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Digital Control Notes - Chapter 1

This document discusses signals, systems, and digital control systems. It defines continuous-time and discrete-time signals, as well as analog and digital signals. Discrete-time control systems are described as systems where variables change at discrete time intervals. Linear difference equations are used to describe linear time-invariant discrete-time systems. The document outlines advantages and disadvantages of digital control systems compared to analog systems, and describes types of sampling including periodic, multi-order, multi-rate, and random sampling. It discusses the sampling theorem and selection of sampling rate.

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Gilbert Sigala
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87 views

Digital Control Notes - Chapter 1

This document discusses signals, systems, and digital control systems. It defines continuous-time and discrete-time signals, as well as analog and digital signals. Discrete-time control systems are described as systems where variables change at discrete time intervals. Linear difference equations are used to describe linear time-invariant discrete-time systems. The document outlines advantages and disadvantages of digital control systems compared to analog systems, and describes types of sampling including periodic, multi-order, multi-rate, and random sampling. It discusses the sampling theorem and selection of sampling rate.

Uploaded by

Gilbert Sigala
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ECE 452/552

Chapter 1
R. TYMERSKI
SIGNALS
A continuous-time signal is a signal defined over a continuous range of
time. The amplitude may assume a continuous range of values or may as-
sume a finite number of distinct or quantized values. An analog signal is one
where both the amplitude and time are continuous.

A discrete-time signal is a signal define only at discrete instants of time


i.e. t is quantized. If the amplitude can assume a continuous range of values,
then the signal is called a sampled-data signal, as it can be generated by sam-
pling an analog signal. A digital signal is discrete-time signal with quantized
amplitude. Such a signal can be represented by a sequence of numbers.

SYSTEMS
Discrete-time control systems are control systems in which one or more
variables can change only at discrete instants of time. These instants will be
denoted by kT or tk (k = 0, 1, 2, . . .)

We will be dealing mainly with linear, time-invariant discrete-time systems,


which can be described by linear difference equations.
The general form of an nth-order linear difference equation is:

x(k) = αn e(k)+αn−1 e(k−1)+· · ·+α0 e(k−n)−βn−1 x(k−1)−· · ·−β0 x(k−n)


The solution of difference equations may be approached by using the z-
transform.

1
DIGITAL CONTROL SYSTEMS

Advantages over analog control:

1. Data processing is straightforward.

2. Control programs (controller characteristics) can be easily changed.

3. Less problems due to internal noise and drift effects.

Disadvantages:

1. The sampling and quantizing process tend to result in more errors,


which degrade system performance.

2. Designing to compensate for such degradation is more complex.

A more detailed block diagram of a digital control system:

2
Types of Sampling

1. Periodic. tk = kT (k = 0, 1, 2, · · ·), gives equally spaced samples.

2. Multi-order sampling. The pattern of the tk  s is repeated periodically.

3. Multi-rate. Different sampling rates used throughout the system.

4. Random. tk is a random variable.

• Generally, periodic sampling will be used.

Selection of sampling rate


Sampling theorem: if a continuous-time signal is bandlimited or contains
no frequency components higher than wc , then theoretically the original sig-
nal can be reconstructed without distortion if it is sampled at a rate of at
least 2wc .

In practice, the sampling frequency is chosen to be much higher the 2wc ,


usually 8-10 times wc .

Note: the sampling frequency affects the stability of a closed-loop digital


control system.

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