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148 views6 pagesImpulse Sampling and ZOH
The document discusses impulse sampling and data hold in discrete-time control systems, explaining how continuous-time signals can be sampled and represented as discrete-time functions. It introduces the concept of impulse sampling, where a fictitious sampler generates a series of impulses based on sampled values, and describes data-hold circuits that convert discrete-time signals back into continuous-time signals. The document also covers the mathematical models and transfer functions associated with zero-order and first-order hold circuits.
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100% found this document useful (1 vote)
148 views6 pagesImpulse Sampling and ZOH
The document discusses impulse sampling and data hold in discrete-time control systems, explaining how continuous-time signals can be sampled and represented as discrete-time functions. It introduces the concept of impulse sampling, where a fictitious sampler generates a series of impulses based on sampled values, and describes data-hold circuits that convert discrete-time signals back into continuous-time signals. The document also covers the mathematical models and transfer functions associated with zero-order and first-order hold circuits.
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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/ 6
Sec. 3-2 Impulse Sampling and Data Hold 8
3-2 IMPULSE SAMPLING AND DATA HOLD
Diserete-time control systems may operate partly in discrete time and partly in
‘continuous time. Thus, in such control systems some signals appear as discrete-time
functions (often in the form of a sequence of numbers or a numerical code) and other
signals as continuous-time functions. [n analyzing discrete-time control systems, the
2 transform theory plays an important role. To See why the z transform method is
useful in the analysis of discrete-time control systems, we fist introduce the concept
of impulse sampling and then discuss data hold
Impulse Sampling. We shall considera fictitious sampler commonly called an
{impulse sampler. The Output of this sampler is considered to be a tran of impulses
that begins with ¢ = 0, with the sampling period equal to T‘and the strength of each
impulse equal to the sampled value of the continuous-time signal at the cor-
responding sampling instant. A pictorial diagram of the impulse sampler is shown
in Figuee 3-1, (We assume 2(1) = 0 for < 0] (Since, mathematically, an impulse
is defined as having an infinite amplitude with zero width, itis graphically repre-
sented by an arrow with an amplitude representing the strength of impulse.)
‘The impule-sampled output is a sequence of impulses, with the strength of
each impulse equal to the magnitude of x(0) at the corresponding instant of time
{That is, at time ¢ = KT, the impulse is x(k7)4(¢ ~ kT). Note that 6(¢ ~ kT) = 0
unless = &T-] We shall use the notation 2°(0) to represent the impulse-sampled
output. The sampled signal »*(0), a train of impulses, can thus be represented by the
infinite summation
y x= Zeeenae- KD
or
£°() = x(O)SO + X(T) ~ T) + + (TILE ET) + G+)
We shall define a train of unit impulses as 8,(¢), or
5r(t) Ze ~ kT)
‘The sampler output is equal to the product of the continuous-time input x(¢) and the
train of unit impulses 3,(¢). Conseque e sampler may be considered a modu-
Tator with the input x(t) as the modi ala it impulses 8,(¢)
‘aS the carrier, as shown in Figure 3
0, x
a0 rio
20) & ot Figure 3-1 Impulse sampler 78 2-Flane Analysis of Discrete-Time Control Systems Chap. 3
corer
E
Modeltor
ath,
Figure 3-2 Impulse sampler as a modulator
Next, consider the Laplace transform of Equation (3-1):
XM (s) = Ele") = x(O)L[BQ)) + x(T)LLE(e - T))
+ x(Qr)e[a(e — 27)) + |
=x) + ee F xQNe ee
- G2)
then Equation (3-2) becomes
Xap ye = SHED 6)
“The right-hand side of Equation (3-3) i exactly the same as the righthand side of
Equation (2-1): It isthe transform of the sequence x(0),x(T),x(27),..., gener-
ated from 2(1) at 1 = kT, where k= 0,1,2,.... Hence we may write
Ye XB)
and Equation (3-3) becomes a
ras) m (4
© Ohana (bins)
ote ht the vibe sina complex arial and Tis the sampling petid It should
ses atin nat Ce) does not unity XU) hs tplced by 2, bt
rather X*(s = T-' Inz)]}
x9) = X(z)
lewmine
Sxane G4) Sec, 9-2 Impulse Sampling and Data Hold n
Summary. Letussummarize what we have just stated. Ifthe continuous-time
signal x(¢) is impulse sampled in a periodic manner, mathematically the sampled
signal may be represented by
= Zaonean
Inthe impulse sampler the switch may be thought of as closing instantaneously every
sampling petiod T’and generating impulses x(KT)8(« ~ kT), Such a sampling pro-
‘cess is called impulse sampling. The impulse sampler isintroduced for mathematical
convenience; it a fictitious sampler and it does not exist in the real world.
The Laplace transform ofthe impulse-sampled signal x*(0) has been shown to
bbe the same as the z transform of signal x(¢) if e” is defined as z, or e” = =
Data-Hold Cireuits. In a conventional sampler, a switch closes to admit an
input signal every sampling period T- In practice, the sampling duration is very short
‘in comparison with the most significant time constant of the plant. A sampler
‘converts a continuous-time signal into a train of pulses occurring at the sampling
instants ¢ = 0,7,27,..., where Tis the sampling period. (Note that between any
two consecutive sampling instants the sampler transmits no information. ‘Two signals
whose respective values at the sampling instants are equal will give rise to the same
sampled signal.)
Data-hold is a process of generating a continuous-time signal k(¢) from a
discrete-time sequence x(k7). A hold circuit converts the sampled signal into a
continuous-time signal, which approximately reproduces the signal applied to the
sampler. The signal h(¢) duting the time interval kT = 1 < (ke + 1)Tmay be approx-
mated by a polynomial in + as follows:
MKT + 2) = gt” bag yet eo tar hay Gs)
where 0. 7< T. Note that signal A(T) must equal (kT), o
(KT) = X(T)
Hence, Equation (3-5) can be written as follows:
WRT + 1) = ays" + ayy bo ay + X(KD) G-6)
If the data-hold circuit is an mth-order polynomial extrapolator, it is called an
nthvorder hold, Thus, ifn = 1, itis called a first-order hold, [The nth-order hold
uses the past m + 1 discrete data x((k ~ n)T),x((k = a + 1)T),... (kT) to gear
erate a signal h(KT + 7]
Because a higher-order hold uses pest samples to extrapolate a continuous-
time signal between the present sampling instant and the next sampling instant, the
accuracy of approximating the continuous:time signal improves as the of
‘past samples used is increased. However, this better accuracy is obtained at the cost
‘of a greater time delay. In closed-loop control systems, any added time delay inthe
loop will descease the stability of the system and in some cases may even cause system
instability
The simplest date-holdis obtained when n = Oin Equation (3-6), thatis, when
A(T + 2) = (kT) on 78 z-Plane Analysis of Discrete-Time Control Systems Chap. 3
co sar oe
a ovina FF ae
ct Simpler IAT _ te
Figure 3-3. Sampler and zero-order hold
where 0 < 1 < Tand k = 0,1,2, ...- Equation (3-7) implies that the circuit holds
the amplitude of the sample from one sampling instant to the next. Such a data-hold
is called a zero-order hold, or clamper, or staircase generator. The output of the
zero-order hold is a staircase finction Tn This BOOR, unless otherwise stated, we
assume that the hold circuit is of zero order.
It will be seen later that the transfer function Gy of the zero-order hold may
be given by
G,
Zero-Order Hold. Figure 3-3 shows a sampler and a zero-order hold. The
input signal x(t) is sampled at discrete instants and the sampled signal is passed
through the zero-order hold. The zero-order hold circuit smoothes the sampled
signal to produce the signal /(), which is constant from the last sampled value until
the next sample is available. That is,
DUT +) = xkT), forse T G8)
We shall obtain a mathematical model ofthe combination ofa real sampler and
zero-order circuit, as shown in Figure 3~4(a). Utilizing the fact that the integral of
_an impulse function is @ constant, we may assume that the zero-order hold is am
fegrator, and the input to the zero-order hold circuit is a train of impulses. Then
‘a maifiemiatical model for the real sampler and zero-order hold may be constructed
2 88 shown in Figure 3-4(b), where Gix(s) is the transfer function of the zero-order
2. {hold and x"(:) is the impulse sampled signal of x(¢)
wT reroorder |_ ttt
7 ioe [ae
ain 7 0 yl, Figure Sot (a) A real sampler and
see | ier zero-order hold; (6) mathematical
‘odel that consis of an impulse
or Sampler and irene funtion Gl) Sec.9-2 Impulse Sempling and Data Hold 7
Consider the sampler and zero-order hold shown in Figure 3~4(a). Assume
that the signal x(")is zero for ¢ < 0. Then the output i()is related to.x(¢) as follows:
AsO) = LL ~ Ue ~ T)] + CTE = TD) = 16-2)
+xQN[M(r ~ 27) - 10-3] +
= Seanae =n) == 497) on
eu ~ AT) =
the Laplace transform of Equation (3-9) becomes
ete
co] = Hy) = Exe
Daxter 6-10)
5
5
Next, consider the mathematical model shown in Figure 3~4(b). The output
of this model must be the same as that of the real zero-order hold, or
hx{)] = H.(s) = His)
‘Thus,
Hs)
From Figure 3-4(b), we have 5
Has) = Gres) X°(5)
Since
XG) = DxlkNe
Equation (3-11) may be written as j,,(5)
His) = *(s) G13)
By comparing Equations (3-12) and (3~13), we see that the transfer function of the
zero-order hold may be given by
Gels) =
‘Note that, mathematically, the system showa in Figure 3~4(a) is equivalent to the
system shown in Figure 3~4(b) from the viewpoint ofthe input-output relationship.
‘That is, a real sampler and zero-order hold can be replaced by a mathematically
‘equivalent continuous-time system that consists of an impulse sampler and a transfer
5 30 Plane Analysis of Discrete-Time Control Systems Chap. 3
function (1 — e-")/s. The two sampling processes will be distinguished (as they are
in Figure 3~4) by the manner in which the sampling switches are drawn
Transfer Function of First-Order Hold. Although we do not use first-order
holds in control systems, it is warthwhile to see what the transfer function of
first-order holds may look like. We shall show that the transfer function of the
first-order hold may be given by
poe +1
F)3 ox
td
x can |.
‘Next we shall derive Equation (3-14)
We have stated that Equation (3-6) describes the output of an nth-order hold
circuit. For the first-order hold, n = 1. Let us substitute n = 1 into Equation (3-6),
‘Then we have
= AKT + 2) = a7 + (RT) “Bay
where 0< +
