ECEG 5352 - Lecture - 6 PDF

Lecture-6
Time Response of Discrete Time Systems
Nebiyu Tenaye
Addis Ababa University

Addis Ababa Institute of Technology
School of Electrical & Computer Engineering
Digital Control Systems

ECEG-5352
December 3, 2018
Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 1 / 28
Overview
Overview
1 Overview
2 Objective
3 Introduction
4 Transient response specifications
5 Steady state error

Type-0 system and position error constant
Type-1 system and velocity error constant
Type-2 system and acceleration error constant
6 Prototype second order system

Comparison between CT and DT systems

Objective
Lecture Objectives
In this lecture you will learn the following:

Transient response and characteristics of DTS,
Steady state response and characteristics of DTS,
Second order system responses of DTS, and
Comparison between DT and CT control systems.

Introduction
Introduction
Absolute stability is a basic requirement of all control systems

Apart from that, good relative stability and steady state accuracy
are also required in any control system, whether continuous time
or discrete time
Transient response corresponds to the system closed loop poles
and steady state response corresponds to the excitation poles or
poles of the input function

Transient response specifications
In many practical control systems, the desired performance

characteristics are specified in terms of time domain quantities
Unit step input is most commonly used in analysis of a system
since it is easy to generate and represent a sufficiently drastic
change thus providing useful information on both transient and
steady state responses
The transient response of a system depends on the initial
conditions
It is a common practice to consider the system initially at rest

Consider the digital control system shown in Figure-1
Figure 1: Block diagram of a closed loop digital control system
Similar to the continuous time case, transient response of a digital

control system can also be characterized by the following
1. Rise time (tr ):

Time required for the unit step response to rise from 0% to 100% of its
final value in case of under-damped system or 10% to 90% of its final
value in case of over-damped system

2. Delay time (td ):

Time required for the unit step response to reach 50% of its final
value
3. Peak time (tp ):

Time at which maximum peak occurs
4. Peak overshoot (Mp ):

The difference between the maximum peak and the steady state
value of the unit step response
5. Settling time (ts ):

Time required for the unit step response to reach and stay within
2% or 5% of its steady state value

However, since the output response is discrete the calculated

performance measures may be slightly different from the actual
values (figure-2 illustrates this)
The output has a maximum value cmax whereas the maximum value
of the discrete output is c∗max , which is always less than or equal to
cmax
If the sampling period is small enough compared to the oscillations
of the response, then this difference will be small otherwise c∗max
may be completely erroneous
Figure 2: Unit step response of a discrete time system

Steady state error
Steady state error

The steady state performance of a stable control system is
measured by the steady error due to step, ramp or parabolic inputs
depending on the system type
Consider the discrete time system as shown in Figure-3
Figure 3: Block diagram
From Figure-3, it can be written as:
E(s) = R(s) − H(s)C(s)

Steady state error
Lets consider the steady state error at the sampling instants

From final value theorem
lim e(kT ) = lim [(1 − z −1 )E(z)]
k→∞ z→1

−1 Gp (s)
G(z) = (1 − z )Z
s

−1 Gp (s)H(s)
GH(z) = (1 − z )Z
s
C(z) G(z)
=
R(z) 1 + GH(z)
1
Again E(z) = R(z) − GH(z)E(z) = R(z)
1 + GH(z)

−1 1
⇒ ess = lim (1 − z ) R(z)
z→1 1 + GH(z)
The steady state error of a system with feedback, thus, depends on
the input signal R(z) and the loop transfer function GH(z)
Steady state error Type-0 system and position error constant
Type-0 system and position error constant
Systems having a finite nonzero steady state error with a zero

order polynomial input (step input) are called Type-0 systems
The position error constant for a system is defined for a step input
r(t) = us (t) unit step input

1
R(z) =
1 − z −1
1 1
ess = lim =
z→1 1 + GH(z) 1 + Kp
where Kp = lim GH(z) is known as the position error constant

z→1

Steady state error Type-1 system and velocity error constant
Type-1 system and velocity error constant
Systems having a finite nonzero steady state error with a first

order polynomial input (ramp input) are called Type-1 systems
The velocity error constant for a system is defined for a ramp input
r(t) = ur (t) unit ramp input

Tz T z −1
R(z) = =
(z − 1)2 (1 − z −1 )2
T 1
ess = lim =
z→1 (z − 1)GH(z) Kv
1
where Kv = lim [(z − 1)GH(z)] is known as the velocity error
T z→1
constant

Steady state error Type-2 system and acceleration error constant
Type-2 system and acceleration error constant
Systems having a finite nonzero steady state error with a second

order polynomial input (parabolic input) are called Type-2
systems
The acceleration error constant for a system is defined for a
parabolic input
T 2 z(z + 1) T 2 (1 + z −1 )z −1
R(z) = =
2(z − 1)3 2(1 − z −1 )3
T2 (z + 1) 1 1
ess = lim = (z−1)2
=
2 z→1 (z − 1)2 [1 + GH(z)] lim 2 GH(z) Ka
z→1 T
(z − 1)2
where Ka = lim GH(z) is known as the acceleration
z→1 T2
error constant
The following table shows the steady state errors for different
types of systems for different inputs

Example (1)
Calculate the steady state errors for unit step, unit ramp and unit
parabolic inputs for the system shown in Figure-4
Figure 4: Block Diagram for Example-1
Solution:

Example (1)
Calculate the steady state errors for unit step, unit ramp and unit
parabolic inputs for the system shown in Figure-4
Figure 4: Block Diagram for Example-1
Solution:
The open loop transfer function is:
C(s)
G(s) = = Gzoh (s)Gp (s)
E ∗ (s)
1 − e−T s 1000/10
=
s s(s + 500/10)
Example (1)
Solution:
Taking z-transform:

−1 1 10 10
G(z) = 2(1 − z )Z 2 − +
s 500s 500(s + 5000)

Tz 10z 10z
= 2(1 − z −1 ) − +
(z − 1)2 500(z − 1) 500(z − e−50T )
1 (500T − 10 + 10e−50T )z − (500T + 10)e−50T + 10

=
250 (z − 1)(z − e−50T )
1
Steady state error for step input = ,
1 + Kp
1
where Kp = lim G(z) = ∞
T z→1
⇒ estep
ss = 0

Example (1)
Solution:
1
Steady state error for ramp input = ,
Kv
1
where Kv = lim [(z − 1)G(z)] = 2
T z→1
⇒ eramp
ss = 0.5
1
Steady state error for parabolic input = ,
Ka
(z − 1)2
where Ka = lim G(z) = 0
z→1 T2
⇒ epara
ss =∞

Prototype second order system
The study of a second order system is important because many

higher order system can be approximated by a second order model
if the higher order poles are located so that their contributions to
transient response are negligible
A standard second order continuous time system is shown in
Figure-5
Figure 5: Block diagram of a second order continuous time system

It can be written as:
ωn2
G(s) =
s(s + 2ζωn )
ωn2
Closed Loop: Gc (s) = 2
s + 2ζωn s + ωn2
where ζ = damping ratio
ωn = natural undamped frequency
p
Roots: − ζωn ± jωn 1 − ζ 2

Prototype second order system Comparison between CT and DT systems
Comparison between CT and DT systems
The simplified block diagram of a space vehicle control system is

shown in Figure-6
The objective is to control the attitude in one dimension, say its
pitch
For simplicity vehicle body is considered as a rigid body
Position c(t) and velocity v(t) are feedback
Figure 6: Space vehicle attitude control

The open loop transfer function can be calculated as:

C(s)
G(s) =
E(s)
1 1
= KKP × ×
KR + Jv s s
KKP
=
s(Jv s + KR )
Closed loop transfer function is
G(s)
Gc (s) =
1 + G(s)
KKP
= 2
Jv s + KR s + KKP
KP = Position Sensor gain = 1.65 × 106

KR = Rate sensor gain = 3.71 × 105
K = Amplifier gain which is a variable
Jv = Moment of inertia = 41822
With the above parameters,

39.45K
G(s) =
s(s + 8.87)
C(s) 39.45K
= 2
R(s) s + 8.87s + 39.45K
Characteristics equation ⇒ s2 + 8.87s + 39.45K = 0
√ 8.87
ωn = 39.45rad/sec, ζ=
2ωn
Since the system is of 2nd order, the continuous time system will
always be stable if KP , KR , K, Jv are all positive

Now, consider that the continuous data system is subject to

sampled data control as shown in Figure-7
Figure 7: Discrete representation of space vehicle attitude control
For comparison purpose, assume that the system parameters are

same as that of the continuous data system

C(s)
G(s)=
E ∗ (s)
= Gzoh (s)Gp (s)
1 − e−T s KKP /Jv
= ·
s s(s + KR /Jv )

−1 KKP 1 Jv Jv
G(z)= (1 − z ) Z 2− +
KR s KR s KR (s + KR /Jv )

−1 KKP Tz Jv z Jv z
= (1 − z ) − +
KR (z − 1)2 KR (z − 1) KR (z − e−KR T /Jv )
" #
KKP (T KR − Jv + Jv e−KRT /Jv )z − (T KR + Jv )e−KRT /Jv + Jv
= 2
KR (z − 1)(z − e−KRT /Jv )

Characteristic equation of the closed loop system:

z 2 + α1 z + α0 = 0, where
α1 = f1 (K, Kp , KR , Jv )
α0 = f0 (K, Kp , KR , Jv )
Substituting the known parameters:

α1 = 0.000012K 3.71 × 105 T − 41822 + 41822e8.87T − 1 − e8.87T

α0 = e−8.87T + 0.000012K 41822 − (3.71 × 105 T + 41822)e−8.87T

For stability conditions

(1) |α0 | < 1
(2) P (1) = 1 + α1 + α0 > 0
= 1 − e−8.87T > 0 always satisfied since T is positive
(3) P (−1) = 1 − α1 + α0 > 0

Choice of K and T
If we plot K versus T then according to conditions (1) and (3) the
stable region is shown in Figure-8
Figure 8: K vs. T for space vehicle attitude control system

Pink region represents the situation when condition (1) is satisfied
but the (3) is not
Red region depicts the situation

when condition (1) is satisfied, not
the (3)
Yellow is the stable region where
both the conditions are satisfied
If we want a comparatively large
T , such as 0.2, the gain K is
limited by the range K < 5
Similarly, if we want a comparatively high gain such as 25, we

have to go for T as small as 0.08 or even less
From studies of continuous time systems it is well known that

increasing the value of K, generally, reduces the damping ratio,
increases peak overshoot, bandwidth and reduces the steady state error
if it is finite and nonzero

Questions?

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Lecture-6

Time Response of Discrete Time Systems

Addis Ababa University

Digital Control Systems

4 Transient response specifications

5 Steady state error

6 Prototype second order system

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 2 / 28

In this lecture you will learn the following:

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 3 / 28

Absolute stability is a basic requirement of all control systems

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 4 / 28

Transient response specifications

In many practical control systems, the desired performance

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 5 / 28

Consider the digital control system shown in Figure-1

Figure 1: Block diagram of a closed loop digital control system

Similar to the continuous time case, transient response of a digital

1. Rise time (tr ):

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 6 / 28

2. Delay time (td ):

3. Peak time (tp ):

4. Peak overshoot (Mp ):

5. Settling time (ts ):

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 7 / 28

However, since the output response is discrete the calculated

Figure 2: Unit step response of a discrete time system

Steady state error

Figure 3: Block diagram

From Figure-3, it can be written as:

E(s) = R(s) − H(s)C(s)

Lets consider the steady state error at the sampling instants

Type-0 system and position error constant

Systems having a finite nonzero steady state error with a zero

r(t) = us (t) unit step input

where Kp = lim GH(z) is known as the position error constant

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 11 / 28

Type-1 system and velocity error constant

Systems having a finite nonzero steady state error with a first

r(t) = ur (t) unit ramp input

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 12 / 28

Type-2 system and acceleration error constant

Systems having a finite nonzero steady state error with a second

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 14 / 28

Figure 4: Block Diagram for Example-1

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 15 / 28

Figure 4: Block Diagram for Example-1

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 16 / 28

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 17 / 28

Prototype second order system

The study of a second order system is important because many

Figure 5: Block diagram of a second order continuous time system

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 18 / 28

It can be written as:

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 19 / 28

Comparison between CT and DT systems

The simplified block diagram of a space vehicle control system is

Figure 6: Space vehicle attitude control

Nebiyu Tenaye (AAiT/SECE) Lecture-6 December 3, 2018 20 / 28

The open loop transfer function can be calculated as:

KP = Position Sensor gain = 1.65 × 106

With the above parameters,