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Discrete State Space Design for Digital Control Systems Theory Contents:

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11.1 Introduction 11.2 Discrete State Space Equations from Transfer Functions 11.3 Selection of Sample Interval and Closed Loop Eigenvalues 11.4 Integral Control and Reduced Order Observers 11.4.1 Integral Control 11.4.2 Reduced Order Observers 11.5 Examples

Objective: I Learn how to apply all the continuous time techniques to the design of digital control systems.

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11.1. Introduction

The Discrete State Space Equation defines the response of the system at evenly spaced time steps, keeping u constant between two steps (i.e. put through a zero order hold). Therefore the matrices E and F correspond to the zero order hold equivalent of the continuous system. If we want to obtain the input-output relationship, i.e. the z-domain transfer function, we just have to take z-transforms of the following equations:

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11.1. Introduction

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11.1. Introduction

This is the z-domain transfer function corresponding to the system:

We can see that the characteristic polynomial of matrix E is the denominator of the z-domain transfer function. Therefore: The Eigenvalues of matrix E are the poles of the z-domain transfer function. This is a very nice property because: - Feedback design for discrete systems is identical to feedback design for continuous systems. I.e. the closed loop poles will be the eigenvalues of:

All the theory developed for continuous systems is applicable to discrete systems. 4

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11.1. Introduction
Techniques identical in continuous and discrete state space design: - Transformation of state variables. - Control canonical form, observer canonical form, modal form. - Controllability and Observability. - Feedback design. - Observer design.

Therefore, we ALREADY know how to deal with discrete state space systems. Actually, there are some little things to know: - How to obtain the discrete state space equations from transfer functions. - Selection of the sample interval. - How to implement the term 1/s that appears in integral control and reduced order observer design.

11.2. Discrete State Space Equations from Transfer Functions

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11.2. Discrete State Space Equations from Transfer Functions

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11.2. Discrete State Space Equations from Transfer Functions

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11.2. Discrete State Space Equations from Transfer Functions

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11.2. Discrete State Space Equations from Transfer Functions

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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The sampling rate Should be chosen to be between 5 to 10 times the CLOSED LOOP NATURAL FREQUENCY:

If we have an observer, the closed loop poles of the observer will be 10 times faster than the closed loop natural frequency of the control loop (o). Therefore, the OBSERVER SAMPLING INTERVAL (TO) will be:

If observer and controller have different sampling rates, the eigenvalues of the observer can be chosen to be exactly the same as those of the plant. The observer will still be much faster than the main loop, since T0=T/10
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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.3. Selection of the Sample Interval and Closed Loop Eigenvalues

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11.4. Integral Control and Reduced Order Observers

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In continuous time design there are two cases in which we need to implement the term 1/s. One of them is integral control and the second case is reduced order observer design. The implementation of the 1/s term is slightly different in the discrete time domain, as we will see.

CASE 1: INTEGRAL CONTROL

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11.4.1 Integral Control

INTEGRAL CONTROL

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11.4.1 Integral Control

INTEGRAL CONTROL

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11.4.1 Integral Control

INTEGRAL CONTROL

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11.4.2 Reduced Order Observer

CASE 2: REDUCED ORDER OBSERVER

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11.4.2 Reduced Order Observer

REDUCED ORDER OBSERVER

This difference equation, together with eq. define the reduced order observer

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11.4.2 Reduced Order Observer

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11.5 Examples
You should solve the following examples by next week: Ex. 5.4 Ex. 5.5 Ex. 5.6

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