Module 4: Time Response of Discrete Time Systems: Lecture Note 1

Digital Control
Module 4
Lecture 1
Module 4: Time Response of discrete time systems Lecture Note 1
Time Response of discrete time systems
Absolute stability is a basic requirement of all control systems. Apart from that, good relative stability and steady state accuracy are also required in any control system, whether continuous time or discrete time. Transient response corresponds to the system closed loop poles and steady state response corresponds to the excitation poles or poles of the input function.
1.1
Transient response specications
In many practical control systems, the desired performance characteristics are specied in terms of time domain quantities. Unit step input is most commonly used in analysis of a system since it is easy to generate and represent a suciently drastic change thus providing useful information on both transient and steady state responses. The transient response of a system depends on the initial conditions. It is a common practice to consider the system initially at rest. Consider the digital control system shown in Figure1.
r(t) + e(t) T Digital Controller c(t) Hold Plant T c(kT)
Figure 1: Block Diagram of a closed loop digital system Similar to the continuous time case, transient response of a digital control system can also be characterized by the following. 1. Rise time (tr ): Time required for the unit step response to rise from 0% to 100% of its nal value in case of underdamped system or 10% to 90% of its nal value in case of overdamped system. 2. Delay time (td ): Time required for the the unit step response to reach 50% of its nal value. I. Kar 1
Digital Control
Module 4
Lecture 1
3. Peak time (tp ): Time at which maximum peak occurs. 4. Peak overshoot (Mp ): The dierence between the maximum peak and the steady state value of the unit step response. 5. Settling time (ts ): Time required for the unit step response to reach and stay within 2% or 5% of its steady state value. However since the output response is discrete the calculated performance measures may be slightly dierent from the actual values. Figure 2 illustrates this. The output has a maximum value cmax whereas the maximum value of the discrete output is c max which is always less than or equal to cmax . If the sampling period is small enough compared to the oscillations of the response then this dierence will be small otherwise c max may be completely erroneous.
c(t) c max 1 .0 cmax
Figure 2: Unit step response of a discrete time system
1.2
Steady state error
The steady state performance of a stable control system is measured by the steady error due to step, ramp or parabolic inputs depending on the system type. Consider the discrete time system as shown in Figure 3.
r (t ) e(t ) e (t )
+_
1 e T s s
G p ( s)
c (t )
H ( s)
Figure 3: Block Diagram 2 From Figure 2, we can write E ( s) = R ( s) H ( s) C ( s) I. Kar 2
Digital Control
Module 4
Lecture 1
We will consider the steady state error at the sampling instants. From nal value theorem
k
lim e(kT ) = lim (1 z 1 )E (z )

z 1
G(z ) = (1 z 1 )Z GH (z ) = C (z ) = R (z ) Again, E (z ) = or, E (z ) = ess =
Gp ( s) s Gp ( s) H ( s) (1 z 1 )Z s G( z ) 1 + GH (z ) R(z ) GH (z )E (z ) 1 R (z ) 1 + GH (z ) 1 lim (1 z 1 ) R (z ) z 1 1 + GH (z )
The steady state error of a system with feedback thus depends on the input signal R(z ) and the loop transfer function GH (z ). 1.2.1 Type-0 system and position error constant
Systems having a nite nonzero steady state error with a zero order polynomial input (step input) are called Type-0 systems. The position error constant for a system is dened for a step input. r(t) = us (t) unit step input 1 R (z ) = 1 z 1 1 1 = ess = lim z 1 1 + GH (z ) 1 + Kp where Kp = lim GH (z ) is known as the position error constant.
z 1
1.2.2
Type-1 system and velocity error constant
Systems having a nite nonzero steady state error with a rst order polynomial input (ramp input) are called Type-1 systems. The velocity error constant for a system is dened for a ramp input. r(t) = ur (t) unit ramp Tz T Z 1 R (z ) = = (z 1)2 (1 Z 1 )2 1 T = ess = lim z 1 (z 1)GH (z ) Kv where Kv = I. Kar 1 lim [(z 1)GH (z )] is known as the velocity error constant. T z 1 3
Digital Control 1.2.3
Module 4
Lecture 1
Type-2 system and acceleration error constant
Systems having a nite nonzero steady state error with a second order polynomial input (parabolic input) are called Type-2 systems. The acceleration error constant for a system is dened for a parabolic input. R (z ) = ess T 2 z (z + 1) T 2 (1 + z 1 )z 1 = 2(z 1)3 2(1 z 1 )3 2 (z + 1) T lim = = z 1 2 (z 1)2 [1 + GH (z )] limz1
1
(z 1)2 GH (z ) T2
1 Ka
where Ka = lim
(z 1)2 GH (z ) is known as the acceleration error constant. z 1 T2
Table 1 shows the steady state errors for dierent types of systems for dierent inputs. Table 1: Steady state errors Step input Ramp input Parabolic input 1 1 + Kp 1 0 Kv 1 0 0 Ka
System Type-0 Type-1 Type-2
Example 1: Calculate the steady state errors for unit step, unit ramp and unit parabolic inputs for the system shown in Figure 4.
R ( s)
E ( s)
E ( s)
ZOH
1000
1 10s 500
1 s
C(s)
Figure 4: Block Diagram for Example 1
Solution: The open loop transfer function is: G( s) = C ( s) = Gho (s)Gp (s) E ( s) 1 eT s 1000/10 = s s(s + 500/10)
I. Kar
Digital Control Taking Z-transform G(z ) = 2(1 z 1 )
Module 4
Lecture 1
1 10 10 + 2 s 500s 500(s + 5000) 10z 10z Tz + = 2(1 z 1 ) 2 (z 1) 500(z 1) 500(z e50T ) 1 (500T 10 + 10e50T )z (500T + 10)e50T + 10 = 250 (z 1)(z e50T )
1 where Kp = limz1 G(z ) = . estep ss = 0. 1 + Kp 1 1 Steady state error for ramp input = limz1 [(z 1)G(z )] = 2. eramp = 0.5. where Kv = T ss Kv 1 where Ka = T12 limz1 [(z 1)2 G(z )] = 0. Steady state error for parabolic input = Ka epara = . ss Steady state error for step input =
I. Kar

Module 4: Time Response of Discrete Time Systems: Lecture Note 1

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Module 4: Time Response of Discrete Time Systems: Lecture Note 1

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Digital Control

Module 4: Time Response of discrete time systems Lecture Note 1

Time Response of discrete time systems

Transient response specications

Figure 2: Unit step response of a discrete time system

Steady state error

Figure 3: Block Diagram 2 From Figure 2, we can write E ( s) = R ( s) H ( s) C ( s) I. Kar 2

lim e(kT ) = lim (1 z 1 )E (z )

G(z ) = (1 z 1 )Z GH (z ) = C (z ) = R (z ) Again, E (z ) = or, E (z ) = ess =

Type-1 system and velocity error constant

Digital Control 1.2.3

Type-2 system and acceleration error constant

(z 1)2 GH (z ) is known as the acceleration error constant. z 1 T2

System Type-0 Type-1 Type-2

Figure 4: Block Diagram for Example 1

Digital Control Taking Z-transform G(z ) = 2(1 z 1 )

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