Digital Control Systems - Lecture - 3

This document discusses the z-transform, which is used to analyze linear time-invariant systems. It covers topics like the physical significance of z and s, partial fraction expansion of repeated roots, z-transforms of second order systems, converting Laplace transforms to z-transforms, and block diagram manipulation using z-transforms.

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Digital Control Systems - Lecture - 3

Uploaded by

Mohammad alhaboob2030

Available Formats

Download as PDF, TXT or read online on Scribd

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30-Aug-22

VCC
MICRO- 𝐲(𝒕)
𝒙(𝒕) ADC CONTROLLER
DAC PLANT OUTPUT SIGNAL
DESIRED SIGNAL

8, 10 ,12 BITS
SENSOR
CLOCK ADC
(FB)

THE Z-TRANSFORMS – THE PHYSICAL SIGNIFICANCE OF Z AND S

SIGNIFICANCE OF S SIGNIFICANCE OF Z
 𝒔 − 𝒅𝒊𝒇𝒇𝒆𝒓𝒆𝒏𝒕𝒊𝒂𝒕𝒊𝒐𝒏  𝒛 − 𝒂𝒅𝒗𝒂𝒏𝒄𝒆𝒅 𝒊𝒏 𝒕𝒊𝒎𝒆 𝒃𝒚 𝑻
𝟏 𝟏
 − 𝒊𝒏𝒕𝒆𝒈𝒓𝒂𝒕𝒊𝒐𝒏  − 𝒅𝒆𝒍𝒂𝒚 𝒊𝒏 𝒕𝒊𝒎𝒆 𝒃𝒚 𝑻
𝒔 𝒛

THERE IS SOME SIMILARITY BETWEEN THE SIGNIFICANCE OF S AND SIGNIFICANCE OF Z

UST DR. ADEL RAWEA

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30-Aug-22

THE Z-TRANSFORMS – THE PARTIAL FRACTION EXPANSION OF REPEATED ROOTS

 IF YOU HAVE THE TRANSFER FUNCTION F(S) AS:
𝒔𝟐 +𝟐𝒔+𝟑
𝑭(𝒔) = IN LAPLACE DOMAIN THERE ARE 3 POLS IN THE LEFT SIDE
𝒔+𝟏 𝟑
𝑨 𝑩 𝑪 𝑨 𝒔+𝟏 𝟐 +𝑩(𝒔+𝟏)+𝑪
𝑭 𝒔 = + + =
(𝒔+𝟏) 𝒔+𝟏 𝟐 𝒔+𝟏 𝟑 𝒔+𝟏 𝟑
⇒ 𝒔𝟐 +𝟐𝒔 + 𝟑 ≡ 𝑨 𝒔 + 𝟏 𝟐 + 𝑩 𝒔 + 𝟏 + 𝑪 ⇒ 𝑪 = 𝟐 𝒃𝒚 𝒖𝒔𝒊𝒏𝒈 𝒔 = −𝟏
𝒅 𝒅
𝒅𝒔
(𝒔𝟐 + 𝟐𝒔 + 𝟑) ≡ 𝒅𝒔 (𝑨 𝒔 + 𝟏 𝟐 + 𝑩 𝒔 + 𝟏 + 𝑪))
⇒ 𝟐𝒔 + 𝟏 ≡ 𝟐𝑨 𝒔 + 𝟏 ⇒ 𝑩 = 𝟎 , 𝒃𝒚 𝒖𝒔𝒊𝒏𝒈 𝒔 = −𝟏 𝒂𝒏𝒅 𝑨 = 𝟐
𝟏 𝟐
∴𝑭 𝒔 = +
(𝒔 + 𝟏) 𝒔+𝟏 𝟑
𝒇 𝒕 = 𝑳−𝟏 𝑭 𝒔 = 𝒖 𝒕 [𝒆−𝒕 + 𝒕𝟐 𝒆−𝒕 ]

UST DR. ADEL RAWEA

THE Z-TRANSFORMS OF SECOND ORDER SYSTEM

 IF YOU HAVE THE TRANSFER FUNCTION F(S) AS:
𝟏
𝑭(𝒔) = IN LAPLACE DOMAIN
𝒔+𝒂 𝟐
𝒇 𝒕 = 𝑳−𝟏 𝑭 𝒔 = 𝒖 𝒕 [𝒕 𝒆−𝒂𝒕 ]
𝒇 𝒏𝑻 = 𝒏𝑻𝒆−𝒂𝒏𝑻
∞

𝑭 𝒛 = 𝒏𝑻𝒆−𝒂𝒏𝑻 𝒛−𝒏
𝒏=𝟎
= 𝑻𝒆−𝒂𝑻 𝒛−𝟏 + 𝟐𝑻𝒆−𝟐𝒂𝑻 𝒛−𝟐 + 𝟑𝑻𝒆−𝟑𝒂𝑻 𝒛−𝟑 + ⋯
= 𝑻(𝒆−𝒂𝑻 𝒛−𝟏 + 𝟐𝒆−𝟐𝒂𝑻 𝒛−𝟐 + 𝟑𝒆−𝟑𝒂𝑻 𝒛−𝟑 + ⋯ )
⇒ 𝒂 = 𝟏 𝒂𝒏𝒅 𝒓 = 𝒆−𝒂𝑻 𝒛−𝟏
𝒆−𝒂𝑻 𝒛−𝟏 𝒛𝟐 𝒆−𝒂𝑻 𝒛
𝑭 𝒛 =𝑻 𝟐 ∗ =𝑻
𝟏−𝒆−𝒂𝑻 𝒛−𝟏 𝒛𝟐 𝒛−𝒆−𝒂𝑻 𝟐

UST DR. ADEL RAWEA

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30-Aug-22

THE Z-TRANSFORMS OF A DECAYING OF EXPONENTIAL

 IF YOU HAVE THE TRANSFER FUNCTION 𝒇 𝒕 = 𝒆−𝒄𝒕 AS:
∞

𝑭 𝒛 = 𝒇(𝒏𝑻) 𝒛−𝒏
𝒏=𝟎

= 𝟏 + 𝒆−𝒄𝑻 𝒛−𝟏 + 𝒆−𝟐𝒄𝑻 𝒛−𝟐 + 𝒆−𝟑𝒄𝑻 𝒛−𝟑 + ⋯

𝒊𝒕′ 𝒔 𝒈𝒆𝒐𝒎𝒆𝒕𝒓𝒊𝒄 𝒔𝒆𝒓𝒊𝒆𝒔 ⇒ 𝒂 = 𝟏 𝒂𝒏𝒅 𝒓 = 𝒆−𝒄𝑻 𝒛−𝟏

𝟏 𝒛
𝑭 𝒛 = =
𝟏−𝒆−𝒄𝑻 𝒛−𝟏 𝒛−𝒆−𝒄𝑻

UST DR. ADEL RAWEA

THE Z-TRANSFORMS CONVERTING FROM LAPLACE TRANSFORM TO Z-TRANSFORM

𝟏
 IF YOU HAVE THE TRANSFER FUNCTION 𝑭 𝒔 = FIND 𝑭 𝒛 :
𝒔𝟐 +𝟓 𝒔+𝟔
𝑳−𝟏 𝒁−𝒕𝒓𝒂𝒏𝒔
𝑭 𝒔 𝒇(𝒕) 𝑭 𝒛
𝟏 𝑨 𝑩 𝑨 𝒔 + 𝟑 + 𝑩(𝒔 + 𝟐)
𝑭 𝒔 = = + =
𝒔 + 𝟐 (𝒔 + 𝟑) 𝒔+𝟐 𝒔+𝟑 𝒔 + 𝟐 (𝒔 + 𝟑)
⇒ 𝑨 𝒔+𝟑 +𝑩 𝒔+𝟐 = 𝟏
𝑩 = −𝟏 𝒘𝒉𝒆𝒏 𝒔 = −𝟑 𝒂𝒏𝒅 𝑨 = 𝟏 𝒘𝒉𝒆𝒏 𝒔 = −𝟐
𝟏 𝟏
∴𝑭 𝒔 = −
𝒔+𝟐 𝒔+𝟑
∞

𝑭 𝒛 = 𝒇(𝒏𝑻) 𝒛−𝒏 = 𝟏 + 𝒆−𝟐𝑻 𝒛−𝟏 − 𝒆−𝟑𝑻 𝒛−𝟏 + 𝒆−𝟒𝑻 𝒛−𝟏 − 𝒆−𝟔𝑻 𝒛−𝟏 + ⋯
𝒏=𝟎
𝒛 𝒛 𝒛 𝒛 − 𝒆−𝟑𝑻 − 𝒛 𝒛 − 𝒆−𝟐𝑻 𝒛(𝒆−𝟐𝑻 − 𝒆−𝟑𝑻 )
𝑭 𝒛 = − = = 𝟐
𝒛 − 𝒆−𝟐𝑻 𝒛 − 𝒆−𝟑𝑻 𝒛 − 𝒆−𝟐𝑻 𝒛 − 𝒆−𝟑𝑻 𝒛 − 𝒛 𝒆−𝟐𝑻 − 𝒆−𝟑𝑻 + 𝒆−𝟓𝑻