64 CHAPTER 3 Modeling of Digital Control Systems

FIGURE 3.9
Automotive vehicle.

bv u
M

FIGURE 3.10
Schematic representation of a cruise control system for an automotive vehicle.

where K 5 1/b and τ 5 M/b. The corresponding partial fraction expansion is

! !
GðsÞ K A1 A2
5 1
s τ s s 1 1=τ
where
" "
1 "" 1"
A1 5 5τ A2 5 "" 5 2τ
s11=τ "s50 s s521=τ

Using (3.21) and the z-transform table (see Appendix I), the desired z-domain transfer
function is
80 12 39
< K τ τ =
GZAS ðzÞ 5 ð12 z21 Þ Z @ A4 2 5
: τ s s 1 1=τ ;
2 3
z21 5
5 K 41 1
z 2 e2T=τ

We simplify to obtain the transfer function

2z 2ð1 1 e2T=τ Þ
1 2
GZAS ðzÞ 5 K
z 2 e2T=τ

EXAMPLE 3.3
Find GZAS(z) for the vehicle position control system shown in Figure 3.10, where u is the
input force, y is the position of the car, and b is the viscous friction coefficient.
3.5 DAC, analog subsystem, and ADC combination transfer function 65

Solution
As with the previous example, we obtain the following equation of motion:

_ 5 uðtÞ
My€ðtÞ 1 byðtÞ

and the corresponding transfer function

YðsÞ 1
GðsÞ 5 5
UðsÞ sðMs 1 bÞ

We rewrite the transfer function in terms of the system time constant

K K=τ
GðsÞ 5 5
sðτs 1 1Þ sðs 1 1=τÞ
where K 5 1/b and τ 5 M/b. The corresponding partial fraction expansion is
! !
GðsÞ K A11 A12 A2
5 1 1
s τ s2 s s 1 1=τ

where
" # $"
1 "" d 1 " 5 2τ 2
"
A11 5 5τ A12 5
s11=τ "S50 ds s11=τ "S50
"
1"
A2 5 2 "" 5 τ2
s s521=τ

Using (3.21), the desired z-domain transfer function is

8 2 39
< A A A =
11 12 2
GZAS ðzÞ 5 ð1 2 z21 Þ Z K 4 2 1 1 5
: s s s 1 1=τ ;
2 3
T τðz 2 1Þ
5 K4 2τ 1 5
z21 z 2 e2T=τ

which can be simplified to

"/ 0 1 2#
T 2 τ 1 τe2T=τ z 1 τ 2 e2T=τ ðτ 1 TÞ
GZAS ðzÞ 5 K / 0
ðz 2 1Þ z 2 e2T=τ

EXAMPLE 3.4
Find GZAS(z) for the series R-L circuit shown in Figure 3.11 with the inductor voltage as
output.
Solution
Using the voltage divider rule gives

Vo Ls ðL=RÞs τs L
5 5 5 τ5
Vin R 1 Ls 1 1ðL=RÞs 1 1 τs R
66 CHAPTER 3 Modeling of Digital Control Systems

Vin L Vo

FIGURE 3.11
Series R-L circuit.

Hence, using (3.21), we obtain

8 9
1
< =
GZAS ðzÞ 5 ð1 2 z21 Þ Z
:s 1 1=τ ;
z21 z z21
5 3 5
z z 2 e2T=τ z 2 e2T=τ

EXAMPLE 3.5
Find the z-domain transfer function of the furnace sketched in Figure 3.12, where the
inside temperature Ti is the controlled variable, Tw is the wall temperature, and To is the
outside temperature. Assume perfect insulation so that there is no heat transfer between
the wall and the environment with heating provided through a resistor. The control variable
u has the dimension of temperature scaled by an amplifier with gain K. The sampling
period T 5 1 s.
Solution
The system can be modeled with the following differential equations:

T_ w ðtÞ 5 grw ðKuðtÞ 2 Tw ðtÞÞ 1 giw ðTi ðtÞ 2 Tw ðtÞÞ

T_ i ðtÞ 5 giw ðTw ðtÞ 2 Ti ðtÞÞ

To
Tw

u
Ti

FIGURE 3.12
Schematic of a furnace.
3.5 DAC, analog subsystem, and ADC combination transfer function 67

where grw and giw are the heat transfer coefficients. Laplace transforming and simplifying,
we obtain the following transfer function
Ti ðsÞ Kgrw giw
GðsÞ 5 5 2
UðsÞ s 1ð2giw 1 grw Þs 1 grw giw
Note that the two poles are real and the transfer function can be rewritten in terms of
the poles p1 and p2 as
Y ðsÞ K
GðsÞ 5 5 (3.22)
U ðsÞ ðs 1 p1 Þðs 1 p2 Þ
The corresponding partial fraction expansion is
!
GðsÞ A1 A2 A3
5K 1 1
s s s 1 p1 s 1 p2
where
"
1 " 5 1
"
A1 5
ðs1p1 Þðs1p2 Þ "s50 p1 p2
"
1 " 1
A2 5 " 52
sðs1p2 Þ "s52p1 p1 ðp2 2 p1 Þ
"
1 " 1
A3 5 " 5
sðs1p1 Þ "s52p2 p2 ðp2 2 p1 Þ

Using (3.21), the desired z-domain transfer function is

8 2 39
< 1 1 1 =
GZAS ðzÞ 5 ð1 2 z21 Þ Z K 4 2 1 5
: p1 p2 s p1 ðp2 2 p1 Þðs 1 p1 Þ p2 ðp2 2 p1 Þðs 1 p2 Þ ;
2 3
1 z 2 1 z 2 1
5 K4 2 1 5
p1 p2 p1 ðp2 2 p1 Þðz 2 ep1 T Þ p2 ðp2 2 p1 Þðz 2 ep2 T Þ

which can be simplified to

!3
p e2p1 T 2p2 e2p2 T 1 p2 e2ðp1 1p2 ÞT
2
ðp1 e2p2 T 2 p2 e2p1 T 1 p2 2 p1 Þz 1 1 2 ðp 1p ÞT
6 2p1 e 1 2 7
GZAS ðzÞ 5 K 6 7
4 p1 p2 ðp2 2 p1 Þðz 2 e2p1 T Þðz 2 e2p2 T Þ 5

EXAMPLE 3.6
Find the z-domain transfer function of an armature-controlled DC motor.
Solution
The system can be modeled by means of the following differential equations:
_ 5 Kt iðtÞ
Jθ€ ðtÞ 1 bθðtÞ
diðtÞ _
L 1 RiðtÞ 5 uðtÞ 2 Ke θðtÞ
dt
yðtÞ 5 θðtÞ
68 CHAPTER 3 Modeling of Digital Control Systems

where θ is the position of the shaft (i.e., the output y of the system), i is the armature
current, u is the source voltage (i.e., the input of the system), J is the moment of inertia
of the motor, b is the viscous friction coefficient, Kt is the torque constant, Ke is the
back e.m.f. constant, R is the electric resistance, and L is the electric inductance. Laplace
transforming and simplifying gives the following transfer function:
YðsÞ Kt
GðsÞ 5 5
UðsÞ s½ðJs 1 bÞðLs 1 RÞ 1 Kt Ke #
which can be rewritten as
YðsÞ K
GðsÞ 5 5
UðsÞ sðs 1 p1 Þðs 1 p2 Þ
with appropriate values of K, p1, and p2. The corresponding partial fraction expansion is
!
GðsÞ A11 A12 A2 A3
5K 2 1 1 1
s s s s 1 p1 s 1 p2

where
"
1 " 5 1
"
A11 5
ðs1p1 Þðs1p2 Þ "s50 p1 p2
2 3"
d4 1 5"" 5 2 p1 1 p2
"
A12 5
ds ðs1p1 Þðs1p2 Þ " p21 p22
s50
"
1 " 1
A2 5 2 " 5
s ðs1p2 Þ "s52p1 p21 ðp2 2 p1 Þ
"
1 " 1
A3 5 2 " 52 2
s ðs1p1 Þ "s52p2 p2 ðp2 2 p1 Þ

Using (3.21), the desired z-domain transfer function is

8 2 39
< 1 p1 1p 2 1 1 =
GZAS ðzÞ 5ð12z21 Þ Z K 4 2 1 2 5
: p1 p2 s2 p21 p22 s p21 ðp2 2 p1 Þðs1p1 Þ p22 ðp2 2 p1 Þðs1 p2 Þ ;
2 3
T p1 1p2 1 1
5K 4 2 2 2 1 2 5
p1 p2 ðz2 1Þ p1 p2 p1 ðp2 2p1 Þðz2 1Þðz2 ep1 T Þ p2 ðp2 2p1 Þðz2 1Þðz 2ep2 T Þ

_
Note that if the velocity of the motor is considered as output (i.e., yðtÞ 5 θðtÞ), we have
the transfer function
YðsÞ Kt
GðsÞ 5 5
UðsÞ ðJs 1 bÞðLs 1 RÞ 1 Kt Ke
and the calculations of Example 3.5 can be repeated to obtain the z-domain transfer
function (see (3.22)).

In the preceding examples, we observe that if the analog system has a pole at pS,
then GZAS(z) has a pole at pz 5 eps T . The division by s in (3.21) results in a pole at
z 5 1 that cancels, leaving the same poles as those obtained when sampling and
z-transforming the impulse response of the analog subsystem. However, the zeros
of the transfer function are different in the presence of a DAC.