Hello,
Have a question regarding control systems.
I recently converted several transfer functions from the s domain into the z domain, generated a difference equation, and programmed. One was a lead/lag compensator and the others are filters. By the way, I used Tim's book and another he recommend on digital filters. Thanks it helped.
I compared frequency response plots and step response plots and they match. There was a small phase margin lag over 3 to 5Hz but I was expecting this because of the 50ms processing time.
Processing time for each test is about 50ms and the same time constants and gains configured in the analog system were also configured in the digital system. I did prewarp the critical frequency for one of the filters but not for the lead/lag compensators (two of them).
Question: Are there any recommendations out there that you guys can share in setting time constants in newly converted digital filters and compensators from the analog world? I am using the analog time constants and all appears to be working well, but is there a solid procedure or rule of thumb when doing so. Any recommendations, inlcuding web links, books, and etc. are appreciated.