ME 779 Control Systems

Topic #50
Digital Control: Zero-order Hold
Reference textbook:

Control Systems, Dhanesh N. Manik,

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 Digital Control: Zero-order Hold
Sample and hold operations on a signal

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 Digital Control: Zero-order Hold
Unit pulse input to a ZOH

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 Digital Control: Zero-order Hold
Unit impulse

f h (t )  u (T )  u (0)

f h (t )  u (t )  u(t  T )    T 

  sT
(1  e )
Gh ( s)   u(t )  u(t  T ) e dt  st

0
s
* *
 1 e Ts
 *  G p ( s) 
G ( s )  G ( s)G ( s )  
* *
h
*
p  p
G ( s )  
1  z 1
  
 s   s 

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 Digital Control: Zero-order Hold

 G p ( s) 

G( z )  Z G ( s)   1  z
* 1
 Z 
 s 

 G p ( s) 

G( z )  Gc ( z ) 1  z 1
 Z 
 s 

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 Digital Control: Zero-order Hold
Discrete-time unity feedback system

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 Digital Control: Zero-order Hold
Discrete-time unity feedback system

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 Digital Control: Zero-order Hold
Example

The plant transfer function of a unity feedback control system with zero-order hold is
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(s  1) and has a proportional controller of variable gain K
(a) Obtain the forward transfer function of an equivalent control system that has
all discrete components.
(b) Assuming a sampling time of 0.1 sec, what is the value of K that ensures
closed-loop stability of the discrete system?
If the above system should have a settling time of 0.5 s for the sampling rate of 0.1
sec, determine the maximum value of gain that ensures stability as well as
appropriate settling time.
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 Digital Control: Zero-order Hold
Example

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G p (s) 
s 1

G p ( s) 1 1 1
  
s s(s  1) s s  1
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 Digital Control: Zero-order Hold
Example
 G p ( s) 

G( z )  Gc ( z ) 1  z 1
 Z 
 s 


G ( z )  Gc ( z ) 1  z 1
 Z 1  e 
t

K ( z  1)  z z   1  e T

   T  K  T 
z  z 1 z  e  z e 

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 Digital Control: Zero-order Hold
Example
T
T ( z) 
G( z ) z  ( K  1)e
c
p K
1  G( z)
K (1  eT )
 Closed-loop poles
z  ( K  1)eT  K 
T
z 1
c z  1 1  ( K  1)e
c
p K
p

T
1
Marginal stability
e
T=0 (not acceptable)

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 Digital Control: Zero-order Hold
Example
T
z  1
c
p 1  ( K  1)e K
 K 1 
T   ln  
 K 1 

1  e T 1  e0.1
K K  20
1  e T 1 e 0.1

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 Digital Control: Zero-order Hold
Example 
4T

ze ts

4T

T
( K  1)e K e ts


4T 40.1

e T  e ts
e 0.1
e 0.5
K T K  4.79
1 e 1 e 0.1

 0.46 
G( z)   
 z  0.905  13
 Digital Control: Zero-order Hold
Example

K s  limG( z )  K
z 1

1 1
s ( ) 
*
  0.17
1  K 1  4.79
e

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 Digital Control: Zero-order Hold
Example
The plant transfer function of a unity feedback control system with
1
zero order hold is ( s  1) .
It has an integral controller of variable gain Kp and TI=1
(a) Obtain the forward transfer function of an equivalent control
system that has all discrete components.
(b) Determine the steady-state error for step input
(c) Determine the steady-state error for ramp input

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 Digital Control: Zero-order Hold
Example

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G p (s) 
s 1
G p ( s) 1 1 1
  
s s(s  1) s s  1
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 Digital Control: Zero-order Hold
Example
 G p ( s) 
G( z )  Gc ( z ) 1  z  1
 Z 
 s 
K pTz
Gc ( z ) 
z 1   
G ( z )  Gc ( z ) 1  z 1 Z 1  e  t 
K pTz  z  1   z z 
    T 
Integral controller z 1  z   z 1 z  e 
 z z 
 K pT   T 
 z 1 z  e 
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 Digital Control: Zero-order Hold
Example
Ks  limG( z)  
z 1
1
s ( ) 
*
0
1  Ks
e

1 1  z z 
Kv  lim( z  1)G ( z )  lim( z  1) K pT      Kp
 z 1 z  e 
T
T z 1 T z 1

1 1
se* ()  
Kv K p

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Digital Control: Zero-order Hold

Conclusion

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