UNIVERSITY OF TECHNOLOGY

CONRTOL AND SYSTEM ENGINEERING

DEPARTMENT
MECHATRONICS BRANCH

4th Stage

EXP.(2)
Conversions between continuous and discrete time
control systems

NAME OF GROUP
Wasan shakir
Objectives:
1-To study the conversion from continuous system to discrete system.
2- To study the conversion from discrete system to continuous system.
3-To study the effect of changing the conversion method upon the
transient response of the system.
4- To study the effect of changing the sampling time upon the
Transient response of the system.

Introduction:
The digital computer is unusual device in that it operates using discrete
of information. It is employed in instrumentation and control systems
because of its power to process complex situations. Thus, it is necessary
for continuous signals to be converted to digital signals efficiently and
without error. To do this we need first to postulate the existence of two
devices, The first of these devices is the Analog-to-Digital (AD)
converter, or sampler which will sample the analog periodically and
converts this sample to a digital word to be processed by the digital
computer (between sampling instants, the sampler transmit no
information). The second device is the Digital-to-Analog (D/A)
converter, or hold device which converts the numerical control
generated by the digital computer from digital into an analog signal. One
of the hold devices which convert the sampled signals into a one which
is constant between two consecutive sampling instant is called Zero
Order Hold (ZOH)
Procedure:
clc

close all
clear all
n=[5 5];
d=[1 2 2];
sys=tf(n,d);
sysf=feedback(sys,1)
figure(1)
step(sysf)
sysd1=c2d(sys,1,'zoh');
sysd2=c2d(sys,0.5,'zoh');
sysd3=c2d(sys,0.1,'zoh');
sysd4=c2d(sys,0.05,'zoh');
sysdf1=feedback(sysd1,1)
sysdf2=feedback(sysd2,1)
sysdf3=feedback(sysd3,1)
sysdf4=feedback(sysd4,1)
figure(2)
step(sysdf1)
title('sysdf1')
figure(3)
step(sysdf2)
title('sysdf2')
figure(4)
step(sysdf3)
title('sysdf3')
figure(5)
step(sysdf4)
title('sysdf4')
clc
close all
clear all
n=[5 5];
d=[1 2 2];
sys=tf(n,d);
sysf=feedback(sys,1)
figure(1)
step(sysf)
sysd1=c2d(sys,1,'matched');
sysd2=c2d(sys,0.5,'matched');
sysd3=c2d(sys,0.1,'matched');
sysd4=c2d(sys,0.05,'matched');
sysdf1=feedback(sysd1,1)
sysdf2=feedback(sysd2,1)
sysdf3=feedback(sysd3,1)
sysdf4=feedback(sysd4,1)
figure(2)
step(sysdf1)
title('sysdf1')
figure(3)
step(sysdf2)
title('sysdf2')
figure(4)
step(sysdf3)
title('sysdf3')
figure(5)
step(sysdf4)
title('sysdf4')
clc
close all
clear all
n=[5 5];
d=[1 2 2];
sys=tf(n,d);
sysf=feedback(sys,1)
figure(1)
step(sysf)
sysd1=c2d(sys,1,'tustin');
sysd2=c2d(sys,0.5,'tustin');
sysd3=c2d(sys,0.1,'tustin');
sysd4=c2d(sys,0.05,'tustin');
sysdf1=feedback(sysd1,1)
sysdf2=feedback(sysd2,1)
sysdf3=feedback(sysd3,1)
sysdf4=feedback(sysd4,1)
figure(2)
step(sysdf1)
title('sysdf1')
figure(3)
step(sysdf2)
title('sysdf2')
Discussion:
1- Derive the z-transform of the discrete system in step 2 assuming a
sampling time of 0.1 second and find the discrete transient response for
unit step input.
Solution
2- Discuss the effect of changing the sampling time upon the stability of
the discrete system.
Solution
Increase the sampling time past same critical point can actually make a
discrete time unstable and it push the transfer function places out close
to and even outside the unit circle of stability.

3- Explain the method of selecting the value of sampling time for a

continuous model.
Solution
Based on Shannonʼs theorem we select the sampling time as follows:
Ts=(0.1 ‒ 0.5)
4- Numerate different methods used in the conversion of a continuous
model to a discrete form.
Solution:
1. Zero Order Hold
2. First Order Hold
3. Matched Pole Zero