
1
See Fig. 3-17.
Notice the off-center peaking and severe phase shift.
Fractional Order Hold
Providing scaling of the time-domain response so that the
ramp functions are not as large.
For k=0 the function is a zero order hold
For k=1 the function is a first order hold
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( )
k k k 2
+ + + + =
32
( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) T t u T t
T
k
T t u k T t u T t
T
k
T t u k t u t
T
k
t u t g
fh
2 2 2
2
1 + + + + =
( )
( ) ( ) ( ) ( ) ( )
( ) ( )
( )
( ) ( )
2
2
2
1
exp 1
exp 1
exp 1
2 exp exp 2 1 2 exp exp 1 1
sT
T s
k
s
sT
sT k
T s
T s sT
k
s
T s k
s
sT k
s
s G
h
+
|
\
|

=
+
+

+
+
=
See Figs. 3-18 and 3-19 for the magnitude response.
Devices to Perform Conversion
Converters
Analog Devices and TIs Burr Brown are two manufacturers
Digital to Analog Converters
Fast converters selecting analog switches. Fast converters selecting analog switches.
Analog to Digital Converters
Many types: ramp, successive approximation (SAR), sigma-delta
(tracking), dual ramp and flash (parallel)
33
Devices Search
Analog Devices
http://www.analog.com/en/analog-to-digital-converters/ad-
converters/products/index.html
Texas Instruments (Burr-Brown)
http://focus.ti.com/analog/docs/dataconvertershome.tsp?familyId=
82&contentType=4&DCMP=TIHomeTracking&HQS=Other+OT
+home_p_dc
34

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ECE 5700

Digital Control Systems

The DORF Chap. 13 Equivalent

Replication in the frequency domain

Properties of E star (2)

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