Spring 2019 數位控制系統 Digital Control Systems DCS-34 Discretized Controller – Design by Emulation Feng-Li Lian NTU-EE Feb19 – Jun19 DCS34-EmulationDesign-2 Feng-Li Lian © 2019 Introduction: CT and DT Plant-Controller G(s) u(t) y(t) C(s) e(t) r(t) G(z) u[k] y[k] C(z) e[k] r[k] G(s) C(s) G(z) C(z) G(s) C(s) G(z) C(z) Transform CT plant into DT plant By DT plant, design DT controller By CT plant, design CT controller Transform CT controller into DT controller Emulation Discrete Design Direct Design