FACULTAD DE INGENIERIA

INGENIERÍA DE
CONTROL II

Prof. Jack Cutipa

Docente de Ing. Mecatrónica e Ing. Electrónica
vidis.cutipa@upn.pe
Docente: Jack Cutipa
SUMILLA

El curso es de naturaleza teórico-práctico y tiene como

propósito que el estudiante aplique los conocimientos de
control y automatización y de los modelos de control al
campo de los procesos industriales, que en nuestro país está
en continuo crecimiento.
Los temas principales son: Sistemas de Control Lineales y No
Lineales, Instrumentos para el Control de Procesos
Industriales

Docente: Jack Cutipa

SUMILLA

Al finalizar el curso, el estudiante aplica los principios

fundamentales de la Ingeniería de Control, haciendo uso de
herramientas de software y de herramientas de hardware,
controladores, variadores de frecuencia, dispositivos de
robótica, microcontroladores, entre otros, así como de otros
instrumentos industriales, con criterio y ética.

Docente: Jack Cutipa

LOGRO

Al finalizar la sesión, el estudiante encuentra la función de

transferencia Z, usando la función de transferencia S con cálculos
matemáticos, resolviendo ejercicios y los conceptos teóricos de
un sistema discreto, con rapidez y exactitud.
CONTENIDOS

1. Función de transferencia en S
2. Función de transferencia en Z.
3. Relación entre Z y S.

Docente: Jack Cutipa

MOTIVACIÓN

https://www.youtube.com/watch?v=j8E9OSt8Xek

Docente: Jack Cutipa

 Digital and Non-Linear Control

Digital System Frequency Response and Modeling

9
 Lecture Outline
• Sampling Theorem

• Frequency Response

• ADC Model

• DAC Model

• Combined Models

10
 Sampling Theorem
• Sampling is necessary for the processing of analog data
using digital elements.

• Successful digital data processing requires that the

samples reflect the nature of the analog signal and that
analog signals be recoverable from a sequence of samples.

11
 Sampling Theorem
• Following figure shows two distinct waveforms with
identical samples.

• Obviously, faster sampling of the two waveforms would

produce distinguishable sequences.
12
 Sampling Theorem
• The band limited signal with
F
𝑓 𝑡 ՜ 𝐹 𝑗𝜔 , 𝐹 𝑗𝜔 ≠ 0, −𝜔𝑚 ≤ 𝜔 ≤ 𝜔𝑚
𝐹 𝑗𝜔 = 0, 𝐸𝑙𝑠𝑒𝑤ℎ𝑒𝑟𝑒

• can be reconstructed from the discrete-time waveform

∞

𝑓 ∗ 𝑡 = ෍ 𝑓 𝑡 𝛿(𝑡 − 𝑘𝑇)
𝑘=−∞
• if and only if the sampling angular frequency 𝜔𝑠 = 2𝜋Τ𝑇
satisfies (so sampling frequency needs to double the
required reconstruction frequency)
𝜔𝑠 > 2𝜔𝑚
13
 Selection of Sampling Frequency
• A general signal often has a finite “effective bandwidth”
beyond which its spectral components are negligible.

• This allows us to treat physical signals as band limited and

choose a suitable sampling rate for them based on the
sampling theorem.

• In practice, the sampling rate chosen is often larger than the

lower bound specified in the sampling theorem.

• A rule of thumb is to choose 𝜔𝑠 as

𝜔𝑠 = 𝑘𝜔𝑚 , 5 ≤ 𝑘 ≤ 10
14
 Frequency Response
• Consider a transfer function 𝐻(𝑧) of an LTI
system. For the discrete input 𝑢 𝑘𝑇 =
𝑋𝑠𝑖𝑛(𝜔𝑘𝑇), the steady state output is
𝑦 𝑘𝑇 = 𝑌𝑠𝑖𝑛 𝜔𝑘𝑇 + 𝜙 𝑤ℎ𝑒𝑟𝑒 𝑌 =
𝐻 𝑒 𝑗𝜔𝑇 𝑋 𝑎𝑛𝑑 𝜙 = ∠𝐻 𝑒 𝑗𝜔𝑇 .
• In other words, setting 𝑧 = 𝑒 𝑗𝜔𝑇 in 𝐻(𝑧) gives
magnitude and phase change. Refer to page
40-41 in the textbook.

15
 Example 1
• Compute the steady state response for the
1
following system 𝐻 𝑧 = due to the
(𝑧−0.1)(𝑧−5)
sampled sinusoidal 𝑢 𝑘𝑇 = 3cos(0.2𝑘)
• Set 𝑧 = 𝑒 𝑗𝜔𝑇 ȁ𝜔𝑇=0.2 = 𝑒 0.2𝑗 , so the steady state
response is
H 𝑒 𝑗𝜔𝑇 𝑐𝑜𝑠 𝜔𝑘𝑇 + ∠𝐻 𝑒 𝑗𝜔𝑇 =
1
3cos ൬0.2𝑘 +
𝑒 𝑗0.2 −0.1 𝑒 𝑗0.2 −5

16
 Digital Control System Modeling
• A common configuration of digital control system is shown in
following figure.

17
 ADC Model
• Assume that
– ADC outputs are exactly equal in magnitude to their inputs
(i.e., quantization errors are negligible)
– The ADC yields a digital output instantaneously
– Sampling is perfectly uniform (i.e., occur at a fixed rate)

• The ADC can be modeled as an ideal sampler with

sampling period T. T

u(t) u*(t)

t t
0 0
18
 Sampling Process
T
u(t) u*(t)

u*(t)
u(t)
δT(t)

× ＝

t t t
0 0 0
Modulation modulating modulated
signal pulse(carrier) wave


u (t )   u (t ) (t  kT )
*

k 0
 DAC Model
• Assume that
– DAC outputs are exactly equal in magnitude to their inputs.
– The DAC yields an analog output instantaneously.
– DAC outputs are constant over each sampling period (ZOH).
u(k)
u(t)
uh(t)

• The input-output relationship of the DAC is given by

𝑍𝑂𝐻
𝑢 𝑘 𝑢ℎ 𝑡 , 𝑘𝑇 ≤ 𝑡 ≤ 𝑘 + 1 𝑇 20
 DAC Model
• Unit impulse response of ZOH

21
 DAC Model
• As shown in figure the impulse response is a unit pulse of
width T.

• A pulse can be represented as a positive step at time zero

followed by a negative step at time T.

• Using the Laplace transform of a unit step and the time delay
theorem for Laplace transforms,
1 𝑒 −𝑇𝑠
L 𝑢(𝑡) = L −𝑢(𝑡 − 𝑇) = − 22
𝑠 𝑠
 DAC Model
1 𝑒 −𝑇𝑠
L 𝑢(𝑡) = L −𝑢(𝑡 − 𝑇) = −
𝑠 𝑠
• Thus, the transfer function of the ZOH is
1 − 𝑒 −𝑇𝑠
𝐺𝑍𝑂𝐻 (𝑠) =
𝑠

23
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
• The cascade of a DAC, analog subsystem, and ADC is shown in
following figure. The time difference between the negative
step and positive step is T.

24
 DAC and Analog Subsystem

• Using the DAC model, and assuming that the transfer function
of the analog subsystem is G(s), the transfer function of the
DAC and analog subsystem cascade is

𝐺𝑍𝐴 𝑠 = 𝐺𝑍𝑂𝐻 (𝑠)𝐺(𝑠)

1 − 𝑒 −𝑇𝑠
𝐺𝑍𝐴 𝑠 = 𝐺(𝑠)
𝑠
25
 DAC and Analog Subsystem
1 − 𝑒 −𝑇𝑠
𝐺𝑍𝐴 𝑠 = 𝐺(𝑠)
𝑠
• The corresponding impulse response is
𝐺(𝑠) − 𝐺(𝑠) 𝑒 −𝑇𝑠
𝐺𝑍𝐴 𝑠 =
𝑠

𝐺(𝑠) 𝐺(𝑠) 𝑒 −𝑇𝑠

𝐺𝑍𝐴 𝑠 = −
𝑠 𝑠
• The impulse response is the analog system step response
minus a second step response delayed by one sampling
period.
26
DAC and Analog Subsystem

𝐺(𝑠) 𝐺(𝑠) 𝑒 −𝑇𝑠

𝐺𝑍𝐴 𝑠 = −
𝑠 𝑠

27
 DAC and Analog Subsystem

𝐺(𝑠) 𝐺(𝑠) 𝑒 −𝑇𝑠

𝐺𝑍𝐴 𝑠 = −
𝑠 𝑠
• Inverse Laplace yields
𝑔𝑍𝐴 𝑡 = 𝑔𝑠 (𝑡) − 𝑔𝑠 (𝑡 − 𝑇)

−1 𝐺(𝑠)
• Where 𝑔𝑠 𝑡 = L
𝑠

28
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
𝑔𝑍𝐴 𝑡 = 𝑔𝑠 (𝑡) − 𝑔𝑠 (𝑡 − 𝑇)
• The analog response is sampled to give the sampled impulse
response (ADC part)

𝑔𝑍𝐴 𝑘𝑇 = 𝑔𝑠 (𝑘𝑇) − 𝑔𝑠 (𝑘𝑇 − 𝑇)

• By z-transform, we can obtain the z-transfer function of the

DAC (zero-order hold), analog subsystem, and ADC (ideal
sampler) cascade.
29
 DAC, Analog Subsystem, and ADC Combination
Transfer Function
𝑔𝑍𝐴 𝑘𝑇 = 𝑔𝑠 (𝑘𝑇) − 𝑔𝑠 (𝑘𝑇 − 𝑇)
• Z-Transform is given as
∗ 𝐺(𝑠)
−1 𝑔𝑠 𝑡 = L−1
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z 𝑔𝑠 (𝑡) 𝑠
∗
−1 −1
𝐺(𝑠)
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z L
𝑠
• The * in above equation is to emphasize that sampling of a
time function is necessary before z-transformation.

• Having made this point, the equation can be rewritten more

conveniently as 𝐺(𝑠)
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 −1 )Z
𝑠 30
 Example 2
• Find GZAS(z) for the transfer function of the system given as
𝑉(𝑠) 1
𝐺 𝑠 = =
𝑈(𝑠) 𝑀𝑠 + 𝑏
Solution

• Rewrite transfer function in standard form

𝐾 𝐾/𝜏
𝐺 𝑠 = =
𝜏𝑠 + 1 𝑠 + 1/𝜏

31
 Example 2
𝐾/𝜏
𝐺 𝑠 =
𝑠 + 1/𝜏
• Where 𝐾 = 1/𝑏 and 𝜏 = 𝑀/𝑏
• Now we know
−1
𝐺(𝑠)
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z
𝑠
• Therefore, 𝐺 𝑠 𝐾/𝜏
=
𝑠 𝑠(𝑠 + 1/𝜏)
• The corresponding partial fraction expansion is

𝐺 𝑠 𝐾 𝜏 𝜏
= −
𝑠 𝜏 𝑠 𝑠 + 1/𝜏
32
 Example 2
𝐾 𝜏 𝜏
𝐺𝑍𝐴𝑆 𝑧 = z(1 − 𝑧 −1
)Z −
𝜏 𝑠 𝑠 + 1/𝜏

• Using the z-transform table, the desired z-domain transfer

function is
−1
1 1
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z 𝐾 −
𝑠 𝑠 + 1/𝜏

𝑧−1 𝑧 𝑧
𝐺𝑍𝐴𝑆 𝑧 = 𝐾 −
𝑧 𝑧 − 1 𝑧 − 𝑒 −𝑇/𝜏

𝑧−1
𝐺𝑍𝐴𝑆 𝑧 =𝐾 1−
𝑧 − 𝑒 −𝑇/𝜏 33
 Example 3
• Find GZAS(z) for the transfer function of the system given as
𝑌(𝑠) 1
𝐺 𝑠 = =
𝑈(𝑠) 𝑠(𝑀𝑠 + 𝑏)
Solution

• Rewrite transfer function in standard form

𝐾 𝐾/𝜏
𝐺 𝑠 = =
𝑠(𝜏𝑠 + 1) 𝑠(𝑠 + 1)
𝜏

34
 Example 3
𝐾/𝜏
𝐺 𝑠 =
1
𝑠(𝑠 + 𝜏 )
• Where 𝐾 = 1/𝑏 and 𝜏 = 𝑀/𝑏
• Now we know
−1
𝐺(𝑠)
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z
𝑠
• Therefore, 𝐺 𝑠 𝐾/𝜏
= 2
𝑠 𝑠 (𝑠 + 1/𝜏)
• The corresponding partial fraction expansion is

𝐺 𝑠 1 𝜏 𝜏
=𝐾 2− +
𝑠 𝑠 𝑠 𝑠 + 1/𝜏
35
 Example 3
• The desired z-domain transfer function can be obtained as
−1
1 𝜏 𝜏
𝐺𝑍𝐴𝑆 𝑧 = (1 − 𝑧 )Z𝐾 2 − +
𝑠 𝑠 𝑠 + 1/𝜏

𝑧−1 𝑧 𝜏𝑧 𝜏𝑧
𝐺𝑍𝐴𝑆 𝑧 = 𝐾 2
− +
𝑧 (𝑧 − 1) 𝑧 − 1 𝑧 − 𝑒 −𝑇/𝜏

1 𝜏(𝑧 − 1)
𝐺𝑍𝐴𝑆 𝑧 =𝐾 −𝜏+
𝑧−1 𝑧 − 𝑒 −𝑇/𝜏

𝑇 𝑇
− −
1−𝜏 + 𝜏𝑒 𝜏 𝑧+ 𝜏− 𝑒 𝜏 (𝜏 + 1)
𝐺𝑍𝐴𝑆 𝑧 = 𝐾
(𝑧 − 1)(𝑧 − 𝑒 −𝑇/𝜏 )
36
 BIBLIOGRAFÍA

• Ogata, K. (1996). Sistemas de control en tiempo

discreto. Pearson educación.
• Kuo, B. C. (1996). Sistemas de control automático.
Pearson Educación.
• Dorf, R. C., Bishop, R. H., Canto, S. D., Canto, R. D.,
& Dormido, S. (2005). Sistemas de control moderno
(p. 386). Pearson Prentice Hall.

Docente: Jack Cutipa