Scribd
Upload
118 views34 pages

Week 10 - Block Diagram Reduction

This document discusses block diagram reduction and discrete system stability in sampled-data control systems. It contains the following key points: 1. When manipulating block diagrams of sampled-data systems, you must be careful because z{G1(s)G2(s)} ≠ G1(z)G2(z). The s-domain functions need to be multiplied together before taking the z-transform. 2. Sampled-data systems can be modeled using block diagrams with transfer functions and z-transforms. Placement of samplers affects whether the z-transform is a single function or a product of functions. 3. A discrete system is stable if all poles of the closed-loop transfer

Uploaded by

izmi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
118 views34 pages

Week 10 - Block Diagram Reduction

This document discusses block diagram reduction and discrete system stability in sampled-data control systems. It contains the following key points: 1. When manipulating block diagrams of sampled-data systems, you must be careful because z{G1(s)G2(s)} ≠ G1(z)G2(z). The s-domain functions need to be multiplied together before taking the z-transform. 2. Sampled-data systems can be modeled using block diagrams with transfer functions and z-transforms. Placement of samplers affects whether the z-transform is a single function or a product of functions. 3. A discrete system is stable if all poles of the closed-loop transfer

Uploaded by

izmi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 34

Control Systems

Week 10 – Block Diagram Reduction


and Discrete System Stability
Alfian Pramudita Putra, S.T., M.Sc.
Biomedical Engineering –Dept. of Physics
Faculty of Science and Technology – Universitas Airlangga
Caution!
• When manipulating block diagrams for sampled-data systems,
you must be careful to remember the definition of the sampled-
data system transfer function to avoid mistakes. For example,
z{G1(s)G2(s)} ≠ G1(z)G2(z), where z{G1(s)G2(s)} denotes the
z-transform.
• The s-domain functions have to be multiplied together before
taking the z-transform. We use the notation G1G2(s) to
denote a single function that is G1(s)G2(s) after evaluating the
product. Hence, z{G1(s)G2(s)} = z{G1G2(s)} = G1G2(z) ≠
G1(z)G2(z).
Sampled-data systems and their z-transforms

• The standard system where the transform of the output, C(z), is equal
to R(z)G(z).
• There is no sampler between G1(s) and G2(s). Thus, we can think
of a single function, G1(s)G2(s), denoted G1G2(s), existing between the
two samplers and yielding a single transfer function. the pulse transfer
function is z{G1G2(s)} = G1G2(z). The transform of the output, C(z)
= R(z)G1G2(z).
• we have the cascaded two subsystems of the type
shown in Figure 13.9(a). For this case, then, the z-
transform is the product of the two z-transforms, or
G2(z)G1(z). Hence, the transform of the output C(z)
= R(z)G2(z)G1(z).
• We see that the continuous signal entering the sampler is
R(s)G1(s). Thus, the model is the same as Figure (a) with R(s)
replaced by R(s)G1(s), and G2(s) in Figure (d) replacing G(s)
in Figure (a). The z-transform of the input to G2(s) is z
{R(s)G1(s)} = z {RG1(s)} = RG1(z). The pulse transfer function
for the system G2(s) is G2(z). Hence, the output C(z) =
RG1(z)G2(z).
Example
• Find the z-transform of the system shown in Figure below
• Place a phantom sampler at the output of any subsystem that has a
sampled input, provided that the nature of the signal sent to any other
subsystem is not changed. The output of a sampled-data system can
only be found at the sampling instants anyway, and the signal is not
an input to any other block.
• add phantom samplers S2 and S3 at the input to a summing junction
whose output is sampled. the sampled sum is equivalent to the sum of
the sampled inputs, provided, of course, that all samplers are
synchronized.
• Move sampler S1 and G(s) to the right past the pickoff point. yield a sampler
at the input of G(s)H(s) to match the configuration stated before. G(s) with
sampler S1 at the input and sampler S4 at the output matches the
configuration stated before.
• G(s)H(s) with samplers S1 and S3 becomes GH(z), and G(s) with
samplers S1 and S4 becomes G(z). Converting R(s) to R(z) and C(s)
to C(z).
Example:
• Find T(z) = C(z)/R(z) for the system shown in Figure
below!
Assignment
• Find T(z) = C(z)/R(z) for each of the systems shown
in Figure below!
Discrete System Stability
• The difference between analog feedback control systems
and digital feedback control systems is the effect that the
sampling rate has on the transient response.

• Changes in sampling rate not only change the nature of


the response from overdamped to underdamped, but
also can turn a stable system into an unstable one.
Digital System Stability via the z-Plane
• In the s-plane, the region of stability is the left half-plane. If the
transfer function, G(s), is transformed into a sampled-data transfer
•  function, G(z), the region of stability on the z-plane can be evaluated
from the definition, . Letting
Mapping regions
of the s-plane onto the z-plane
Interpretation of the mapping
• Points that have positive values of are in the right half of the s-plane,
region C.
• The magnitudes of the mapped points are . Thus points in the right half of
the s-plane map into points outside the unit circle on the z-plane.
• Points on the -axis, region B, have zero values of and yield points on the z-
plane with magnitude > 1, the unit circle. Hence, points on the -axis in the s-
plane map into points on the unit circle on the z-plane.
• Points on the s-plane that yield negative values of a (left–half-plane roots,
•  region A) map into the inside of the unit circle on the z-plane.
• A digital control system is
• (1) stable if all poles of the closed-loop transfer function, T(z), are inside
the unit circle on the z-plane,
• (2) unstable if any pole is outside the unit circle and/or there are poles
of multiplicity greater than one on the unit circle, and
• (3) marginally stable if poles of multiplicity one are on the unit circle
and all other poles are inside the unit circle.
Example 1
Solution
• The input to the control system is an acceleration command developed
by the computer. The computer can be modeled by a sample-and-hold.
The s-plane model is shown in Figure (c). The first step in finding the
z-plane model is to find G(z), the forward-path transfer function.
−1 2
𝐺
  ( 𝑧 )=( 1 − 𝑧 ) 𝑧 { 𝐾𝑎 /[ 𝑠 (𝑠 +𝑎)] }

Partial
Fraction
Method!
• So, the close loop TF is

The stability of the system is found by finding the roots


of the denominator. For K = 20, the roots of the
denominator are 0.12 ± j0.78. The system is thus stable
for K = 20, since the poles are inside the unit circle.
For K = 100, the poles are at - 0.58 and -4.9. Since one
of the poles is outside the unit circle, the system is
unstable for K = 100.
Meanwhile, in the high-order denominator…

• It is in polynomial form, not factored form.


• Tabular methods for determining stability, such as the
Routh-Hurwitz method used for higher-order continuous
systems.
Example 2
• Partial fraction of G(s)

• Z transform, G(z)

• T(z)
Interpretation of Result
• The pole of result, T(z), is , monotonically decreases
from +1 to -1 for 0 < T < 0.2.
• For 0:2 < T < 1; monotonically decreases from -1 to
-10.
•  Thus, the pole of T(z) will be inside the unit circle,
and the system will be stable if 0 < T < 0.2. In terms
of frequency, where f = 1/T, the system will be stable
as long as the sampling frequency is 1=0.2 = 5
hertz or greater.
Bilinear Transformation
• Bilinear transformations give us the ability to apply our s-
plane analysis and design techniques to digital systems.
• We can consider and its inverse, , as the exact transformations
between z and s. Thus, if we have G(z) and substitute , we
•  obtain as the result of converting to s. Similarly, if we have
G(s) and substitute , we obtain as the result of converting to z.
• Bilinear transformation of the form below and its inverse have
been derived to yield linear variables in s and z.
Digital System Stability via the s-Plane
• We look at a bilinear transformation that maps -axis points on
the s-plane to unit-circle points on the z-plane.
• Further, the transformation maps right–half-plane points on
the s-plane to points outside the unit circle on the z-plane.
• Finally, the transformation maps left–half-plane points on the
•  
s-plane to points inside the unit circle on the z-plane.
• Thus, we are able to transform the denominator of the
pulsed transfer function, D(z), to the denominator of a
continuous transfer function, D(s), and use the Routh-
Hurwitz criterion to determine stability.
Routh-Hurwitz Criterion
• Obtain the characteristic equation of the system (assuming )

• If there is one (or more) term when another term , then one at least of
• the roots of the equation are in the right part of the s-plane positive
 (instability) or else a complex conjugated pair of roots are located in
the axis of s-plane (critical stability). This condition is necessary but
not sufficient.
• If all coefficients , group the coefficients in the following matrix
arrangement
Example

One pole outside the unit


circle
No poles on the unit
Change of sign circle.
At least one root in the Two pole inside the unit
right side of the plane circle.
Assignment!
• Given the system in Figure below, find the range of sampling interval,
T, that will keep the system stable.

• Find the range of gain, K, to make the system shown in Figure below
stable.

 • Given , where , use the Routh-Hurwitz criterion to find the number of z-


plane poles of T(z) inside, outside, and on the unit circle. Is the system
stable?
THANK YOU

You might also like