Digital Control Systems: z -Transform

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Digital Computers in Control

Computers perform various tasks in control loop

Most often replace cascade compensator

Sampling signicantly aects system performance

Stability and transient response depend on gain and sampling rate

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Modeling Sampling

Controller uses xed value for each time increment

Figure : Ideal sampling and zero-order hold

Ideal sampler yields series of delta functions

Area is product of pulse width and sampled-waveform
amplitude
Zero-order hold (ZOH) yields staircase approximation to f (t )
Holds last sampled value for one sampling period
1e Ts
G s
ZOH transfer function is h ( ) =
s
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z -Transform
Taking the Laplace transform of the ideal-sampler's output
Then letting z = e Ts yields the z -Transform

F (z ) = f (kT )z k (1)
X

k =0
Example: nd the z -transform of a sampled unit ramp
f (kT ) = kT

kTz k kz k

F (z ) = T T (z 1 + 2z 2 + 3z 3 + . . .)
X X
= =
k =0 k =0
Next form zF (z ) and subtract F (z )

zF (z ) F (z ) = T (1 + 2z 1 + 3z 2 + . . .) F (z )
= (z 1)F (z ) = T (1 + z 1 + z 2 + . . .)

Since 1 = 1 + z 1 + z 2 + . . .
1 z 1

z
F (z ) = T
(z 1)2

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Performing z -Transform: Use Table Instead of 1

Example: using partial-fraction expansion and the above table nd the sampled
time function of
0.5z
F (z ) =
(z 0.5)(z 0.7)
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Performing z -Transform: Use MATLAB Instead of 1

z -transform Inverse z -transform

>> syms n T >> syms z k
>> f = n *T ; >> F=.5 * z / ( ( z . 5 ) * ( z . 7 ) ) ;
>> F = z t r a n s ( f ) >> f=i z t r a n s ( F , k )

F = f =

(T* z ) / ( z 1)^2 ( 5 * ( 7 / 1 0 ) ^ k )/2 ( 5 * ( 1 / 2 ) ^ k )/2

>> p r e t t y ( F ) >> vpa ( f )

T z
ans =
2
( z 1) 2.5*0.7^ k 2.5*0.5^ k

>> >>

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