1 Chapter 13: Digital Control Systems

Chapter 13
Digital Control Systems

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 2 Chapter 13: Digital Control Systems

Figure 13.1
Conversion of
antenna
azimuth position
control system
from:
a. analog control
to
b. digital control

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 3 Chapter 13: Digital Control Systems

Figure 13.2
a. Placement of
the digital
computer within
the loop;
b. detailed block
diagram showing
placement of A/D
and D/A
converters

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 4 Chapter 13: Digital Control Systems

Figure 13.3
Digital-to-analog
converter

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 5 Chapter 13: Digital Control Systems

Figure 13.4
Steps in analog-
to-digital
conversion:
a. analog signal;
b. analog signal
after sample-and-
hold;
c. conversion of
samples to digital
numbers

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 6 Chapter 13: Digital Control Systems

Figure 13.5
Two views of
uniform-rate
sampling:
a. switch opening
and closing;
b. product of time
waveform and
sampling waveform

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Figure 13.6
Model of sampling with a
uniform rectangular
pulse train

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Figure 13.7
Ideal sampling and the
zero-order hold

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Table 13.1
Partial table of z- and s-transforms

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10 Chapter 13: Digital Control Systems

Table 13.2
z-transform theorems

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Figure 13.8
Sampled-data
systems:
a. continuous;
b. sampled input;
c. sampled input
and output

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Figure 13.9
Sampled-data systems
and their z-transforms

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Figure 13.10
Steps in block
diagram reduction
of a sampled-data
system

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Figure 13.11
Digital system for
Skill-Assessment
Exercise 13.4

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Figure 13.12
Computer-controlled
torches cut thick
sheets of metal used
in construction

© BlairSteitz/Photo Researchers.

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Figure 13.13
Mapping regions of the s-plane
onto the z-plane

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 17 Chapter 13: Digital Control Systems

Figure 13.14
Finding stability of
a missile control
system:
a. missile;
b. conceptual block
diagram;
c. block diagram;
d. block diagram
with equivalent single
sampler

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Figure 13.15
Digital system for
Example 13.7

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Table 13.3
Routh table for
Example 13.8

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20 Chapter 13: Digital Control Systems

Figure 13.16
Digital system for
Skill-Assessment
Exercise 13.5

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 21 Chapter 13: Digital Control Systems

Figure 13.17
a. Digital feedback
control system for
evaluation of
steady-state errors;
b. phantom samplers
added;
c. pushing G(s) and its
samplers to the right
past the pickoff point;
d. z-transform
equivalent system

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 22 Chapter 13: Digital Control Systems

Figure 13.18
Constant damping
ratio, normalized
settling time, and
normalized peak
time plots on the
z-plane

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 23 Chapter 13: Digital Control Systems

Figure 13.19
The s-plane
sketch
of constant
percent
overshoot line

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24 Chapter 13: Digital Control Systems

Figure 13.20
Generic digital
feedback control
system

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Figure 13.21
Digital feedback
control for
Example 13.10

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 26 Chapter 13: Digital Control Systems

Figure 13.22
Root locus
for the system
of Figure 13.21

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 27 Chapter 13: Digital Control Systems

Figure 13.23
Root locus for
the system of
Figure 13.21
with constant
0.7 damping ratio
curve

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 28 Chapter 13: Digital Control Systems

Figure 13.24
Sampled step
response of the
system of
Figure 13.21 with
K = 0.0627

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 29 Chapter 13: Digital Control Systems

Figure 13.25
a. Digital control
system showing
the digital computer
performing
compensation;
b. continuous
system
used for design;
c. transformed
digital
system
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 30 Chapter 13: Digital Control Systems

Figure 13.26
Closed-loop
response
for the
compensated
system of Example
13.12 showing
effect
of three different
sampling
frequencies
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31 Chapter 13: Digital Control Systems

Figure 13.27
Block diagram
showing computer
emulation of a digital
compensator

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Figure 13.28
Flowchart for a second-order
digital compensator

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Figure 13.29
Flowchart to
implement

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 34 Chapter 13: Digital Control Systems

Figure 13.30
Antenna control
system:
a. analog
implementation;
b. digital
implementation

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35 Chapter 13: Digital Control Systems

Figure 13.31
Analog antenna azimuth position
control system converted to a
digital system

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36 Chapter 13: Digital Control Systems

Figure 13.32
Root locus
superimposed
over constant
damping ratio
curve

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 37 Chapter 13: Digital Control Systems

Figure 13.33
Sampled step
response of the
antenna azimuth
position control
system

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38 Chapter 13: Digital Control Systems

Figure 13.34
Simplified block
diagram of antenna
azimuth control
system

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 39 Chapter 13: Digital Control Systems

Figure 13.35
Closed-loop digital
step response for
antenna control
system with a lead
compensator.

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 40 Chapter 13: Digital Control Systems

Figure 13.36
Flowchart for digital
lead compensator

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41 Chapter 13: Digital Control Systems

Figure P13.1

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42 Chapter 13: Digital Control Systems

Figure P13.2

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Figure P13.3

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Figure P13.4

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Figure P13.5

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Figure P13.6

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Figure P13.7

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Figure P13.8

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49 Chapter 13: Digital Control Systems

Figure P13.9
Simplified block
diagram for robot
swing motion

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50 Chapter 13: Digital Control Systems

Figure P13.10
Simplified block
diagram of a floppy
disk drive

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51 Chapter 13: Digital Control Systems

Table 13.1
Partial table of z- and s-transforms

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Table 13.2
z-transform theorems

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Table 13.3
Routh table for
Example 13.8

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