Analog/Continuous Control Systems Digital/ Discrete Control Systems

Dynamics Differential equation: Difference equation:

a2 y  a1 y  a0 y  b2 x  b1 x  b0 x a2 y (k )  a1 y (k  1)  a0 y (k  2)
 b2 x(k )  b1 x(k  1)  b0 x(k  2)

Power tool Laplace transform: Z-transform:

for analysis  
F ( s )  L[ f (t )]   f (t )e  st dt F ( z )  z f ( kT )   f (kT ) z  k
0
k 0

Important Differentiation theorem: Real translation

Property
L[ f n (t )]  s n F ( s) z[ f (k  n)]  z  n F ( z )

Transfer
Y ( s ) b2 s 2  b1s  b0 Y ( z ) b2 z 2  b1 z  b0
function G(s)   G( z)  
X ( s ) a2 s 2  a1s  a0 X ( z ) a2 z 2  a1 z  a0