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The document discusses various types of sampling operations in digital control systems, including ideal, natural, flat-top, and uniform sampling, each with its own characteristics and applications. It also covers the pulse transfer function, methods for obtaining inverse Z-transform, and the state transition matrix, along with properties and computation methods. Additionally, it explains stability analysis using the Modified Routh Stability Criterion, closed-loop system stability, phase-lag controllers, and feedback compensation techniques.
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0% found this document useful (0 votes)
6 views15 pagesDCS AAT2 11zon
The document discusses various types of sampling operations in digital control systems, including ideal, natural, flat-top, and uniform sampling, each with its own characteristics and applications. It also covers the pulse transfer function, methods for obtaining inverse Z-transform, and the state transition matrix, along with properties and computation methods. Additionally, it explains stability analysis using the Modified Routh Stability Criterion, closed-loop system stability, phase-lag controllers, and feedback compensation techniques.
Uploaded by
kurmamounikamCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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AAT-II
DIGITAL CONTROL SYSTEMS
1. What are the different types of sampling operations? Explain each of them?
In signal processing and control systems, sampling is the process of converting a continuous-
time signal into a discrete-time signal by taking measurements (samples) at regular intervals.
There are severdl types of sampling operations, each suited to different applications and
system requirements.
1. Ideal Sampling (Impulse Sampling)
Ideal sampling is a theoretical concept where the continuous signal is multiplied by an infinite
train of Dirac delta (impulse) fimetions spaced at regular intervals. This produces a sequence
of impulses whose amplitude equals the signal's value at the sampling instants.
Nature: Instantaneous sampling
Mathematical form:
z,(t)=2(t)- = _6(t—n)
Application: Basis for mathematical analysis in signal processing
Limitation: Cannot be implemented practically due to the use of impulses
2. Natural Sampling
In natural sampling, the signal is sampled by multiplying it with a train of rectangular pulses.
Each sample retains the signal's shape over the pulse width,
Nature: Samples follow the actual signal waveform during the pulse duration
More realistic than impulse sampling
Pulse wid is finite
Common in analog-to-digital conversion with sample-and-hold circuits
Limitation: More complex mathematically due to varying amplitude within the pulse 2.
3. Flat-Top Sampling
In flat-top sampling (also called practical sampling), each sample is held constant at the value
of the signal atthe sampling instant for a fixed duration. This resembles a staircase version of
the original signal.
Nature: Constant amplitude over the sampling period
Used in practical systems like ADCs (analog-to-digital converters)
Advantege: Easier to digitize and process digitally
Draivback: Introduces a distortion known as aperture effect (can be corrected)
4, Uniform Sampling
Uniform sampling involves taking samples of the continuous signal at equally spaced time
intervals, This is the most commonly used type in digital systems.
Time interval (1) is constant
Key requirement: Sampling frequency f, must satisfy Nyquist Criterion
‘Common in digital signal processing and communication systems
Derive transfer functions for the following data hold circuits. i Zero order hold circuit ii
First order hold circuit.
Zero order hold circuit: First Order Hold Device: 3. Explain about pulse transfer function.
Pulse Transfer Function:
‘The pulse transfer function is a mathematical representation that describes the input-output
relationship of a discrete-time control system in the 2-domain. It is derived from the
Continuous-time transfer function of a system by incorporating the effects of sampling and
hold circuits, typically using a Zero Order Hold (ZOH) and Z-transform techniques.
Represented as,
x,(t) = a(t): O° 5(t—nT)
dun
I relates the Z-tansform of the output to the Z-transform of the input for a sampled system,
‘The pulbe transfer function is essential for analyzing and designing digital control systems, as
it allows the study of system behavicr, stability, and response characteristics in discrete time,
based on the chosen sampling interval.
4. Explain about partial fraction expansion method for obtaining inverse Z-transform.
Partial Fraction Expansion Method for Inverse Z-Transform
The partial fraction expansion method is a systematic approach for finding the inverse Z~
transform of rational functions, which are functions expressed as the ratio of two polynomials
in z. This method is especially useful in digital signal processing for converting a Z-domain
representation X(z) back into its corresponding discrete-time sequence x(n).
Key Steps in the Method
1. Ensure Proper Rational Function:
The method is applicable when X(z) (or more commonly (X(x))/2 ) isa proper rational
function, meaning the degree of the denominator is greater than that the numerator. Ifnot,
perform polynomial division to separate out the polynomial part, which can be inverted by
inspection
2, Factor the Denominator: Express the denominator as a product of first-order (or irreducible) terms, This step identities,
the poles of the function, which are crucial for expansion,
3. Perform Partial Fraction Expansion:
Decompose (X(4))/x into a sum of simpler fractions, each associated with a single pole or a
repeated pole, For example:
Ay
=—PN
where p_(1}, p_{2},...p Nate ihe poles and A_(1},A_{2} 9A N are constants to be
determined.
4. Find Coefficients:
‘The coefficients A_(Kt} can be found by evaluating the residue of each term at its
corresponding pole:
for distinct poles
5. Inverse Z-Transform Each Term:
Each simple fraction comesponds to a standard Z-transform pair, allowing you to use Z-
transform tables or known results to invert each term back to the time domain 13. For
example, inverts to 2 *n* uln] 20.
6. Combine Results:
The final time domain -sequence x(n) is obtained by summing the inverse transforms of all
partial fractions 3. . Write the state transition matrix and its properties?
Definition:
The State Transition Matrix, denoted by
(0), isa fundamental concept in state-space analysis of linear time-invariant (LTD) systems.
It deser
conditions, without any external input.
es the evolution of the system’s State Vector over time in response to the initial
Properties of State Transition Matrix:
1. Identity att = 0:
6(0) =I (identity matrix)
2. Differential Property:
d
dt
3. Composition (Semigroup Property):
&(t) = Ab(t) = B(t)A
B(t, + te) = O(tr) B(te)
4. Inverse Property:
@!(t) = 6(-4)
5. Time Invariance (for LTI systems):
6(t) depends only on time difference ¢, not on absolute time.
O(t, to) = ®[t — tr)
6. Solution of Homogeneous State Equation:
a(t) = &(t —to)a(to)
7. Transition Matrix of Product of Exponentials:
if Aand B commute (AB = BA), then:
(AT B)t — pdt Bt Explain the methods for computation of state transition matrix. Explain any one
method?
Methods for Computation of State Transition Matrix
The State Transition Matrix
(t=e°AT is used to solve linear time-invariant (L:T1) state-space systems. There are several
methods to compute (t), depending on the complexity and nature of the system matrix.
A.
Laplace Transform Method for Computing State Transition Matrix:
‘The Laplace Transform Method is a systematic and efficient approach to compute the state
transition matrix &(), especially for linear time-invariant (L.TI) systems. 1t avoids the
complexity of power series expansion and is particularly useful when working with symbolic
or matrix algebra,
Given the state-space equation (no input),
&(t) t), 2(0) = 2
Taking the Laplace transform:
Rearranging:
(sf — A)X(s) =
So,
X(s) = (sI — A)*20
From this, the state transition matrix in the Laplace domain is:
[#(s) = (sr — A)?
To find ®(t), take the inverse Laplace transform of }(s)
[w(t) =£ *{(s1— A) '} 7. With an example explain the stability analysis using Modified routh satbility criterion.
Modified Routh’s Stability Criterion:
Routh-Hurwitz Criterion is a classical method to determine the stability of a linear time-
invariant (LTD) system by analyzing the characteristic equation (a polynomial in s).
However, special cases may arise where:
Arow of all zeros appears, or
The first element in a row is zero, but others are not.
These cases require modification, hence the name Modified Routh’s Criterion Consider the characteristic equation:
si +3s8 43s? +28+1=0
‘We'll construct the Routh table.
Step 1: Write coefficients in the first two rows:
Power of s Row elements
st 1 3
’ 3 2
‘Step 2: Compute the next row (using Routh formula):
(8x 3-1%2)
3
3
(Bx1-1x0) 3
3
a
is |7/3 11
‘Step 3: Next row:
_ (1/3x2-8%1) _ (14/33) _5/3_5
a 7/3 "Ws 7/87
js'|5/7 OF
‘Step 4: Final row:
(5/7 x 1 (7/3 x 9))
3/7
5/7
isi Power Coefficients
s 1 3
sf 3 2
e 7/3 4
s! 5/7 0
° 1
Explain the stability analysis of the closed loop system.
‘Closed-Loop system:
A closed-loop system is a control system where the output is fed back and compared with the
input to automatically correct ertors. The goal is to ensure the systembehaves in a stable,
predictable manner over time,
‘The general form of a closed-loop transfer function is:
G(s)
ato) “(8) H(3)
Where
G(5): forward path transfer fimction
H(): feedback path transfer function
‘The stability of this system depends on the location of the poles of
T(s), which are the roats of the characteristic equation:
1+ G(s)H(s) =0 9. Explain about basic properties of a phase-lag controller.
Phase-Lag Controller:
A phase-lag controller isa type of compensator used in control systems to improve steady-
state accuracy (reduce steady-state error) without significantly affecting system stability or
tvansient response. I! does this by adding a low-ftequency pole-zero pair, where the pole is
closer to the origin than the zero
Transfer Function of Phase Lag Controllers:
C(s)=K-277, wheed