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Digital Controller

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5 views

Digital Controller

Uploaded by

gokulrajraj839
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Digital control

Digital control is a branch of control theory that uses digital computers to act as system
controllers. Depending on the requirements, a digital control system can take the form of a
microcontroller to an ASIC to a standard desktop computer. Since a digital computer is a discrete
system, the Laplace transform is replaced with the Z-transform. Since a digital computer has
finite precision (See quantization), extra care is needed to ensure the error in coefficients, analog-
to-digital conversion, digital-to-analog conversion, etc. are not producing undesired or unplanned
effects.

Since the creation of the first digital computer in the early 1940s the price of digital computers
has dropped considerably, which has made them key pieces to control systems because they are
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 (See adaptive
control) and digital computers are much less prone to environmental conditions than capacitors,
inductors, etc.

Digital controller implementation

A digital controller is usually cascaded with the plant in a feedback system. The rest of the
system can either be digital or analog.

Typically, a digital controller requires:

Analog-to-digital conversion to convert analog inputs to machine-readable (digital) format

Digital-to-analog conversion to convert digital outputs to a form that can be input to a plant
(analog)

A program that relates the outputs to the inputs

Output program

Outputs from the digital controller are functions of current and past input samples, as well as
past output samples - this can be implemented by storing relevant values of input and output
in registers. The output can then be formed by a weighted sum of these stored values.

The programs can take numerous forms and perform many functions

A digital filter for low-pass filtering

A state space model of a system to act as a state observer

A telemetry system
Stability

Although a controller may be stable when implemented as an analog controller, it could be


unstable when implemented as a digital controller due to a large sampling interval. During
sampling the aliasing modifies the cutoff parameters. Thus the sample rate characterizes the
transient response and stability of the compensated system, and must update the values at the
controller input often enough so as to not cause instability.

When substituting the frequency into the z operator, regular stability criteria still apply to discrete
control systems. Nyquist criteria apply to z-domain transfer functions as well as being general
for complex valued functions. Bode stability criteria apply similarly. Jury criterion determines the
discrete system stability about its characteristic polynomial.

Design of digital controller in s-domain

The digital controller can also be designed in the s-domain (continuous). The Tustin
transformation can transform the continuous compensator to the respective digital
compensator. The digital compensator will achieve an output that approaches the output of its
respective analog controller as the sampling interval is decreased.

Tustin transformation deduction

Tustin is the Padé(1,1) approximation of the exponential function :

And its inverse


Digital control theory is the technique to design strategies in discrete time, (and/or) quantized
amplitude (and/or) in (binary) coded form to be implemented in computer systems
(microcontrollers, microprocessors) that will control the analog (continuous in time and
amplitude) dynamics of analog systems. From this consideration many errors from classical
digital control were identified and solved and new methods were proposed:

Marcelo Tredinnick and Marcelo Souza and their new type of analog-digital mapping[1][2][3]

Yutaka Yamamoto and his "lifting function space model"[4]

Alexander Sesekin and his studies about impulsive systems.[5]

M.U. Akhmetov and his studies about impulsive and pulse control[6]

Design of digital controller in z-domain

The digital controller can also be designed in the z-domain (discrete). The Pulse Transfer
Function (PTF) represents the digital viewpoint of the continuous process when
interfaced with appropriate ADC and DAC, and for a specified sample time is obtained as:[7]

Where denotes z-Transform for the chosen sample time . There are many ways to directly
design a digital controller to achieve a given specification.[7] For a type-0 system under
unity negative feedback control, Michael Short and colleagues have shown that a relatively
simple but effective method to synthesize a controller for a given (monic) closed-loop
denominator polynomial and preserve the (scaled) zeros of the PTF numerator is to
use the design equation:[8]

Where the scalar term ensures the controller exhibits integral action,
and a steady-state gain of unity is achieved in the closed-loop. The resulting closed-loop discrete

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