CHAPTER 1
INTRODUCTION TO DISCRETE TIME
CONTROL SYSTEM
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Classical control + control actuator
Input Error Control input Output
x(t)
+ Plant y(t)
X Controller
- e(t) u(t)
desired response actual response
Sensor
Figure 1.1: A typical closed loop continuous time
control system
Input Output
+ Error u(t)
x(t) X A/D Digital controller D/A Plant y(t)
- e(t)
Sensor
Figure 1.2: General block diagram of a digital control
system
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Why do we sample?
Signal processing:
- sampled signals are easier to transmit
- transmitted signals can be regenerated without transmission error
- sampled signals can be more easily coded
- sampled signals can better be modulated
Control:
- multiple use of equipment (multiplexing)
- data are available at particular time instants only
- data are naturally discrete - easier
- sampler is introduced to improve the dynamic behavior of the control loop
- signal can be stored over longer time span
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Types of signal
A continuous time signal is a signal defined over a continuous range of time.
The amplitude may assume a continuous range of values (analog) or may assume only a
finite number of distinct values. The process of representing a variable by a set of
distinct values are called quantization and the resulting distinct values are called
quantized values. The quantized variable changes only by a set of distinct types.
A discrete time signal is a signal defined at discrete instants of time.
If the amplitude can assume a continuous range of values, then the signal is called a
sampled-data signal. A sampled-data signal can be generated by sampling an analog
signal at discrete instants of time. It is an amplitude-modulated pulse signal. A digital
signal is a discrete time signal with quantized amplitude. Such a signal can be
represented by a sequence of numbers, for examples, in the form of binary numbers.
In control engineering, the controlled object is a plant or process. It may be a physical plant or
process or a nonphysical process such as an economic process. Most plants and processes
involve continuous time signals, therefore, if digital controllers are involved in the control
system, signal conversions (analog to digital and vice versa) become necessary. The sampling
of a continuous time signal replaces the original continuous time signal by a sequence of
value at discrete time points. A sampling process is used whenever a control system involves
a digital controller since a sampling operation and quantization are necessary to enter data
into such a controller.
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Sampled data system
Digital controller is controlled by clock. At some points in the system, the system
passes signals of varying amplitude in either continuous time or discrete time.
The output of plant is a continuous time signal. The error signal, e(t) is converted
into digital form by the ‘sample and hold’ circuit and an analog to digital (A/D)
converter. The conversion is done at the sampling rate.
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Definition of terms
Sample - and - Hold (S/H)
Sample and hold is a general term used for a ‘sample and hold amplifier’. It describes a
circuit that receives an analog input signal and holds this signal at a constant value for a
specified period of time.
Analog - to - Digital Converter (A/D) / sampler
An analog - to - digital converter, also called an encoder or sampler, is a device that converts
an analog signal into a digital signal. Such a converter is needed as an interface between
an analog component and a digital component. A sample and hold circuit is often an
integral part of commercially available A/D converter.
Digital - to - Analog Converter (D/A)
Also known as decoder, it is a device that converts digital signal into an analog signal. Such a
converter is needed as an interface between a digital component and analog component.
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Definition of terms - continued
Plant or process
A plant is any physical object to be controlled. Examples are a furnace and a chemical reactor.
Transducer
A device that converts an input signal into an output signal of another form. Example - A
device that converts a pressure signal into voltage output. There are several types of
transducers, analog transducers, sampled - data transducer or digital transducer.
Analog transducer: input & output signals are continuous functions of time. The magnitudes
of the signals may be any values within the physical limitations of the system.
Sampled - data transducer: input & output signals occur only at discrete instants of time, but
the magnitudes of the signals are not quantized.
Digital transducer: input & output signals occur only at discrete instant of time and the signal
magnitudes are quantized.
