Master Course

ADAPTIVE AND LEARNING CONTROL

Lecture 04 – April 13, 2011

Prof. Dr.-Ing. Michael Schnell

Prof. Dr. Schnell Adaptive and Learning Systems 1

 Learning objectives April 13, 2011
Review…
… block diagram of a digital control system, digital/time-discrete signals
... z-transformation, digital system, z-transfer function

Outline today…
… fundamentals:
• discretisation PID-Controller
• simulation with MATLAB

… identification

Prof. Dr. Schnell Adaptive and Learning Systems 2

 Fundamentals
Hold element
∞
u(t) = ∑ u(kT0 ) ⋅ σ(t − kT0 ) − σ(t − (k + 1) T0 )
k =0

∞
1
L {u(t)} = U(s) = ∑ u(kT0 ) ⋅ s ⋅ e −ksT0 1 − e− sT0 
k =0
∞
1 
U(s) = ⋅ 1 − e − sT0
 ⋅ ∑ u(kT0 ) ⋅ e −ksT0 = H0 (s) ⋅ U* (s)
s  
k =0

Sampling element
∞ ∞
y * (t) = ∑ y(kT0 ) ⋅ δ(t − kT0 ) = y(t) ⋅ ∑ δ(t − kT0 )
k =0 k =0
∞ ∞
{ } {
L y * (t) = Y * (s) = ∑ y(kT0 ) ⋅ e −ksT0 Z y * (t) = Y(z) =} ∑ y(kT0 ) ⋅ z−k
k =0 k =0

Prof. Dr. Schnell Adaptive and Learning Systems 3

 Fundamentals

z-Transformation…

Example: z-Transformation of the step function σ(t):

0 t<0
σ (t ) = 
1 t≥0

The infinite series can be written in closed form:

Prof. Dr. Schnell Adaptive and Learning Systems 4

 Adaptive control / Digital control systems

Properties of the z-Transformation

(all poles of (z-1)⋅X(z) are in the unit-

circle)

Prof. Dr. Schnell Adaptive and Learning Systems 5

 Adaptive control / Digital control systems

Table of the
z-Transformation

Prof. Dr. Schnell Adaptive and Learning Systems 6

 Adaptive control / Digital control systems

Digital control systems

Stability of a digital system represented by the z-Transfer
function G(z):

All poles G(z) are within the unit-circle

or
The absolute value of each pole has to be smaller then 1

Prof. Dr. Schnell Adaptive and Learning Systems 7

 Adaptive control / Digital control systems

Digital control systems ... Example

Transfer function Process: z-Transformation (including zoh):

GS (s ) =
1 Y (z ) z − 1  1 
H0GS (z ) = = ⋅ Z  ⋅ GS (s ) 
(1 + 5s ) ⋅ (1 + 10s ) U (z ) z s 

Impulse response Y(z) (with u(z) = 1):

Y (z ) = H0GS (z) ⋅ U (z )

inverse z-Transformation: y (kT0 ) =

difference equation
with u(k)=δ(k):

polynomial division:

Prof. Dr. Schnell Adaptive and Learning Systems 8

 Adaptive control / Digital control systems

Digital control systems ... Example

Transfer function Process: z-Transformation (including zoh):

Y (z) z − 1  1  z −1  1 1 
GS (s ) =
1 H0GS (z ) = = ⋅ Z  ⋅ GS (s )  = ⋅Z  ⋅ 
(1 + 5s ) ⋅ (1 + 10s ) U (z ) z s  z  s (1 + 5s ) ⋅ (1 + 10s ) 
z −1  z z z  0,0329z + 0,0269
= ⋅ + 0.2 −0.2T0
− 0.2 −0.1T0 
= 2
z z −1 z −e z−e  z − 1,4890z + 0,5488

Impulse response Y(z) (with u(z) = 1):

0,0329z + 0,0269 0,0329 ⋅ (z + 0,8176)
Y (z ) = H0GS (z ) ⋅ U (z ) = ⋅1=
z − 1,4890z + 0,5488
2
( z − 0,6703 ) ⋅ ( z − 0,8178 )
 0 k =0
y (kT0 ) = 
inverse z-Transformation: EXERCISE (
- HOMEWORK
0,2217 ⋅ 1,9986 ⋅ e
−0,2k
− 2,2197 ⋅ e −0,4k ) k ≥1

Y (z ) 0,0329z + 0,0269 z −2
difference equation = 2 ⋅ −2
U (z ) z − 1,4890z + 0,5488 z
with u(k)=δ(k): 1⋅ y (k ) − 1,4890 ⋅ y (k − 1) + 0,5488 ⋅ y (k − 2) = 0,0329 ⋅ u(k − 1) + 0,0269 ⋅ u(k − 2)

polynomial division: ( )(
Y (z ) = 0,0329z −1 + 0,0269z −2 : 1 − 1,4890z −1 + 0,5488z −2 )
= 0,0329z −1 + 0,0759z −2 + 0,0950z −3 + ...

Prof. Dr. Schnell Adaptive and Learning Systems 9

 Adaptive control / Simulation of control systems

Simulation
• Simulation of control systems with MATLAB/SIMULINK
• Presentation of important MATLAB functions and features
• MATLAB m-files
• creating of discrete systems: sysd=tf(num,den,T0)
T0: sampling time
• conversion of continuous systems: sysd=c2d(sysc,T0,’zoh’)
zoh: zero-order hold element
• conversion of continuous systems: sysc=d2c(sysd,’zoh’)
• step-response: step
weight-function: impulse
response of LTI-system: lsim
interactive simulation: ltiview
closed loop control: feedback
1
• Example: G(s ) =
(1 + 5s ) ⋅ (1 + 10s )
Prof. Dr. Schnell Adaptive and Learning Systems 10