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Digital Control Engineering: Dr. Sadeq Al-Majidi

Digital control engineering uses digital computers to control systems. It has advantages like easy reconfiguration through software. Since computers are discrete, the Z-transform replaces the Laplace transform. The document discusses microprocessors, Shannon's sampling theorem, analog to digital conversion, digital to analog conversion, the z-transform, and close loop pulse transfer functions in digital control systems.

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43 views

Digital Control Engineering: Dr. Sadeq Al-Majidi

Digital control engineering uses digital computers to control systems. It has advantages like easy reconfiguration through software. Since computers are discrete, the Z-transform replaces the Laplace transform. The document discusses microprocessors, Shannon's sampling theorem, analog to digital conversion, digital to analog conversion, the z-transform, and close loop pulse transfer functions in digital control systems.

Uploaded by

jin kazama
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lecture 5

Digital control engineering

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Overview
• Microprocessor
• Shannon’s Sampling Theorem

• z -transform
• Close loop pulse transfer function

2
Overview
• Digital Control Engineering is a branch of control
theory that uses digital computers to act as system
controllers.
• It is easy to configure and reconfigure through software, can
scale to the limits of the memory or storage space without
extra cost, parameters of the program can change with time.
• It has a more accuracy and high speed prosses.
• Since a digital computer is a discrete system, the Laplace
transform is replaced with the Z-transform.
• It requires analog-to-digital conversion, digital-to-analog
conversion.
• Depending on the requirements, a digital control system can
take the form of a microcontroller .
3
Microprocessor
• As a result of developments in microprocessor technology, the
implementation of control algorithms is now invariably using
embedded microcontrollers rather than employing analogue
devices. A typical system using microprocessor control is shown
in Figure below.

4
• Shannon’s Sampling Theorem
• It states that 'A function f (t) that has a bandwidth wb is uniquely
determined by a discrete set of sample values provided that the
sampling frequency is greater than 2wb’.

• The sampling frequency 2wb is called the Nyquist frequency.


• The lower frequency signal, called an alias as shown in Figure below.

5
• Analog to digital converter (A/D)
• An ideal sample f *(t) of a continuous signal f (t) is a series of zero width impulses
spaced at sampling time T seconds apart as shown in Figure below:

• The sampled signal is represented by equation (1):

• where δ(t - kT) is the unit impulse function occurring at t= kT.


6
Digital to Analog converter (D/A)
• As shown in Figure below, a zero-order hold converts a series of impulses into a
series of pulses of width T. Hence a unit impulse at time t is converted into a
pulse of width T.

• The transfer function for a zero-order hold is:

7
z -transform
• The z-transform is the principal analytical tool for single-input-single-
output discrete-time systems and is analogous to the Laplace transform for
continuous systems.
• Conceptually, the symbol z can be associated with discrete time shifting in a
difference equation in the same way that s can be associated with
differentiation in a differential equation.

• Taking Laplace transforms of equation (1), which is the ideal sampled


signal, gives:

• Defined Z as:

• Then

8
Example: find Z transform of unit step function f(t)=1?
Solution :

b …….. by long division

9
The properties of Z transform

1- linearity

2- Initial Value Theorem

3- Final Value Theorem

4- Shifting

Z(X(N-C))= 𝒁𝒁−𝑪𝑪 𝑿𝑿 𝒁𝒁
10
Common Laplace and Z transform

11
12
Close loop transfer function

• The close loop pulse transfer function is given by :

13

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