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Digital Control Systems: Z-Transform: Advanced Controls

Digital Control Systems: z-Transform This document discusses modeling digital control systems using the z-transform. It explains that [1] computers are often used in control loops to replace analog components, [2] sampling affects system performance depending on the sampling rate and gain, and [3] the z-transform can be used to model sampled systems by taking the Laplace transform of the sampled output and substituting z for e^Ts. Examples are provided to demonstrate calculating the z-transform and inverse z-transform of simple functions.

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101 views6 pages

Digital Control Systems: Z-Transform: Advanced Controls

Digital Control Systems: z-Transform This document discusses modeling digital control systems using the z-transform. It explains that [1] computers are often used in control loops to replace analog components, [2] sampling affects system performance depending on the sampling rate and gain, and [3] the z-transform can be used to model sampled systems by taking the Laplace transform of the sampled output and substituting z for e^Ts. Examples are provided to demonstrate calculating the z-transform and inverse z-transform of simple functions.

Uploaded by

manoman12345
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Digital Control Systems: z -Transform

Advanced Controls
Digital Computers in Control

Computers perform various tasks in control loop


Most often replace cascade compensator

Sampling signicantly aects system performance


Stability and transient response depend on gain and sampling rate

Advanced Controls
Modeling Sampling

Controller uses xed value for each time increment

Figure : Ideal sampling and zero-order hold

Ideal sampler yields series of delta functions


Area is product of pulse width and sampled-waveform
amplitude
Zero-order hold (ZOH) yields staircase approximation to f (t )
Holds last sampled value for one sampling period
1e Ts
G s
ZOH transfer function is h ( ) =
s
Advanced Controls
z -Transform
Taking the Laplace transform of the ideal-sampler's output
Then letting z = e Ts yields the z -Transform

F (z ) = f (kT )z k (1)
X

k =0
Example: nd the z -transform of a sampled unit ramp
f (kT ) = kT

kTz k kz k

F (z ) = T T (z 1 + 2z 2 + 3z 3 + . . .)
X X
= =
k =0 k =0
Next form zF (z ) and subtract F (z )

zF (z ) F (z ) = T (1 + 2z 1 + 3z 2 + . . .) F (z )
= (z 1)F (z ) = T (1 + z 1 + z 2 + . . .)

Since 1 = 1 + z 1 + z 2 + . . .
1 z 1

z
F (z ) = T
(z 1)2

Advanced Controls
Performing z -Transform: Use Table Instead of 1

Example: using partial-fraction expansion and the above table nd the sampled
time function of
0.5z
F (z ) =
(z 0.5)(z 0.7)
Advanced Controls
Performing z -Transform: Use MATLAB Instead of 1

z -transform Inverse z -transform


>> syms n T >> syms z k
>> f = n *T ; >> F=.5 * z / ( ( z . 5 ) * ( z . 7 ) ) ;
>> F = z t r a n s ( f ) >> f=i z t r a n s ( F , k )

F = f =

(T* z ) / ( z 1)^2 ( 5 * ( 7 / 1 0 ) ^ k )/2 ( 5 * ( 1 / 2 ) ^ k )/2

>> p r e t t y ( F ) >> vpa ( f )


T z
ans =
2
( z 1) 2.5*0.7^ k 2.5*0.5^ k

>> >>

Advanced Controls

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