计算机控制系统英文版ChaterStateSacedesign.pptVIP

7.1 Sampling a continuous-time state-space system To find the discrete-time equivalent of a continuous-time system is called sampling a continuous-time. 7.1 Sampling a continuous-time state-space system Zero-order-Hold sampling of a system A common situation in computer control is that the D-A converter is a zero-order-hold circuit, i.e., it holds the analog signal constant until a new conversion is commanded. 7.1 Sampling a continuous-time state-space system The system equation of the sampled system at the sampling instants is then (7.2) The model in (7.2) is called a zero-order-hold sampling of the system in (7.1), can also be called the zero-order-hold equivalent of (7.1). 7.1 Sampling a continuous-time state-space system For periodic sampling with period h, the model of (7.2) simplifies to the time-invariant system: How to compute ? and ? 1. Using the equation directly for 1-order system 2. Series expansion of the matrix exponential 3. The Laplace transform of exp(At) is (sI-A)-1 4. Numerical calculation in MATLAB or MATRIX 7.1 Sampling a continuous-time state-space system Example: Using the equation directly for 1-order system 7.1 Sampling a continuous-time state-space system Example: Series expansion of the matrix exponential The double integrator is described by Hence The discrete-time model of the double integrator is 7.1 Sampling a continuous-time state-space system Example: The Laplace transform of exp(At) is (sI-A)-1 Simple normalized model of an electrical DC motor is given by The Laplace transform method gives Hence where L-1 is the inverse of the Laplace transform. 7.2 Solution of the system equation Time-invariant discrete-time systems can be described by the difference equation (7.3) For simplicity the sampling time