EEE51402: Lecture (2)

Classical digital control techniques 1

Modelling of discrete time systems
Overview

1 Revisiting Z-transform

2 Mapping of s-plane to z-plane

3 Pulse transfer function

4 Pulse transfer function of closed loop

system

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 1 Revisiting the Z transform

Continuous domain?
Laplace transform

Digital domain?
Let the output of an ideal sampler be denoted by :

= , = 0,1,2 .

() = =
=0

motivation of using Z-transform

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Definition of Z-transform

To transfer it to a rational function:

= = (1/)
Z transform:

= (1/) = =
=0

() = =
And we say, () is the Z-transform of , i. e. () at the
my name is sampling instants =0

If, = + , then: = + = .
= + 4
Definition of Z-transform

Thus, we have been talking about one sided z-transform,

where () = 0 for < 0.

This has a convenient closed form solution in its region of

convergence (ROC)* for most engineering applications.

Note: while sampling a discontinuous function x(t), we

assume that it is continuous from the right, i.e., if
discontinuity occurs at 0 we assume that (0) = (0+ ).

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Limitation of Z-transform method

1. Ideal sampler assumption

z-transform represents the time function only at sampling
.instants.

2. Non uniqueness of z-transform.

3. Accuracy depends on the magnitude of the sampling

frequency relative to the highest frequency component
contained in the function ().
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Properties of Z- transform

Definition:

Property Discrete function Z-Trasform

() ()
Superposition 1 1 + 2 2 () 1 1 + 2 2 ()
Convolution 1 2 () 1 . 2 ()
Delay ; > 0 ()
1

Advance + ; > 0
=0

Initial value theorem 0 = lim ()

Final value theorem lim () = lim

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Inverse Z-transform

The inverse transform can be obtained by using

Partial fraction expansion
Power series
Inverse formula:

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Example

Find the Z-transform of the following sequences:

1. = 1; 1 Unit step
2. = ; 1 Ramp
3. ( + )

Answer:
1
1. = 1 1 = 1 , : > 1

2. = 1 2
, : > 1
3. + = . (0)
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Application of Z-transform in solving
Difference Equation

Consider a discrete time system described by the

following difference equation:

with the initial conditions (0) = 0, (1) = 0. We have

to find the solution () for > 0.

Where, () is the unit step function

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 2 Mapping of s-plane to z-plane

In the analysis and design of continuous time control

systems, the pole-zero configuration of the transfer
function in s-plane is often referred.

Similarly the poles and zeros of a transfer function in z-

domain govern the performance characteristics of a
digital system.

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Mapping guidelines

1. Points on the jw axis in the s-plane correspond to

points on the unit circle, = 1, in the z-plane

2. All the points in the left half s-plane correspond to

points inside the unit circle in z-plane.

3. All the points in the right half of the s-plane

correspond to points outside the unit circle.

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Mapping plane & aliasing

3 /2 x
x
/2 x x

x x
/2
x
x
3 /2

Choose the sampling time such that all poles are in the main strip!
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Time response and root locations

In the s-domain:
A root in negative real axis
an output exponentially decaying with time.
Imaginary axis conjugate poles
undamped oscillations.
Complex conjugate pole pairs in negative s-plane
damped oscillations.
Complex conjugate pole pairs in positive s-plane
growing oscillations.

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Constant damping ()/settling time ( ) loci

Determines the speed of rise/decay

||

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Constant damping frequency ( )
Affects peak time, Tpeak , and frequency of oscillation

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Constant damping ratio ()

It determines the maximum overshoot

z |1|; 0 overshoot

=0

=0

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 3 Pulse transfer function

Assuming 0 initial conditions, the transfer function of an LTI

(Linear Time Invariant) continuous time system is defined as:

=

Analogously, the pulse transfer function relates z-transform of
the output at the sampling instants to the Z-transform of the
sampled input.

f
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Remarks

Pulse transfer function or z-transfer function

characterizes the discrete data system responses only
at sampling instants.

The output information between the sampling instants is

lost.

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Pulse transfer of discrete data systems with
cascaded elements

Case 1:

= 2 ()
= 1

= ()
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Pulse transfer of discrete data systems with
cascaded elements

Case 2:

= 2 1

= ()
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Pulse transfer function of systems with ZOH

Common case: continuous + discrete systems

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Example

Sample the following systems assuming they are

preceded by a ZOH

1. = +

2. = . ; = ; > 1; 0 < 1
+

Answer:
1
1. =

1 +
2. =
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 4 Block diagram for discrete data
systems

Closed loop control has enormous advantages

A mixed signal discrete data system may look as:

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Bonus homework! *

Find the input-output relationship of the sampled data

system shown below:

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Example

Consider the forward path transfer function as

2
= , and the feedback transfer function as
+2
= 1. If the sampler is placed in the forward path, find
out the characteristics equation of the overall system
for a sampling period = 0.1 sec.

Answer:
0.18
= 2
1.64 + 0.82

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Characteristics Equation

Characteristics equation plays an important role in the

study of linear systems
An nth order LTI discrete data system:

Thus, the I/O relation (assuming 0 initial conditions):

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Causality and Physical Realizability

For a causal system:

The output does not precede the input
The transfer function is physically realizable
(The power series expansion of its transfer function must not
contain any positive power in z. )****

Therefore, a causal system as below should have :

= proper transfer function

< strictly proper Transfer function
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Summary

Z-transform

Mapping the s-domain to the Z-domain

The pulse transfer function

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References
Web:
1 IIT Guwahati course on Digital control system (module. 2 & 4):
http://nptel.ac.in/courses/108103008/5
Video:
2 Cairo University course on digital control (Abdel Latif Elshafei)
lecture 2, 3, & 4
Text:
3 Astrom, K.J. and Wittenmark, B. Computer-Controlled Systems.
Prentice-Hall, 1997: chapter 2

M. Gopal, Digital Control and State Variable Methods, Tata

4 Mcgraw Hill, 2/e, 2003.
chapter 2,3
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