• •

Gene F. Franklin
J. David Powell
Michael Worl{man
Table of z-Transforrns

Number F(s) f(kT) F(z)

1 1, k = 0; 0, k =I- 0
2 1, k=m; 0, k=l-m z-m
Z
3 l(kT)
s z-1
Tz
4 kT
(z - 1)2
T2 Z(Z + 1)
5 ~(kT)2
2 (z - 1)3
T3 Z(Z2 + 42 + 1)
6 ~(kT)3
6 (z - 1)4
(_l)m-I am-I Om-l
7 lim e-akT lim-----. z
a_,.O (m - I)! oam-1 a_,.O (m - 1)! oam-l Z - e-aT
Z .
8
s+a Z - e:"
Tze-aT
9 kTe-akT
(s + a)2 (Z - e-aT)2
1 ~ (kT)2e-akT T2 -aT Z(Z + e-aT)
10 -e
(s + a)3 2 2 (z - e-aT)3
1 (_1)m-l om-l -akT (_l)m-1 m-l a Z
11 (m - I)! oam-I (e ) (m - I)! aatn
-
I
Z - e-aT
a z(1 - e-aD
12 1 - e-akT
s(s + a)
Table of z-Transforms

Number .r(s) f(kT) F(z)

a 1 . z[(aT - 1 + e-aT)z + (1 -
e-aT - aTe-aT)]
13 -(akT - 1 + e-akT)
S2(S + a) a a(z - 1)2(z - e-aT)
b-a (e-aT _ e-bT)z
14
(s+a)(s+b) (z - e-aT)(z - e-bT)
s z[z - e-aT (1 + aT)]
15 (1 - akT)e-akT
(s + (z e-aT)2
a2 z[z(l - e-aT - aTe-aT) + e-2aT _ e-aT + aTe-aT]
16
s(s + a)2 (z - l)(Z - e-aT)2

(b - a)s z[z(b - a) - (be-aT - ae-bT)]

17
(s +a)(s +b) (z - e-aT)(z - e-bT)

a Z sin aT
18 sin akT
S2 + a2 Z2 - (2 cos a T)z + 1.
s z(z - cos aT)
19 cos akT
S2 +a2 Z2 - (2 cos a T)z + 1
s+a z(z - e-aT cos bT)
20 e-akT cos bkT
(s + a)2 + b2 Z2 2e-aT (cos bT)z + e-2aT
b ze-aT sin bT
21
(s + a)2 + b2
«=" sin bkT
Z2 aT
2e- (cos bT)z + e-2aT
a2 + b2 z(Az + B)
22 1 - e-akT (cos bkT + ~ sin bkT)
sees + a)2 + b2) (z - 1)(z2 - 2e-aT (cos bT)z + e-2aT)
A = 1 e:" cos bT - f!_ e-aT sin bT
b
2aT a aT
B = e- + - e- sin bT - e-aT cos bT
b
THIRD EDITION
 THIRD EDITION

i ital ontrol •
•
yn rmc yst ms
Gene F. Franklin
Stanford University

J. David Powell
Stanford University

Michael L. Workman
Pillar Data Systems

•
1~llis""ltaglel'aeess
Half Moon Bay, CA
ISBN-I0: 0-9791226-0-0
ISBN-13: 978-0-9791226-0-6

Copyright © 1998, Franklin, Powell, and Workman

All rights reserved. No part of this work may be reproduced or stored or

transmitted by any means, including photocopying, without the written
permission of the copyright holders. Translation in any language is prohibited
without the permission of the copyright holders.

Printed in the United States of America'

Cover photo: Telegraph Colour LibrarylFPG International LLC

Library of Congress Cataloging-in-Publication Data

Franklin, Gene F,
Digital control of dynamic systems / Gene F. Franklin,
1. David Powell, Michael L. Workman, - 3rd ed.
p. em,
Includes index.
ISBN 0-9791226-0-0
1. Digital control systems, I.Powell, 1. David, II Workman, Michael L. ill
Title.
TJ223.M53F73 1997
629,8'9- dc21

Instructional Material Disclaimer:

The programs presented in this book have been included for their instructional
value. They have been tested with care but are not guaranteed for any
particular purpose. Neither the publisher or the authors offer any guarantee or
representations, nor do they accept any liabilities with respect to the programs.

MATLAB and Simulink are registered trademarks of the MathWorks, Inc.,

Natick, MA.

All other trademarks or product names are the property of the owners.

Reprinted in 2006 with corrections

I~llis..Kagle l'l·eSS
1200 Pilarcitos Ave.
Half Moon Bay, CA 94019

Franklin@ee.stanford.edu
IDPowell@stanford.edu
To Gertrude, David, Carole,
Valerie, Daisy, Annika, Dave,
Patti, Lauren, Max,
and to the memory of Lorna
 Preface xix

1 Introduction 1
1.1 Problem Definition 1
1.2 Overview of Design Approach 5
1.3 Computer-Aided Design 7
1.4 Suggestions for Further Reading 7
1.5 Summary 8
1.6 Problems 8

2 Review of Continuous Control 11

2.1 Dynamic Response 11
2.1.1 Differential Equations 12
2.1.2 Laplace Transforms and Transfer Functions 12
2.1.3 Output Time Histories 14
2.1.4 The Final Value Theorem 15
2.1.5 Block Diagrams 15
2.1.6 Response versus Pole Locations 16
2: 1.7 Time-Domain Specifications 20
2.2 Basic Properties of Feedback 22

Ix
x Contents

2.2.1 Stability 22
2.2.2 Steady-State Errors 23
2.2.3 PID Control 24
2.3 Root Locus 24
2.3.1 Problem Definition 25
2.3.2 Root Locus Drawing Rules 26
2.3.3 Computer-Aided Loci 28
2.4 Frequency Response Design 31
2.4.1 Specifications 32
2.4.2 Bode Plot Techniques 34
2.4.3 Steady-State Errors 35
2.4.4 Stability Margins 36
2.4.5 Bodes Gain-Phase Relationship 37
2.4.6 Design 38
2.5 Compensation 39
2.6 State-Space Design 41
2.6.1 Control Law 42
2.6.2 Estimator Design 46
2.6.3 Compensation: Combined Control and Estimation 48
2.6.4 Reference Input 48
2.6.5 Integral Control 49
2.7 Summary 50
2.8 Problems 52

3 Introductory Digital Control 57

3.1 Digitization 58
3.2 Effect of Sampling 63
3.3 PID Control 66
3.4 Summary 68
3.5 Problems 69

4 Discrete Systems Analysis 73

4.1 Linear Difference Equations 73
4.2 The Discrete Transfer Function 78