JOMO KENYATTA UNIVERSITY OF AGRICULTURE AND TECHNOLOGY
SCHOOL OF ELECTRICAL, ELECTRONICS AND INFORMATION
ENGINEERING
DEPARTMENT OF ELECTRICAL AND ELECTRONICS
ENGINEERING
EEE 2502 CONTROL 3: LABAROTARY EXPERIMENT
GROUP 5
NAME REG NO
ODHIAMBO HENRY EN271-9467/2015
RONALD KIPLANGAT EN271-9461/2015
JOSEPH KIBINGE EN271-3101/2014
DAVID LANGAT EN271-2589/2013
ISSA ISAAK EN271-3839/2015
Digital control system
Antenna azimuth control system
Objectives
a) To design the gain of digital control system to meet transient response requirement.
b) To stimulate digital control system to test a design.
c) To investigate the effect of sampling rate upon the time response of a digital system.
Theory
Control is used to modify the behavior of a system so it behaves in a specific desirable way over
time. For example, we may want the speed of a car on the highway to remain as close as possible
to 60 miles per hour in spite of possible hills or adverse wind; or we may want an aircraft to
follow a desired altitude, heading, and velocity profile independent of wind gusts; or we may
want the temperature and pressure in a reactor vessel in a chemical process plant to be
maintained at desired levels. All these are being accomplished today by control methods and the
above are examples of what automatic control systems are designed to do, without human
intervention. Control is used whenever quantities such as speed, altitude, temperature, or voltage
must be made to behave in some desirable way over time. [1]
The Role of Control Theory
To design a controller that makes a system behave in a desirable manner, we need a way to
predict the behavior of the quantities of interest over time, specifically how they change in
response to different inputs. Mathematical models are most oftenly used to predict future
behavior, and control system design methodologies are based on such models. Understanding
control theory requires engineers to be well versed in basic mathematical concepts and skills,
such as solving differential equations and using Laplace transform. The role of control theory is
to help us gain insight on how and why feedback control systems work and how to systematically
Deal with various design and analysis issues. [2]
Specifically, the following issues are of both Practical importance and theoretical interest:
1. Stability and stability margins of closed-loop systems.
2. How fast and smooth the error between the output and the set point is driven to zero.
3. How well the control system handles unexpected external disturbances, sensor noises, and
internal dynamic changes.
Digital control system
A digital control system model can be viewed from different perspectives including control
algorithm, computer program, conversion between analog and digital domains, system
performance etc. One of the most important aspects is the sampling process level. In continuous
time control systems, all the system variables are continuous signals. [3] Whether the system is
linear or nonlinear, all variables are continuously present and therefore known (available) at all
times. A typical continuous time control system is shown in Figure 1.
Figure 1.a typical closed loop continuous time control system
In a digital control system, the control algorithm is implemented in a digital computer. The error
signal is discretized and fed to the computer by using an A/D (analog to digital) converter. The
controller output is again a discrete signal which is applied to the plant after using a D/A (digital
to analog) converter. General block diagram of a digital control system is shown in Figure 2. e(t)
is sampled at intervals of T. In the context of control and communication, sampling is a process
by which a continuous time signal is converted into a sequence of numbers at discrete time
intervals. It is a fundamental property of digital control systems because of the discrete nature of
operation of digital computer. Figure 3 shows the structure and operation of a finite pulse width
sampler, where (a) represents the basic block diagram and (b) illustrates the function of the same.
T is the sampling period and p is the sample duration.
1. Sampling Theorem: Since all computer controlled systems operate at discrete times only, it is
important to know the condition under which a signal can be retrieved from its values at discrete
points. Nyquist explored the key issue and Shannon gave the complete solution which is known
as Shannon’s sampling theorem. We will discuss Shannon’s sampling theorem in proceeding
lectures.
2. Difference Equations and Numerical Analysis: The theory of sampled-data system is
closely related to numerical analysis. Difference equations replaced the differential equations in
continuous time theory. Derivatives and integrals are evaluated numerically by approximating
them with differences and sums.
3. Transform Methods: Z-transform replaced the role of Laplace transform in continuous
domain.
4. State Space Theory: In late 1950’s, a very important theory in control system was developed
which is known as state space theory. The discrete time representations of state models are
obtained by considering the systems only at sampling points.
ADVANTAGES OF DIGITAL SYSTEMS
1. Ease of programmability
The digital systems can be used for different applications by simply changing the program
without additional changes in hardware.
2. Reduction in cost of hardware
The cost of hardware gets reduced by use of digital components and this has been possible due to
advances in IC technology. With ICs the number of components that can be placed in a given
area of Silicon are increased which helps in cost reduction.
3. High speed: Digital processing of data ensures high speed of operation which is possible due
to advances in Digital Signal Processing.
4. High Reliability: Digital systems are highly reliable one of the reasons for that is use of error
correction codes.
5. Design is easy
The design of digital systems which require use of Boolean algebra and other digital techniques
is easier compared to analog designing.
6. Result can be reproduced easily
Since the output of digital systems unlike analog systems is independent of temperature, noise,
humidity and other characteristics of components the reproducibility of results is higher in digital
systems than in analog systems.
MATHEMATICAL MODELING OF SAMPLING PROCESS
Sampling operation in sampled data and digital control system is used to model either the sample
and hold operation or the fact that the signal is digitally coded. If the sampler is used to represent
S/H (Sample and Hold) and A/D (Analog to Digital) operations, it may involve delays, finite
sampling duration and quantization errors. On the other hand used to represent digitally coded
data the model will be much simpler. Following are two
Popular sampling operations:
1. Single rate or periodic sampling
2. Multi-rate sampling
Finite pulse width sampler
In general, a sampler is the one which converts a continuous time signal into a pulse modulated
or discrete signal. The most common type of modulation in the sampling and hold operation is
the pulse amplitude modulation.
a) Azimuth control system
The antenna azimuth position control system turns the input command in output position. This
system is widely used in antennas, robots and computers disks.
Layout
Figure 4 layout
Schematic
Figure 5 schematic diagram
Figure 6 Block diagram
Methodology
Materials
Figure 7 antenna azimuth position control system
Table 1 parameters of antenna azimuth control system
Software: MATLAB SIMULINK
Procedure
a) PRE-LAB
1. Using the block diagram in figure 7 and parameters in table 1 the open loop and
closed loop of the system were determined.
2. The open loop digital transfer function was calculated.
3. Using the matlab SISO tool the preamplifier gain was determined and used in
generation of root locus transfer function found in step 2.
Using the design constraints the 8% overshoot curve was generated and the closed-
loop poles placed at the boundary. The plot root locus and boundary design were
obtained. Also using LTI viewer, the plot closed loop step response was obtained and
the values of percent overshoot and peak time recorded.
4. Using the mat lab Simulink, both digital and continuous systems open loop and
closed loop were set and 8% overshoot yielded. Using sample-and-hold the digital
system was built. Also the step responses of the system were plotted and overshoot
and peak time recorded.
5. For the closed loop system built in step 3, the sample interval was varied and the four
response values above 0.05 seconds of the sample interval were recorded. The
sampling interval overshoot and peak time were also recorded. Also the value of
sampling interval that causes the system instability was obtained.
b) POST LAB
1. The table containing overshoot, peak time and gain of the closed loop responses:
digital system using SISO design tool; digital system using SIMULINK and digital
transfer functions; digital system using SIMULINK and continuous transfer
functions with the zero order sample-and-hold; and the continuous system using
SIMULINK.
2. Using the results from the pre-lab 4, a table containing sample interval, percent
overshoot, peak time was constructed. The sampling interval causing the system
instability was stated.
3. The responses of all the digital systems with sampling interval of 0.05 seconds and
continuous system were compared. The discrepancies were illustrated
4. The responses of digital systems at different sample intervals were compared with
the continuous system. Differences were explained.
5. Conclusions were stated about the sampling.
100 2.083
0.318 K
∑ 0.1
S+1OO
S(S+1.71)
0.318
RESULTS AND DISCUSSIONS
PRE LAB
Calculations
1. Open loop gain Transfer Function
Open loop gain transfer function, G(s), preamplifier power amplifier, motor and load, and
the gear
2.083
( K )( 2
)(0.1)
s +1.71 s
The power amplifier’s pole is much fare away from the motor’s pole hence power amplifier
is represented as a pure gain equal to its dc gain of unit
0.2083 K
¿
s (s +1.71)
2. Closed loop gain Transfer Function
G(s ) G(s)
=
H (s ) 1+G ( s ) H (s )
0.2083 K
G(s)=
s ( s +1.71 ) +0.2083
Obtaining digital open loop Transfer Function, sample and hold is included
Ts
(1−e )0.2083 k
G ( s )=
s (s ( s +a ) )
Where T=0.1 and a=1.71,
Z-transform of 1-eTs is 1-Z-1 and from the z-transform table
z
{ a
}
s ( s ( s +a ))[=
Tz
2
−
( 1−e−aT ) z
( z−1 ) a ( z−1 ¿ ( z−e−aT ) ) ]
The z-transform of the plant G (z) is;
G ( z )=
0.2083
a
( 1−z −1) z
{ a
s ( s ( s +a ) ) }
[
0.2083 [ aT − ( 1−e ) ] z + [ ( 1−e ) −aT e ]
]
−aT −aT −aT
¿
a ( z−1 ) ( z−e−aT )
Substituting the values of a and T, we obtain
−4
9.846 x 10 ( z +0.945 )
G ( z )=
( z−1 )( z−0.843 )
Mat lab results
1. SISO design tool
a) Pre amplifier gain
Code
H=tf(0.2083,[1 1.71 0])
Gz=c2d(H,0.1,'zoh')
controlSystemDesigner(H)
Figure 8 a root locus graph for the antenna digital open- loop
From the graph the preamplifier gain k=8.06
b) Gain for the 8% overshoot of digital closed loop system
Code
Closed loop
H=tf(0.2083,[1 1.71 0.2083])
Gz=c2d(H,0.1,'zoh')
controlSystemDesigner(Gz)
Response
From the graph the preamplifier gain k=7.158
Figure 9 root locus graph for 8% overshoot
From the root locus constructed the gain at 8% overshoot is found to be 12.805 as shown
in figure 9.
c) Obtaining percentage overshoot and peak time using LTI viewer
CODE
H=tf(1.49,[1 101.71 171 1.49])
Gz = c2d(H,0.1,'impulse');
linearSystemAnalyzer(Gd1)
Response
Figure 10 responses from LTI viewer
From the graph in figure 10 above:
Peak time Tp = 1.07
Overshoot value = 6.75%
Range of gain for stability= 40.2db to 110db
Using Simulink
1. Continuous set up
a) Open loop
Figure 11 a set up for the continuous open loop system
Figure 11 b response from the open loop set up
b) Closed loop
Figure 12 a set up for the continuous closed loop system
Figure 12 b response from closed loop set up
Peak time = 3.4
Overshoot = 8.05%
2. Digital system set up with sample and hold
Open loop
Figure 13 a open loop digital set up with sample-and-hold
Figure 13b response for open loop digital system
3. Digital system set up with sample and hold
Closed loop
Figure 14a closed loop digital set up with sample-and-hold
Figure 13 b response of the closed loop digital system with sample-and-hold
After using the four different values of sampling interval the following responses were
obtained
a) Using 0.1 sampling interval
b) Using 0.15 sampling interval
c) Using 0.20sampling interval
d) Using 0.3 sampling interval
c) 0.8 sampling interval
From the four responses the system is found to be unstable at 0.8 sampling interval.
Post lab
1. A table containing percent overshoot, peak time and gain for each of the following closed
loop system was made.
System Percent overshoot Peak Gain
time (seconds)
Digital system using SISO 8 2.99 8.805
design tool
Digital system using Simulink 8
and digital transfer functions
Digital system using Simulink 8 3.6 10.212
and continuous transfer
functions with ZOH
Continuous system using 8
Simulink
Table 2
2. A table containing percent overshoot, peak time and Sample intervals for each of the
following closed loop system was made.
Sample intervals Percent overshoot Peak
time (seconds)
0.1 11.17 3.2
0.15 12.3 3.3
0.2 13.65 3.2
0.3 16.45 3.3
0.8 30.69 4.0
Table 3
At sampling interval of 0.8, the system become unstable
3. Responses of digital system with sampling interval of 0.05 verses continuous system
System Percent overshoot Peak value Peak
time (seconds)
Digital system 11.87 1 10
Analogue system 7.29 0.999 10
Table 4
Comparisons, explanations and conclusions of results
Digital system has higher percentage overshoot than continuous system as seen in the results
of table 4 obtained from the simulation, since the sampling introduces errors which may
degrades the system’s performance.
4. Responses of digital system at different sampling interval verses continuous system
Digital system has higher percentage overshoot at different sampling intervals than
continuous system as seen in the results of table 3 obtained from the simulation, since
samplers in digital system introduces errors and time delays in the loop which degrades the
system2’s performance and stability margin
Effect of sampling
An increase sampling interval increases the percentage overshoot of the system hence
making the system be unstable. High sampling interval increase the system response beyond
the steady state, this makes the system to be unstable at some point of time. The continuous
system are not largely affected by increase in sampling as compared to discrete system,
hence they are good system with high stability response and low cost.
References
[1] N.S Nise, “Control System Engineering,” John Wiley and Sons, 6th Edition, 2011.
[2] Kastuhiko Ogata, “Modern Control Engineering”, 4th Edition, 2002
[3] P. K. K. a. S. I. K. Linus A. Aloo, DC Servomotor-based Antenna Positioning Control System
Design using Hybrid PID-LQR Controller, European International Journal Of Science and
Technology, 2016.
