Sampled data systems – Examples
1. Determine the z- transforms for the following continuous functions
– step function and ramp input
Solution:
a) Step function
b) Ramp function
Ramp
Then
2. Z- transformation theorems
a)Linearity =
b)Constant multiplication
b)Shift theorem
d) Translation
e) Final value theorem
,
f) Initial value theorem
3. Partial fraction expansion – transient behaviour in time domain – for distinct roots.
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The formula for partial fraction presentation in z-domain is:
where , each root is expressed in terms of the sampling period
or
Example: Let , Expand into partial fraction form and find its time domain
representation using inverse z-transform
Equal numerators
. The coefficients in front of the equal powers of z are compared:
2
z : ,
z: , ,
Then:
,
,
,
,
4. Transient behaviour in time domain by a long division
The function in Z domain can be represented in a convergent power series in - according to the
definition.
This series can be obtained by the long division of the numerator by the denominator, each being
expressed as a polynomial in ascending powers of z . Then the inverse z- transform is applied.
Example: Let . Find the transient behaviour in z-domain using the method of a
long division.
Long division: :
2
Inverse z – transform
We have
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The results of the two methods are the same.
5. The pulse transfer function
The output of when the input is an impulse unit signal is equal to the weighting function
Example: For the transfer function obtain the pulse transfer function
a) Calculation of the weighting function
When weighting function is obtained
,
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Or
Partial fraction calculation
b) Pulse transfer function , ,
+
6. Stability of sampled – data systems
--Closed loop system with one sampler
— Characteristic Equation.
The system is stable if for . If can be calculated stability in continuous
complex plane can be considered (methods for continuous system are applied.
Example: Check the stability of the system , where the sampling period is T=1sec
Solution: As H(s)=1, the characteristic equation is it is necessary to prove that its roots
are inside the unit circle.
a) Obtaining by ,
. Then from the Z-table:
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b) Closed loop transfer function
c) The characteristic Equation is
If ,
d) Solution of the Characteristic Equation.
Stability in the discrete complex z-plane
e) Continuous complex plane
is substituted in the characteristic equation
Stability in the complex s-plane
Im Im
Z plane W plane
Re Re
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7. Discrete state space systems
Continuous system: ,
Discrete system:
Where ,
Poles (eigenvalues)
-Continuous poles of the continuous system
-Discrete poles of the discrete system
Example: For the continuous time system , , ,
find the sampled data equivalent system representation for the sampling period
Solution:
=0.5402
=8.415
=0.5402
=-0.08415
Similarly
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. The discrete time system description is:
8) Design of the discrete state space controller.
Example: Design the matrix H of the discrete controller such that the continuous time system has a
damping ratio =1.2 and the natural frequently . Use the sampling interval
, and matrices , from the above example.
Solution: -control law
The closed loop system:
The characteristic equation:
The characteristic equation of the closed loop system is:
Desired equation:
– Characteristic equation on the basis of and for the standard second order system. Desired
poles of the continuous time system
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Desired poles of
continuous time system
- Desired poles of the discrete time system
Desired discrete
closed loop poles
- Desired polynomial
- Comparison between desired and obtained closed loop equations
Solution of the sampled – data state equation using of the Z transformation
The solution of the discrete state space equation is or . Z transformation is used.
by the shift theorem
, or
,
Example: Given
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Find the z-transfer function, where the initial conditions are zero. Find the state and output trajectory
in time domain, where the initial conditions are: and the input is unit step function:
Solution:
1. Transfer function G(z)
With z-transformation , But
Then
Transfer function
Then
2. Time domain output trajectory – and unit step input
- a) free component
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- b) second component
then
Lyapunov stability
Prove the stability of the closed loop system if the function of Lyapunov is
Solution:
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If The system is stable
Example:
Prove the stability of the closed loop system if the Lyapunov function is:
Solutions:
Checking the negativeness of the matrix Q
First determinant:
Second det:
Conclusion: The matrix Q is simmetriacal but it is positive definite. The system is not stable.
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Steady state error
The error signal is
Final value theorem:
Step input:
Then , where
Ramp input:
gives
Example: Calculate the value K such that the steady state error of the closed by unitary feedback
system is . The open loop transfer function is:
R z + Y z
K GP z
-
And the steady state error is calculated for the unit step input. The sampling period .
Solution:
Then
Then
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44.6576≤K, or K≥44.6576
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