6. Discrete-Time Control Systems. control continuous-time Analog-to-Digital system consists of four major parts: 1. The Plant which is a dynamic system -First order time lag. 2. The Converter (ADC). 3. The Controller(uP), a microprocessor with a "real-time" OS. 4. The Digital-to-Analog Converter (DAC). Let T is the sampling time, T-1 sec. The output of the block µP is signal U(k) again only defined at certain moment in time (k). Hold elements transform this variable into a continuous-time signal with Zero-Order Holds (ZOH). 6.1 Draw

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