Modeling of Digital Control Systems

1
 Lecture Outline

• ADC Model

• DAC Model

• Combined Models

2
 Digital Control Systems
• A common configuration of digital control system is shown in
following figure.

3
 ADC Model
• Assume that
– ADC outputs are exactly equal in magnitude to their inputs
(i.e., quantization errors are negligible)
– The ADC yields a digital output instantaneously
– Sampling is perfectly uniform (i.e., occur at a fixed rate)

• Then the ADC can be modeled as an ideal sampler with

sampling period T. T

u(t) u*(t)

t t
0 0
4
 Sampling Process

T
u(t) u*(t)

u*(t)
u(t)
δT(t)

× ＝

t t t
0 0 0
Modulation modulating modulated
signal pulse(carrier) wave


u (t )   u (t ) (t  kT)
*

k 0
 DAC Model
• Assume that
– DAC outputs are exactly equal in magnitude to their inputs.
– The DAC yields an analog output instantaneously.
– DAC outputs are constant over each sampling period.
u(k)
u(t)
uh(t)

• Then the input-output relationship of the DAC is given by

= , ≤ ≤ + 1 6
 DAC Model
• Unit impulse response of ZOH

• The transfer function can then be obtained by Laplace

transformation of the impulse response.

7
 DAC Model
• As shown in figure the impulse response is a unit pulse of
width T.

• A pulse can be represented as a positive step at time zero

followed by a negative step at time T.

• Using the Laplace transform of a unit step and the time delay
theorem for Laplace transforms,
1
L ( ) = L− ( − ) = − 8
 DAC Model
1
L ( ) = L− ( − ) = −

• Thus, the transfer function of the ZOH is

1−
( )=

9
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
• The cascade of a DAC, analog subsystem, and ADC is shown
in following figure.

• Because both the input and the output of the cascade are
sampled, it is possible to obtain its z-domain transfer function
in terms of the transfer functions of the individual subsystems.
10
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
• Using the DAC model, and assuming that the transfer function
of the analog subsystem is G(s), the transfer function of the
DAC and analog subsystem cascade is

= ( ) ( )

1−
= ( )

11
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
1−
= ( )
• The corresponding impulse response is
( ) − ( )
=

( ) ( )
= −

• The impulse response is the analog system step response minus

a second step response delayed by one sampling period.

12
DAC, Analog Subsystem, and ADC Combination
Transfer Function
( ) ( )
= −

13
 DAC, Analog Subsystem, and ADC Combination
Transfer Function

( ) ( )
= −

• Inverse Laplace yields

= ( )− ( − )

( )
• Where = L

14
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
= ( )− ( − )
• The analog response is sampled to give the sampled impulse
response

= ( )− ( − )

• By z-transforming, we can obtain the z-transfer function of the

DAC (zero-order hold), analog subsystem, and ADC (ideal
sampler) cascade.
15
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
= ( )− ( − )
• Z-Transform is given as
∗
= 1− Z
∗
( )
= (1 − )Z L

• The * in above equation is to emphasize that sampling of a

time function is necessary before z-transformation.

• Having made this point, the equation can be rewritten more

concisely as ( )
= (1 − )Z
16
 Example
• Find GZAS(z) for the cruise control system for the vehicle
shown in figure, where u is the input force, v is the velocity of
the car, and b is the viscous friction coefficient.

Solution
• The transfer function of system is given as
( ) 1
= =
( ) +
• Re-writing transfer function in standard form
/
= =
+ 1 + 1/ 17
 /
=
+ 1/
• Where = 1/ and = /
• Now we know
( )
= (1 − )Z

• Therefore, /
=
( + 1/ )
• The corresponding partial fraction expansion is

= −
+ 1/
18
 = (1 − )Z −
+ 1/

• Using the z-transform table, the desired z-domain transfer

function is
1 1
= (1 − )Z −
+ 1/

− 1
= − /
− 1 −

− 1
= 1− /
− 19
 − 1
= 1− /
−

− − + 1
= /
−

1−
= /
−

20
 Example
• Find GZAS(z) for the vehicle position control system, where u is
the input force, y is the position of the car, and b is the viscous
friction coefficient.

Solution
• The transfer function of system is given as
( ) 1
= =
( ) ( + )
• Re-writing transfer function in standard form
/
= =
( + 1) 1
( + ) 21
 /
=
1
( + )
• Where = 1/ and = /
• Now we know
( )
= (1 − )Z

• Therefore, /
=
( + 1/ )
• The corresponding partial fraction expansion is

1
= − +
+ 1/
22
• The desired z-domain transfer function can be obtained as
1
= (1 − )Z − +
+ 1/

− 1
= − + /
( − 1) − 1 −

1 ( − 1)
= − + /
− 1 −

1− + + − ( + 1)
= /
( − 1)( − )
23
 Homework
• Find GZAS(z) for the series R-L circuit shown in Figure
with the inductor voltage as output.

24
Time Response and Steady State Errors of
Discrete Time Control Systems

1
Lecture Outline
• Introduction

• Time Response of DT System

• Examples

• Final Value Theorem

• Examples

• Steady State Errors

2
 Introduction
• The time response of a discrete-time linear system is the
solution of the difference equation governing the system.

• For the linear time-invariant (LTI) case, the response due

to the initial conditions and the response due to the input
can be obtained separately and then added to obtain the
overall response of the system.

• The response due to the input, or the forced response, is

the convolution summation of its input and its response to
a unit impulse.

3
Example 1
• Given the discrete-time system
𝑦 𝑘 + 1 − 0.5𝑦 𝑘 = 𝑢 𝑘
Find the impulse response of the system.
Solution
Taking z-transform
𝑧𝑌 𝑧 − 0.5𝑌 𝑧 = 𝑈 𝑧
𝑌(𝑧) 1
=
𝑈(𝑧) 𝑧 − 0.5
Since U(z)=1
1
𝑌(𝑧) =
𝑧 − 0.5
Taking Inverse z-Transform
𝑦 𝑘 = (0.5)𝑘−1 , 𝑘≥0 4
 Example 2
• Given the discrete time system

𝑦 𝑘+1 −𝑦 𝑘 =𝑢 𝑘+1
find the system transfer function and its response to a
sampled unit step.
Solution
• The transfer function corresponding to the difference
equation is
𝑧𝑌 𝑧 − 𝑌 𝑧 = 𝑧𝑈 𝑧

𝑌(𝑧) 𝑧
=
𝑈(𝑧) 𝑧 − 𝑧 5
 𝑧
𝑌(𝑧) = 𝑈(𝑧)
𝑧−1
𝑧
• Since U z =
𝑧−1
𝑧 𝑧
𝑌(𝑧) = ×
𝑧−1 𝑧−1
• Taking Inverse z-Transform (time advance Property)
𝑧
𝑌(𝑧) = 𝑧
(𝑧 − 1)2

𝑦 𝑘 = 𝑘 + 1, 𝑘≥0

6
 Home Work
• Find the impulse, step and ramp response functions for
the systems governed by the following difference
equations.

1. 𝑦 𝑘 + 1 − 0.5𝑦 𝑘 = 𝑢 𝑘
2. 𝑦 𝑘 + 2 − .01𝑦 𝑘 + 1 + 0.8𝑦 𝑘 = 𝑢(𝑘)

7
 Final Value Theorem
• The final value theorem allows us to calculate the limit of a
sequence as k tends to infinity, if one exists, from the z-
transform of the sequence.

• If one is only interested in the final value of the sequence,

this constitutes a significant short cut.

• The main pitfall of the theorem is that there are important

cases where the limit does not exist.

• The two main cases are

1. An unbounded sequence
2. An oscillatory sequence
8
 Final Value Theorem
• If a sequence approaches a constant limit as k tends to
infinity, then the limit is given by

𝑓 ∞ = lim 𝑓 𝑘
𝑘→∞

𝑧−1
𝑓 ∞ = lim 𝐹 𝑧
𝑧→1 𝑧

9
 Example 1
Verify the final value theorem using the z-transform of a
decaying exponential sequence and its limit as k tends to
infinity.
Solution
The z-transform of an exponential sequence is
𝑧
𝐹 𝑧 =
𝑧 − 𝑒 −𝑎𝑇
Applying final value theorem

𝑧−1 𝑧−1 𝑧
𝑓 ∞ = lim 𝐹 𝑧 = lim
𝑧→1 𝑧 𝑧→1 𝑧 𝑧 − 𝑒 −𝑎𝑇

𝑓 ∞ =0 10
 Example 2
Obtain the final value for the sequence whose z-transform is
𝑧 2 (𝑧 − 𝑎)
𝐹 𝑧 =
(𝑧 − 1)(𝑧 − 𝑏)(𝑧 − 𝑐)
Solution
Applying final value theorem

𝑧−1 𝑧 2 (𝑧 − 𝑎)
𝑓 ∞ = lim
𝑧→1 𝑧 (𝑧 − 1)(𝑧 − 𝑏)(𝑧 − 𝑐)

1−𝑎
𝑓 ∞ =
(1 − 𝑏)(1 − 𝑐)
11
 Home work
• Find the final value of following z-transform functions if it
exists.

𝑧
1. 𝐹(𝑧) = 𝑧 2 −1.2𝑧+0.2

𝑧
2. 𝐹(𝑧) = 𝑧 2 −0.3𝑧+2

12
 Steady State Error
• Consider the unity feedback block diagram shown in following
figure.

• The error ratio can be calculated as

𝐸(𝑧) 1
=
𝑅(𝑧) 1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)
• Applying the final value theorem yields the steady-state
error.
𝑧−1
𝑒 ∞ = lim 𝐸 𝑧
𝑧→1 𝑧 13
 Steady state Error
• As with analog systems, an error constant is associated with
each input (e.g., Position Error constant and Velocity Error
Constant)

• Type number can be defined for any system from which the
nature of the error constant can be inferred.

• The type number of the system is the number of unity poles in

the system z-transfer function.

14
 Position Error Constant 𝐾𝑝
• Error of the system is given as

𝑅(𝑧)
𝐸(𝑧) =
1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)
• Where 𝑧
𝑅 𝑧 =
𝑧−1
• Therefore, the steady state error due to step input is given as

𝑧−1 1 𝑧
𝑒 ∞ = lim
𝑧→1 𝑧 1+𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧) 𝑧−1

1
𝑒 ∞ = lim
𝑧→1 1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)
15
 1
𝑒 ∞ = lim
𝑧→1 1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)
• Position error constant 𝐾𝑝 is given as

𝐾𝑝 = lim 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)

𝑧→1
• Steady state error can be calculated as

1
𝑒 ∞ =
1 + 𝐾𝑝

16
 Velocity Error Constant 𝐾𝑣
• Error of the system is given as

𝑅(𝑧)
𝐸(𝑧) =
1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧)
• Where 𝜏𝑧
𝑅 𝑧 = 2
𝑧−1
• Therefore, the steady state error due to step input is given as

𝑧−1 1 𝜏𝑧
𝑒 ∞ = lim 2
𝑧→1 𝑧 1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧) 𝑧 − 1

𝜏
𝑒 ∞ = lim
𝑧→1 𝑧 − 1 [1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧 ]
17
 Velocity Error Constant 𝐾𝑣
𝜏
𝑒 ∞ = lim
𝑧→1 𝑧 − 1 [1 + 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧 ]
• 𝐾𝑣 is given as

1
𝐾𝑣 = lim 𝑧 − 1 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧
𝜏 𝑧→1

• Steady state error due to sampled ramp input is given as

1
𝑒 ∞ =
𝐾𝑣

18
 Example
• Find the steady-state position error for the digital position
control system with unity feedback and with the transfer
functions

𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐺𝑍𝐴𝑆 𝑧 = 𝐶 𝑧 = ,0 < 𝑎, 𝑏, 𝑐 < 1
(𝑧 − 1)(𝑧 − 𝑏) 𝑧−𝑐
1. For a sampled unit step input.
2. For a sampled unit ramp input
Solution
• 𝐾𝑝 and 𝐾𝑣 are given as

1
𝐾𝑝 = lim 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧) 𝐾𝑣 = lim 𝑧 − 1 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧
𝑧→1 𝜏 𝑧→1
19
 𝐾𝑝 = lim 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧) 1
𝑧→1 𝐾𝑣 = lim 𝑧 − 1 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧
𝜏 𝑧→1
• 𝐾𝑝 can be further evaluated as
𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐾𝑝 = lim
𝑧→1 (𝑧 − 1)(𝑧 − 𝑏) 𝑧−𝑐
𝐾(1 + 𝑎) 𝐾𝑐 (1 − 𝑏)
𝐾𝑝 = =∞
(1 − 1)(1 − 𝑏) 1 − 𝑐

• Corresponding steady state error is

1
𝑒 ∞ = =0
1 + 𝐾𝑝
20
 𝐾𝑝 = lim 𝐺𝑍𝐴𝑆 𝑧 𝐶(𝑧) 1
𝑧→1 𝐾𝑣 = lim 𝑧 − 1 𝐺𝑍𝐴𝑆 𝑧 𝐶 𝑧
𝜏 𝑧→1
• 𝐾𝑣 is evaluated as
1 𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐾𝑣 = lim 𝑧 − 1
𝜏 𝑧→1 (𝑧 − 1)(𝑧 − 𝑏) 𝑧 − 𝑐

1 𝐾(1 + 𝑎) 𝐾𝑐 (1 − 𝑏) 𝐾𝐾𝑐 (1 + 𝑎)
𝐾𝑣 = =
𝜏 (1 − 𝑏) 1−𝑐 𝜏(1 − 𝑐)

• Corresponding steady state error is

1 𝜏(1 − 𝑐)
𝑒 ∞ = =
𝐾𝑣 𝐾𝐾𝑐 (1 + 𝑎)
21