9/19/2020

College of Engineering
Department of Electrical Engineering

Lecture Notes 5a

DISCRETE-TIME SYSTEMS ANALYSIS

ELE 471 – Fall 2020 1

Outline

1. Closed Loop Transfer Functions

2. Steady State Accuracy

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Discrete Equivalent System

G(s)

r(k) + u(k) y(k)

Digital Sensor
D/A Plant A/D
Controller
-

G(z)

r(k) e(k) u(k) y(k)

D(z) G(z)
+
-

  G( s ) 
G( z )  1  z 1   
 s 
ELE 471 – Fall 2020 3

Closed Loop Transfer Function

Let us examine the block diagram of the discrete equivalent system

r(k) e(k) u(k) y(k)

D(z) G(z)
+
-

Given a system represented by G(z) and a reference r(k), the objective of the
digital control system is to find a control law (controller) D(z) such that:
• the error e(k)=r(k)-y(k) goes to zero as quick and as smooth as possible
• i.e. the output y(k) is tracking the given reference r(k) as quick and as
smooth as possible

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Closed Loop Transfer Function

r(k) e(k) u(k) y(k)

D(z) G(z)
+
-

Y( z )
The closed loop transfer function is: W ( z ) 
R( z )
We have U ( z )  D( z )E( z ) , Y ( z )  G( z )U ( z ) and
E( z )  R( z )  Y ( z )

E( z ) 1 Y ( z) G ( z ) D( z )
 Then  and 
R( z ) 1  G( z )D( z ) R( z ) 1  G ( z ) D( z )

ELE 471 – Fall 2020 5

Steady State Accuracy

r(k) e(k) u(k) y(k)

D(z) G(z)
+
0 kT -

Case 1:
𝑧
If r(k) is a unit-step,R(z)= , by the final value theorem of z-transform
𝑧−1

 z 1   
 
e()  lim 1  z 1 E ( z )  lim    R( z ) 
1

1

1
z 1 z 1  z  1  G ( z ) D( z )  1  G (1) D(1) 1  K p

As in the case of continuous-time systems:

If Kp is a finite constant, the open-loop system K(z)G(z) is said to be Type-0 System.
If K(z)G(z) has at least a factor of 1/(z-1), Type-1 System, and e()=0.

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Steady State Accuracy

r(k) e(k) u(k) y(k)

D(z) G(z)
+
0 kT -

Case 2:
𝑇𝑧
If r(k) is a unit-step, R(z)= 2
, by the final value theorem of z-transform
𝑧−1

 z 1   
 
e()  lim 1  z 1 E ( z )  lim    R( z ) 

1 T 1
  lim z  1G ( z ) D( z )  K
z 1 z 1
 z  1 G ( z ) D ( z )  z 1 v

As in the case of continuous-time systems:

If K(z)G(z) has at least a factor of 1/(z-1)2, Type-2 System, then e()=0

ELE 471 – Fall 2020 7

Stability of Continuous Systems

A continuous-time system is said to be
 Stable: if all the transfer function poles (roots of the
denominator) are in the left half s-plane (with negative real part).
 Unstable: if it has poles or roots in the right half s-plane (with
positive real part)

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Stability of Discrete Systems

A discrete-time system is said to be
 Stable: if all the transfer function poles (roots of the
denominator) are inside the unit-circle of the z-plane.
 Unstable: if it has poles or roots outside the unit-circle.

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Example 1

Consider a closed loop digital control system with T=0.5s and

1
G( s ) 
s 1
The digital controller is a filter described by its difference equation
u( k )  2e( k )  e( k  1 )
1. Find the unit-step response of the open loop system
2. Find the unit-step response of the closed loop system
3. Find the steady state error to a unit-step reference

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Solution 1

U( z ) 2z 1
D( z )   2  z 1 
E( z ) z
T
 G( s )  1  e

G( z )  1  z 1    
 s  z  e
T

z
E( z )  : Unit-step
z 1
1. Open loop step response
1  e T 2 z  1 z
Y ( z )  G( z )  D( z )  E( z )   
z  e T z z 1
Y ( z ) ( 1  e T )( 2 z  1 )

z z( z  1 )( z  e T )

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Solution 1
Next, use partial fractions

Y ( z ) 1  eT 1 eT  2
  
z z z  1 z  e T
z ( eT  2 ) z 1 eT  2
 Y ( z )  1  eT    1  e T
 
z 1 z  e T 1  z 1 1  e T z 1

 y( k )  ( 1  eT ) ( k )  1  ( eT  2 )e  kT

2. Closed loop step response

Y( z ) G( z )D( z )
W( z )  
R( z ) 1  G( z )D( z )

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Solution 1

1  e T 2 z  1 ( 1  e T )( 2 z  1 )
G( z )  D( z )   
z  e T z z( z  e T )

Y( z ) G( z )D( z ) ( 1  e T )( 2 z  1 )
 W( z )   
R( z ) 1  G( z )D( z ) z( z  e T )  ( 1  e T )( 2 z  1 )
( 1  e T )( 2 z  1 )

z 2  ( 2  3e T )z  e T  1

 For a unit step reference:

( 1  e T )( 2 z  1 ) z
Y ( z )  W ( z )R( z )  T T

z  ( 2  3e )z  e  1 z  1
2

ELE 471 – Fall 2020 13

Evaluation using Matlab

 Example 1

System Controller

1 2z  1
G( s )  D( z ) 
s 1 z

% LN5example1
T = 0.5
Gc = tf([1],[1 1])
Gd= c2d(Gc,T,'zoh')
D = tf([2 -1],[1 0],T)
%
GOL = Gd*D
figure(1)
step(GOL)
GCL = feedback(GOL,1)
figure(2)
step(GCL)

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Evaluation using Matlab

Open Loop Step Response
1

0.9

0.8

0.7

0.6
Amplitude
0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)

0.8
Closed Loop Step Response
0.7

0.6

0.5
Amplitude

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10 12
Time (seconds)

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