Abstract
Digital control of a continuoiis-time system implies discretization in time of the system. The discretization is likely to bring about changes in the dynamic characteristics of the continuous-time system. Two approaches to the design of a digital control system can be considered: 1) discretization of a previously designed continuoustime control system and 2) direct design in the discrete-time domain. The difference between these two approaches and their effects on a closed-loop control system employing a Luenberger-type observer is demonstrated. The first approach consists of simulating a continuous-tim e control system on a digital computer. Because the possibility exists that a given set of parameters of the continuous-time system, such as gains and observer poles, will produce a change in the dynamic characteristics of the system during digital simulation, the question is how large the sampling time can be without affecting adversely the discrete simulation. An example of an unstable digital simulation of a closed-loop control system employing a deterministic observer that is stable in continuous-ti me is presented. The second approach inherently guards against changes in the dynamic characteristics that may be caused by discretization. The two approaches are compared by using a second-order dynamic system.
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