Date: 04/10/2018

Review of previous lectures What is the z-transform of sin 𝜃𝑘? cos 𝜃𝑘?

Introduction to and review of: 𝑒 𝑗𝜃𝑘 − 𝑒 −𝑗𝜃𝑘

 Recursive Laws sin 𝜃𝑘 =
𝑗2
 Z - Transformation
1
𝒵(sin 𝜃𝑘) = (𝒵(𝑒 𝑗𝜃𝑘 ) − 𝒵(𝑒 −𝑗𝜃𝑘 ))
𝑥(𝑘 + 1) = 𝐴𝑥(𝑘) + 𝐵𝑢(𝑘) 2𝑗
1 𝑧 𝑧
𝑦(𝑘) = 𝐶𝑥(𝑘) + 𝐵𝑢(𝑘) = ( − )
2𝑗 𝑧 − 𝑒 𝑗𝜃𝑘 𝑧 − 𝑒 −𝑗𝜃𝑘
𝑘−1 𝑧 𝑧 − 𝑒 −𝑗𝜃𝑘 − (𝑧 − 𝑒 𝑗𝜃𝑘 )
= ( )
𝑥(𝑘) = 𝐴 𝑥0 + ∑ 𝐴𝑘−1−𝜏 𝐵𝑢(𝜏)
𝑘
2𝑗 (𝑧 − 𝑒 𝑗𝜃𝑘 )(𝑧 − 𝑒 −𝑗𝜃𝑘 )
𝜏=0 𝑧 −𝑒 −𝑗𝜃𝑘 + 𝑒 𝑗𝜃𝑘
= ( 2 )
where: 2𝑗 𝑧 − 𝑧(𝑒 −𝑗𝜃𝑘 + 𝑒 𝑗𝜃𝑘 ) + 1

𝐴𝑘 𝑥0 ─ free evolution (𝑒 −𝑗𝜃𝑘 +𝑒 𝑗𝜃𝑘 )

𝑧(𝑒 −𝑗𝜃𝑘 − 𝑒 𝑗𝜃𝑘 ) can be written as 2𝑧 2
𝑘−1
(𝑒 −𝑗𝜃𝑘 +𝑒 𝑗𝜃𝑘 )
∑ 𝐴𝑘−1−𝜏 𝐵𝑢(𝜏) − forced evolution where
2
= cos 𝜃𝑘 ,
𝜏=0 𝑒 𝑗𝜃𝑘 −𝑒 −𝑗𝜃𝑘
Also 2𝑗
= sin 𝜃𝑘 ,
The forced evolution is also referred to as the control
response or forced response 𝑒 𝑗𝜃𝑘 − 𝑒 −𝑗𝜃𝑘
𝑧
2𝑗
=
𝐴𝑘 𝑥0 (𝑒 −𝑗𝜃𝑘 + 𝑒 𝑗𝜃𝑘 )
𝑘−1 𝑧 2 − 2𝑧 2 +1
𝑦(𝑘) = 𝐶𝐴𝑘 𝑥0 + ∑ 𝐶𝐴𝑘−1−𝜏 𝐵𝑢(𝜏) + 𝐷𝑢(𝑘) 𝑧 sin 𝜃𝑘
𝒵(sin 𝜃𝑘) = 2
𝜏=0 𝑧 − 2𝑧 cos 𝜃𝑘 + 1

Z – Transform Definition 𝑒 𝑗𝜃𝑘 + 𝑒 −𝑗𝜃𝑘

cos 𝜃𝑘 =
Given a function 𝑓(𝑘) 2
1
+∞
𝑓(𝜏) 𝑓(1) 𝑓(2) 𝒵(cos 𝜃𝑘) = (𝒵(𝑒 𝑗𝜃𝑘 ) + 𝒵(𝑒 −𝑗𝜃𝑘 ))
𝑓(𝑘)  ∑ 𝜏 = 𝑓(0) + + 2 + . .. 2
𝑧 𝑧 𝑧 1 𝑧 𝑧
𝜏=0 = ( 𝑗𝜃𝑘
+ )
2 𝑧−𝑒 𝑧 − 𝑒 −𝑗𝜃𝑘
𝑧 𝑧 𝑧 − 𝑒 −𝑗𝜃𝑘 + 𝑧 − 𝑒 𝑗𝜃𝑘
𝜆𝑘  = ( )
𝑧−𝜆 2 (𝑧 − 𝑒 𝑗𝜃𝑘 )(𝑧 − 𝑒 −𝑗𝜃𝑘 )
(𝑒 𝑗𝜃𝑘 + 𝑒 −𝑗𝜃𝑘 )
𝑧 2𝑧 − 2
𝜆𝑘 𝑢𝑣 ′  𝛷(𝑘) ─ transition matrix = ( 2 )
2 2 (𝑒 −𝑗𝜃𝑘 + 𝑒 𝑗𝜃𝑘 )
𝑧 − 2𝑧 2 + 1
𝑒 𝑗𝜃𝑘 − 𝑒 −𝑗𝜃𝑘
sin 𝜃𝑘 = 𝑧 2𝑧 − 2 cos 𝜃𝑘
𝑗2 = ( 2 )
2 𝑧 − 2𝑧 cos 𝜃𝑘 + 1
𝑒 𝑗𝜃𝑘 = (𝑒 𝑗𝜃 ) 𝑘  𝜆𝑘 ; 𝜆 = 𝑒 𝑗𝜃
𝑒 −𝑗𝜃𝑘 = (𝑒 −𝑗𝜃 ) 𝑘  𝜆𝑘 ; 𝜆 = 𝑒 −𝑗𝜃
Consider a step signal 𝛿−1 (𝑘) For 𝑓(𝑘 − 1)
𝑧 𝑓(0) 𝑓(1) 𝑓(𝑛 − 1)
𝛿−1 (𝑘)  𝛿−1 (𝑧) = 𝑓(𝑘 − 1) = 0 + + 2 +. . . + |
𝑧−1 𝑧 𝑧 𝑧𝑛 𝑓(𝑘−1)
∑+∞
𝑘=0 𝑧𝑘
𝑓(𝑘)  𝑓(𝑧)
𝐻(𝑘) = 𝐴𝑘−1 𝐵  𝐻(𝑧) = (𝑧𝐼 − 𝐴)−1 𝐵
𝐹̅ = 𝑓(𝑘 + 1)
Exercise:
𝑓(1) 𝑓(2)
𝑓(𝑧) = 𝑓(0) + + 2 +. . .
𝑧 𝑧 −1 1 1
𝐴=[ ] , 𝐵=[ ]
0 2 1
𝑧 𝑓(2) 𝑓(3)
𝐹̅ = (𝑓(1) + + 2 + ...)
𝑧 𝑧 𝑧 Compute for forced evolution given a step input
𝑓(1) 𝑓(2) 𝑓(3) signal.
𝐹̅ = 𝑧 ( + 2 + 3 + ...)
𝑧 𝑧 𝑧
= 𝑧𝑓(𝑧) − 𝑧𝑓(0) Solution:
= 𝑧(𝑓(𝑧) − 𝑓(0)) 𝑧
𝑢(𝑘) = 𝛿−1 (𝑘)  𝑢(𝑧) =
𝑧−1
𝑥(𝑘 + 1) = 𝐴𝑥(𝑘) + 𝐵𝑢(𝑘)
𝑥𝑓(𝑧) = 𝐻(𝑧)𝑢(𝑧) = (𝑧𝐼 − 𝐴)−1 𝐵𝑢(𝑧)
𝑥(𝑘)  𝑥(𝑧)
𝑧−2 1
𝑢(𝑘)  𝑢(𝑧) [ ]
(𝑧𝐼 − 𝐴)−1 𝑧+1 1 −1 0 𝑧 + 1
=[ ] =
0 𝑧−2 (𝑧 + 1)(𝑧 − 2)
𝑥(𝑘 + 1) = 𝑧(𝑥(𝑧) − 𝑥(0))
𝐻(𝑧) = (𝑧𝐼 − 𝐴)−1 𝐵
𝑧(𝑥(𝑧) − 𝑥(0)) = 𝐴𝑥(𝑧) + 𝐵𝑢(𝑧) 𝑧−2 1 1 𝑧−1
[ ][ ] [ ]
𝐻(𝑧) = 0 𝑧 + 1 1 = 𝑧+1
𝑧𝐼𝑥(𝑧) − 𝐴𝑥(𝑧) = 𝑧𝑥(0) + 𝐵𝑢(𝑧) (𝑧 + 1)(𝑧 − 2) (𝑧 + 1)(𝑧 − 2)
(𝑧𝐼 − 𝐴)𝑥(𝑧) = 𝑧𝑥(0) + 𝐵𝑢(𝑧)
𝑧−1
[ ] 𝑧
𝑥(𝑧) = (𝑧𝐼 − 𝐴)−1 𝑧𝑥(0) + (𝑧𝐼 − 𝐴)−1 𝐵𝑢(𝑧) 𝑧+1
𝑥𝑓(𝑧) = 𝐻(𝑧)𝑢(𝑧) = ( )
(𝑧 + 1)(𝑧 − 2) 𝑧 − 1
𝑘−1

𝑥(𝑘) = 𝐴 𝑥0 + ∑ 𝐴𝑘−1−𝜏 𝐵𝑢(𝜏)

𝑘 𝑧−1
[ ] 𝑧
𝜏=0 𝑥𝑓(𝑧) = 𝑧+1 ( )
(𝑧 + 1)(𝑧 − 2) 𝑧 − 1
𝑢 = 0 , 𝑥(𝑘) = 𝐴𝑘 𝑥0 𝑅1 𝑧 𝑅2 𝑧 𝑅3 𝑧
𝑥𝑓(𝑧) = + +
𝑧(𝑧 + 1) 𝑧(𝑧 − 2) 𝑧(𝑧 − 1)
𝒵(𝑥(𝑘)) = 𝒵(𝐴𝑘 𝑥0 ) = 𝒵(𝐴𝑘 )𝑥0  (𝑧𝐼 − 𝐴)−1 𝑧𝑥(0) = 𝑅1 𝜆1 𝑘−1 + 𝑅2 𝜆2 𝑘−1 + 𝑅3 𝜆3 𝑘−1
𝒵 (𝛷(𝑘)) = 𝒵(𝐴𝑘 ) = (𝑧𝐼 − 𝐴)−1 𝑧
𝑥𝑓(𝑧) ̅̅̅
𝑅1 ̅̅̅
𝑅2 ̅̅̅
𝑅3
= + +
𝑘−1 𝑧 (𝑧 + 1) (𝑧 − 2) (𝑧 − 1)
𝒵 (∑ 𝐴𝑘−1−𝜏 𝐵𝑢(𝜏)) (𝑧𝐼 − 𝐴)−1 𝐵𝑢(𝑧) ̅̅̅ ̅̅̅ ̅̅̅
𝑅1 𝑧 𝑅2 𝑧 𝑅3 𝑧
𝜏=0 𝑥𝑓(𝑧) = + +
(𝑧 + 1) (𝑧 − 2) (𝑧 − 1)

𝐻(𝑘) = (𝑧𝐼 − 𝐴)−1 𝐵 𝑧−1

𝑥𝑓(𝑧) [ ]
= 𝑧+1
𝑧 (𝑧 + 1)(𝑧 − 2)(𝑧 − 1)
 𝑧−1 Exercise:
𝑥𝑓(𝑧) [ ]
̅̅̅
𝑅1 = lim (𝑧 + 1) = 𝑧+1 |
𝑧→−1 𝑧 (𝑧 − 2)(𝑧 − 1) 𝑧
𝑧=−1 𝑊(𝑧) =
−1/3 (2𝑧 − 1)(3𝑧 + 1)
−2 −2
[ ] [ ] [ ]
= 0 = 0 = 0
(𝑧 + 1) 𝑢(𝑘) → input step
(−3)(−2) 6

𝑧−1 Solution:
𝑥𝑓(𝑧) [ ]
̅̅̅
𝑅2 = lim(𝑧 − 2) = 𝑧+1 | 𝑧
𝑧→2 𝑧 (𝑧 + 1)(𝑧 − 1) 𝑢(𝑘) = 𝛿−1 (𝑘) → 𝑢(𝑧) =
𝑧=2 𝑧−1
1
1
[ ] [ ⁄3] 𝑦𝑓(𝑧) = 𝑊(𝑧)(𝑢(𝑧))
1
= 3 =
(3)(1) (𝑧 − 2) 𝑧 𝑧
𝑦𝑓(𝑧) = ( )( )
(2𝑧 − 1)(3𝑧 + 1) 𝑧 − 1
𝑧−1
𝑥𝑓(𝑧) [ ]
̅̅̅
𝑅3 = lim(𝑧 − 1) = 𝑧+1 | 𝑦𝑓(𝑧) 𝑧
𝑧→1 𝑧 (𝑧 + 1)(𝑧 − 2) =
𝑧=1
𝑧 (2𝑧 − 1)(3𝑧 + 1)(𝑧 − 1)
0 0 𝑅1 𝑅2 𝑅3
[ ] [ ] = + +
= 2 = −1 2𝑧 − 1 3𝑧 + 1 𝑧 − 1
(2)(−1) (𝑧 − 1)
1 𝑥𝑓(𝑧) 𝑧
−1/3 1/3 𝑘 0 𝑅1 = lim (𝑧 − ) = |
𝑥𝑓(𝑘) = ( ) (−1)𝑘 + ( ) 2 + ( ) 1𝑘 𝑧→
1 2 𝑧 (3𝑧 + 1)(𝑧 − 1) 𝑧=1
0 1 −1 2 2
1 1
2 2 2
= = =−
1 1 5 1 5
(3 (2) + 1) (2 − 1)
2 (− 2)
𝛷(𝑘) = 𝐴𝑘 𝛷(𝑧) = (𝑧𝐼 − 𝐴)−1
𝐻(𝑘) = 𝐴𝑘−1 𝐵 𝐻(𝑧) = (𝑧𝐼 − 𝐴)−1 𝐵 1 𝑥𝑓(𝑧) 𝑧
𝑅2 = lim (𝑧 + ) = |
𝜓(𝑘) = 𝐶𝐴𝑘 𝜓(𝑧) = 𝐶(𝑧𝐼 − 𝐴)−1 𝑍 𝑧→−
1 3 𝑧 (2𝑧 − 1)(𝑧 − 1) 𝑧=−1
3 3
𝐶𝐴𝑘−1 𝐵, 𝑘 ≥ 1 1 1
𝑊(𝑘) = { −3 −3
𝐷 ,𝑘 = 0 3
= = =−
2 1 5 4 20
𝑎𝑖𝑖 (𝑧) 𝑎𝑖𝑛 (𝑧) (− − 1) (− − 1) (− ) (− )
𝛷(𝑧) = (𝑧𝐼 − 𝐴)−1 → [ ] (𝑧̅) 3 3 3 3
𝑎𝑛𝑖 (𝑧) 𝑎𝑛𝑛 (𝑧)
𝑥𝑓(𝑧) 𝑧
𝑅3 = lim(𝑧 − 1) = |
𝑃(𝑧) → degree 𝑛 𝑧→1 𝑧 (2𝑧 − 1)(3𝑧 + 1) 𝑧=1
1 1
𝑦(𝑘) = 𝐶𝑥(𝑘) + 𝐷𝑢(𝑘) = =
(1)(4) 4
𝑦(𝑧) = 𝐶𝑥(𝑧) + 𝐷𝑢(𝑧)
= 𝐶(𝑧𝐼 − 𝐴)−1 𝑍𝑥(0) + 𝐶(𝑧𝐼 − 𝐴)−1 𝐵𝑢(𝑧) 𝑧 𝑅1 𝑅2 𝑅3
+ 𝐷𝑢(𝑧) = + +
(2𝑧 − 1)(3𝑧 + 1)(𝑧 − 1) 2𝑧 − 1 3𝑧 + 1 𝑧 − 1
𝐶(𝑧𝐼 − 𝐴)−1 𝑍𝑥(0) → 𝜓(𝑧) 𝑧 = 𝑅1 (3𝑧 + 1)(𝑧 − 1) + 𝑅2 (2𝑧 − 1)(𝑧 − 1)
𝐶(𝑧𝐼 − 𝐴)−1 𝐵𝑢(𝑧) + 𝐷𝑢(𝑧) → 𝑊(𝑧) + 𝑅3 (2𝑧 − 1)(3𝑧 + 1)
= 𝐶(𝑧𝐼 − 𝐴)−1 𝐵 + 𝐷 1
𝑧| 1 , = 𝑅1 (3𝑧 + 1)(𝑧 − 1)
𝑧=
2 2
1 1 1 5 1
= 𝑅1 (3 ( ) + 1) ( − 1) = 𝑅1 ( ) (− )
2 2 2 2 2
2
𝑅1 = −
5
 1
𝑧| 1 − = 𝑅2 (2𝑧 − 1)(𝑧 − 1)
,
𝑧=−
3 3 𝑒 𝑗(𝜔𝑘+𝜙) − 𝑒 −𝑗(𝜔𝑘−𝜙)
1 1 1 5 4 Π(𝑗𝑤) =
− = 𝑅2 (2 (− ) − 1) (− − 1) = (− ) (− ) 2𝑗
3 3 3 3 3 Π(𝑗𝑤) = sin(𝜔𝑘 + 𝜙)
20 1 3
= 𝑅2 ( ) = − , 𝑅2 = −
9 3 20

𝑧|𝑧=1 , 1 = 𝑅3 (2𝑧 − 1)(3𝑧 + 1) 𝑦𝑓(𝑘) 𝑢 = sin 𝑘

1
1 = 𝑅3 (1)(4) , 𝑅3 =
4 𝑦𝑠 (𝑘)

2 3 1 𝑧 sin(1)
𝑅1 = − , 𝑅2 = − , 𝑅3 = 𝒵(sin 𝑘) =
5 20 4 𝑧2 − 2𝑧 cos(1) + 1
𝑘

𝑦𝑓(𝑧) 𝑅1 𝑅2 𝑅3 𝑦𝑓(𝑘) = ∑ 𝑤(𝑘 − 𝜏)𝑢(𝜏)

= + + 𝜏=𝜏0
𝑧 2𝑧 − 1 3𝑧 + 1 𝑧 − 1 𝑘
𝑧 sin(1)
𝑧𝑅1 𝑧𝑅2 𝑧𝑅3 𝑦𝑓(𝑧) = ∑ 𝑤(𝑘 − 𝜏) ( )
𝑦𝑓(𝑧) = + + 𝑧2 − 2𝑧 cos(1) + 1
2𝑧 − 1 3𝑧 + 1 𝑧 − 1 𝜏=𝜏0
2 𝑧 3 𝑧 1 𝑧
𝑦𝑓(𝑧) = − +− +
5 2𝑧 − 1 20 3𝑧 + 1 4 𝑧 − 1
𝑧
𝑤(𝑧) =
𝑧 (2𝑧 − 1)(3𝑧 + 1)
𝜆𝑘 
𝑧−𝜆
𝑦𝑓(𝑧) 1 𝑧 sin(1)
2 𝑧 3 𝑧 1 𝑧 = ( 2 )
𝑦𝑓(𝑧) = − +− + 𝑧 (2𝑧 − 1)(3𝑧 + 1) 𝑧 − 2𝑧 cos(1) + 1
5𝑧 − 1 20 𝑧 + 1 4 𝑧 − 1 𝑅1 𝑅2 𝐿1 𝑧 + 𝐿2
2 3 = + + 2
(2𝑧 − 1) (3𝑧 + 1) 𝑧 − 2𝑧 cos(1) + 1
2 𝑧 3 𝑧 1 𝑧
𝑦𝑓(𝑧) = − +− +
5𝑧 − 1 20 𝑧 + 1 4 𝑧 − 1
2 3 𝑥𝑓(𝑧)
𝑅1 = lim(2𝑧 − 1)
𝑧→
1 𝑧
2
2 1 𝑘 3 1 𝑘 1 1 𝑧 sin(1)
𝑦𝑓(𝑧) = {− ( ) + − (− ) + (1)𝑘 } = ( 2 )|
5 2 20 3 4 (3𝑧 + 1) 𝑧 − 2𝑧 cos(1) + 1
𝛿 −1 (𝑘) 1
𝑧=
2
1
=
1
( 2 sin(1) )
𝑢̂ = 𝑒 −𝑗𝜔𝑘 1 2
−𝑗𝜔𝑘
𝑦̂𝑠 = 𝑒 𝑊(𝑧)|𝑧=𝑒 −𝑗𝜔 (3 ( ) + 1) (1) − 2 (1) cos(1) + 1
2 2 2
1
1 sin(1)
𝑢 = sin 𝑢𝑘 = ( 2 ) = 0.0139
𝑦̅𝑠 − 𝑦̂𝑠 𝑒 −𝑗𝜔𝑘 𝑤𝑒 𝑗𝑤 − 𝑒 −𝑗𝜔𝑘 𝑤𝑒 −𝑗𝑤 5⁄ 1
𝑦𝑠 = = 2 4 − cos(1) + 1
2𝑗 2𝑗
𝑤(𝑒 ) = Π(𝑗𝜔)𝑒 𝑗𝜙
𝑗𝜔

𝑤(𝑒 −𝑗𝜔 ) = Π(𝑗𝜔)𝑒 −𝑗𝜙

𝑒 𝑗𝜔𝑘+𝑗𝜙 Π(𝑗𝜔) − 𝑒 −𝑗𝜔𝑘−𝑗𝜙 Π(𝑗𝜔)

𝑦𝑠 =
2𝑗
 𝑥𝑓(𝑧)
𝑅2 = lim1(3𝑧 + 1)
𝑧→− 𝑧
3
1 𝑧 sin(1)
= ( 2 )|
(2𝑧 − 1) 𝑧 − 2𝑧 cos(1) + 1 1
𝑧=−
3
1
1 − sin(1)
= ( 3 )
1 2
(2 (− ) − 1) (− ) − 2 (1) cos(1) + 1
1
3 3 3
1
5 − sin(1)
=− ( 3 ) = 0.0218
3 1 2
− cos(1) + 1
9 3

𝑦𝑓(𝑧) 1 𝑧 sin(1)
= ( 2 )
𝑧 (2𝑧 − 1)(3𝑧 + 1) 𝑧 − 2𝑧 cos(1) + 1
𝑧 sin(1) = 𝑅1 (3𝑧 + 1)(𝑧 2 − 2𝑧 cos(1) + 1) + 𝑅2 (2𝑧 − 1)(𝑧 2 − 2𝑧 cos(1) + 1) + (𝐿1 𝑧 + 𝐿2 )(3𝑧 + 1)(2𝑧 − 1)
when 𝑧 = 0
0 = 𝑅1 + 𝑅2 + 𝐿2 ; 𝐿2 = −(0.0218 + 0.0139) = −0.0357
Coefficients of z

sin(1) = 3𝑅1 − 2𝑅2 − 𝐿1 ; 𝐿1 = 3(0.0139) − 2(0.0218) − sin(1) = −0.0193

𝑧 𝑧𝐿1 𝑧 2 + 𝐿2 𝑧
𝑦𝑓(𝑧) = 𝑅1 + 𝑅2 + 2
1 1
(𝑧 − 𝑧 ) (𝑧 + 3) 𝑧 − 2𝑧 cos(1) + 1
1 𝑘 1 𝑘
= 0.0139 ( ) + 0.0218 (− ) + 𝐿̂1 cos 𝑘 + 𝐿̂2 sin 𝑘
2 3

𝑧 2 − 𝑧 cos(1)
𝒵(cos 𝑘) =
𝑧 2 − 2𝑧 cos(1) + 1

𝐿1 𝑧 2 + 𝐿2 𝑧 𝐿̂1 [𝑧 2 − 2𝑧 cos(1)] + 𝐿̂2 z sin 1

=
𝑧 2 − 2𝑧 cos(1) + 1 𝑧 2 − 2𝑧 cos(1) + 1

𝐿̂1 = 𝐿1 = −0.0193

𝐿̂1 cos(1) + 𝐿2 −0.0193 cos(1) − 0.0357

𝐿2 = 𝐿̂2 sin(1) − 𝐿̂1 cos(1) , 𝐿̂2 = = = −3.1512
sin(1) sin(1)

1 𝑘 1 𝑘
𝑦𝑓(𝑧) = 0.0139 ( ) + 0.0218 (− ) − 0.0193 cos 𝑘 + −3.1512 sin 𝑘
2 3
Another case 𝑘(𝑘 − 1) = 𝑘 [2] → 𝑘 2 = 𝑘 [2] + 𝑘
𝑘(𝑘 − 1)(𝑘 − 2) = 𝑘 [3]
𝑢(𝑘) = sin 𝜔𝑘
𝑘(𝑘 − 11)(𝑘 − 2)(𝑘 − 3) = 𝑘 [4]
𝑘

𝑦𝑓(𝑘) = ∑ 𝑤(𝑘 − 𝜏)𝑢(𝜏) 𝑡𝑘 1

→
𝜏=𝜏0 𝑘! 𝑠 𝑘+1

𝑘 𝑡 [ℓ] 𝑧
𝑦𝑠 = ∑ 𝑤(𝑘 − 𝜏)𝑢(𝜏) →
ℓ! (𝑧 − 1)ℓ+1
𝜏=−∞
𝑧
𝑒 𝑗𝜔𝑘 − 𝑒 −𝑗𝜔𝑘 𝑢(𝑘) = 𝑘 𝑢(𝑧) =
𝑢(𝑘) = sin 𝜔𝑘 = (𝑧 − 1)2
2𝑗
𝑢̅ = 𝑒 𝑗𝜔𝑘
Exercise:
𝑘

𝑦𝑓 = ∑ 𝑤(𝑘 − 𝜏)𝑢(𝜏) 𝑦𝑓(𝑧) 𝑧

=
𝜏=∞ 𝑧 (2𝑧 − 1)(3𝑧 + 1)(𝑧 − 1)2

where 𝑢(𝜏) = 𝑢̅ = 𝑒 𝑗𝜔𝑘 Solution:

𝑘 𝜊
(solution need be expounded)
𝑗𝜔𝜏
𝑦̅𝑠 = ∑ 𝑤(𝑘 − 𝜏)𝑒 = ∑ 𝑤(𝜉) 𝑒 𝑗𝜔(𝑘−𝜉)
𝑦𝑓(𝑧) 𝑧
𝜏=−∞ 𝜉=+∞ =
𝑧 (2𝑧 − 1)(3𝑧 + 1)(𝑧 − 1)2
+∞ 𝑅1 𝑅2 𝑅3 𝑅4
𝑦̅𝑠 = ∑ 𝑤(𝜉) 𝑒 𝑗𝜔𝑘 𝑒 −𝑗𝜔𝜉
= + + +
1 1 𝑧 − 1 (𝑧 − 1)2
𝑧− 𝑧+
𝜉=0 2 3
+∞

𝑦̅𝑠 = 𝑒 𝑗𝜔𝑘
[∑ 𝑤(𝜉) 𝑒 −𝑗𝜔𝜉 ] 𝑅1 and 𝑅2 can be solved similar to previous
𝜉=0 examples
+∞

𝑤(𝑧) = ∑ 𝑤(𝑘)𝑧 −𝑘 𝑦𝑓(𝑧)

𝑘=0
𝑅4 = lim(𝑧 − 1)2
𝑧→1 𝑧
𝑦̅𝑠 = 𝑒 𝑗𝜔𝑘 (𝑤(𝑧))|𝑧=𝑒 𝑗𝜔 𝑑 𝑦𝑓(𝑧)
𝑅3 = lim [(𝑧 − 1)2 ]
𝑧→1 𝑑𝑧 𝑧
For steady state

Π(𝑗) sin(𝑘 + 𝜙) 𝑧
Therefore the general solution for (𝑧−1)ℓ
is
Π(𝑗) cos 𝜙 sin(𝑘) + Π(𝑗) sin 𝜙 cos 𝑘
𝑧 𝑅ℓ1 𝑅ℓ2 𝑅1ℓ
𝑢(𝑧) = → + +
𝐿̂2 = Π(𝑗) cos 𝜙 , 𝐿̂1 = Π(𝑗) sin 𝜙 (𝑧 − 1)ℓ 𝑧 − 1 (𝑧 − 1)2 (𝑧 − 1)ℓ

𝐿̂1 𝐿̂1 𝑦𝑓(𝑧)

tan 𝜙 = , 𝜙 = arctan 𝑅1ℓ = [ (𝑧 − 1)ℓ ]
𝐿̂2 𝐿̂2 𝑧 𝑧=1
2 2
Π = √(𝐿̂1 ) +(𝐿̂2 ) 𝑑 𝑦𝑓(𝑧) 1
𝑅1ℓ−1 = { [ (𝑧 − 1)ℓ−1 ] }
𝑑𝑧 𝑧 𝑧=1
1!
 𝑑2 𝑦𝑓(𝑧) 1
𝑅2ℓ−2 = { 2
[ (𝑧 − 1)ℓ−2 ] }
𝑑𝑧 𝑧 𝑧=1
2!

𝑑3 𝑦𝑓(𝑧) 1
𝑅3ℓ−3 = { 3
[ (𝑧 − 1)ℓ−3 ] }
𝑑𝑧 𝑧 𝑧=1
3!