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Control Systems Analysis and Design
Control Systems Analysis and Design
=
= + + + = =
0
) ( ) 2 ( ) ( ) 0 ( ) ( ) (
n
s
nT f T f T f f kT f t f
+ + + =
= = =
2 1
0
) 2 ( ) ( ) 0 (
) ( )] ( [ )] ( [ ) (
z T f z T f f
z nT f nT f Z t f Z z F
n
n
2.1 Z-transform
Solution:
Example 1: Find the Z-transform of unit step
function.
f(t)
t
kT
f(kT)
2.1 Z-transform
Apply the definition of Z-transform, we have
1
2 1
3 2
2 1
0
1
1
1 ) (
1
1
) ( )] ( [ )] ( [ ) (
= + + + =
= + + + +
+ + + =
= = =
z
z z z F
q
a
aq aq aq a
z z
z kT f kT f Z t f Z z F
k
k
2.1 Z-transform
Another method
1
1
3 2 1 2 1 1 1
2 1
0
1
1
) ( 1 ) ( ) (
) 1 ( ) (
1
) ( )] ( [ )] ( [ ) (
= =
+ + = + + + =
+ + + =
= = =
z
z F z F z z F
z z z z z z z F z
z z
z kT f kT f Z t f Z z F
k
k
2.1 Z-transform
Example 2: Find the Z-transform of a
exponential decay.
Solution:
f(t)
t
1
2 2 1
0
1
1
) (
1
)] ( [ ) (
) (
=
+ + + =
= =
=
z e
z F
z e z e
z e kT f Z z F
e kT f
aT
aT aT
k
k akT
akT
2.1 Z-transform
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e
-at
using other
method.
f(t)
t
2.1 Z-transform
Example 3: Find the Z-transform of a cosine
function.
Solution: As
2
sin ;
2
cos
sin cos ; sin cos
j
e e
t
e e
t
t j t e t j t e
t j t j t j t j
t j t j
e e e e
e e
e e
e e e e
=
+
=
= + =
2.1 Z-transform
2 1
1
2 1
1
2 1 1
1 1
1 1
1 1
1 1
1
cos 2 1
cos 1
) cos 2 1 ( 2
cos 2 2
) ( 1
) ( 2
2
1
) 1 )( 1 (
1 1
2
1
1
1
1
1
2
1
) (
1
1
] [
]) [ ] [ (
2
1
2
] [cos ) (
+
=
+
=
+ +
+
=
+
=
(
=
+ =
(
+
= =
z T z
T z
z T z
T z
z z e z e
z e z e
z e z e
z e z e
z e z e
z F
z e
e Z
e Z e Z
e e
Z kT Z z F
T j T j
T j T j
T j T j
T j T j
T j T j
aT
at
t j t j
t j t j
e
e
e
e
e e
e e
e e
e e
e e
e e
e e
2.1 Z-transform
Exercise 2: Find the Z-transform for decayed
cosine function
t e t f
at
e cos ) (
=
2 2 1
1
cos 2 1
cos 1
) (
+
=
z e T e z
T e z
z F
aT aT
aT
e
e
2.1 Z-transform
Example 4: Find the Z-transform for
Solution:
at
e t f
=1 ) (
| |
) 1 )( 1 (
) 1 (
1
1
1
1
) (
1
1
] [ ;
1
1
] [ ] 1 [
] [ ] 1 [ 1 )] ( [ ) (
1 1
1
1 1
1 1
= =
= = =
z e z
z e
z e z
z F
z e
e Z
z
step Z Z
e Z Z e Z kT f Z z F
aT
aT
aT
aT
at
at at
2.1 Z-transform
Exercise 3: Find the Z-transform for
at
te t f
= ) (
2 1
1
) 1 (
) (
aT
aT
e z
e Tz
z F
=
2.1 Z-transform
The functions can be given either in time
domain as f(t) or in S-domain as F(s). They
are equivalent. eg.
a) A unit step function: 1(t) or 1/s
b) A ramp function: t or 1/s
2
c) f(t)=1-e
-at
or a/(s(s+a))
etc.
2.2 Z-transform theorems
Linearity: If f(t) and g(t) are Z-transformable
and o and | are scalar, then the linear
combination of(t)+|g(t) has the Z-
transform
Z[of(t)+|g(t)]= oF(z)+ |G(z)
2.2 Z-transform theorems
Shifting Theorem:
Given that the Z-transform of f(t) is F(z), find
the Z-transform for f(t-nT).
f(t)
t
f(t-nT)
t
nT
2.2 Z-transform theorems
If f(t)=0 for t<0 has the Z-transform F(z), then
Proving: By Z-transform definition, we have
(
= +
=
1
0
) ( ) ( )] ( [
and ) ( )] ( [
n
k
k n
n
z kT f z F z nT t f Z
z F z nT t f Z
= =
= =
0
) (
0
) (
0 0
) ( ) (
) ( ) ( )] ( [
k
n k n
k
n n k
k
n n k
k
k
z nT kT f z z z nT kT f
z z nT kT f z nT kT f nT t f Z
2.2 Z-transform theorems
Defining m=k-n, we have
Since f(mT)=0 for m<0, we can rewrite the above as
Thus, if a function f(t) is delayed by nT, its Z-
transform would be multiplied by z
-n
. Or,
multiplication of a Z-transform by z
-n
has the
effect of moving the function to the right by nT
time. This is the so-called Shifting Theorem.
=
=
= =
n m
m n
k
n k n
z mT f z z nT kT f z nT t f Z ) ( ) ( )] ( [
0
) (
) ( ) ( ) ( )] ( [
0
z F z z mT f z z mT f z nT t f Z
n
m
m n
n m
m n
=
= = =
2.2 Z-transform theorems
Final value theorem:Suppose that f(t), where f(t)=0
for t<0, has the Z-transform of F(z), then the final
value of f(t) can be given by
There are other theorems for Z-transform. Please
read the study book or textbook for more details.
) ( ) 1 ( lim ) ( lim
1
1
z F z t f
z t
=
= =
0
) ( )] ( [ ) (
k
k
z kT f t f Z z F
) ( ) ( )] ( ) ( [
2 2 1 1 2 2 1 1
z F k z F k t f k t f k Z + = +
) ( )] ( [
aT at
ze F t f e Z =
) ( )] ( [
a
z
F t f a Z
t
=
) ( )] ( [ z F z kT t f Z
k
=
] ) ( ) ( [ )] ( [
1
0
= +
n
k
k k
z kT f z F z kT t f Z
) ( ) 1 ( )] 1 ( ) ( [
1
z F z t f t f Z
=
1
0
1
) (
) (
=
(
}
z
z F
d f Z
t
t t
) ( ) 1 ( lim ) (
1
1
z F z f
z
=
) ( lim ) 0 ( z F f
z
=
Theorem
Name
Definition
Linearity
Multiply by e
-at
Multiply by a
t
Time Shift 1
Time Shift 2
Differentiation
Integration
Final Value
Initial Value
s
1
1
1
1
z
2
1
s
2 1
1
) 1 (
z
Tz
a s +
1
1
1
1
z e
aT
) ( a s s
a
+
) 1 )( 1 (
) 1 (
1 1
1
z e z
z e
aT
aT
a b
e e
bt at
) )( (
1
b s a s + +
|
|
.
|
\
|
) 1 )( 1 (
) ( 1
1 1
1
z e z e
z e e
a b
bT aT
bT aT
2 2
e
e
+ s
2 1
1
cos 2 1
sin
+ z T z
T z
e
e
2 2
e + s
s
2 1
1
cos 2 1
cos 1
+
z T z
T z
e
e
2 2
) ( e
e
+ + a s
2 2 1
1
cos 2 1
sin
+ z e T e z
T e z
aT aT
aT
e
e
2 2
) ( e + +
+
a s
a s
2 2 1
1
cos 2 1
cos 1
+
z e T e z
T e z
aT aT
aT
e
e
f(t)
F(s)
F(z)
o(t)
1
1
u(t)
t
e
-at
1 e
-at
sinet
coset
e
-at
sinet
e
-at
coset
2.3 Z-transform examples
Example 1: Assume that f(k)=0 for k<0, find the Z-
transform of f(k)=9k(2
k-1
)-2
k
+3, k=0,1,2.
Solution: Obvious f(k) is a combination of three
sub-function 9k(2
k-1
), 2
k
and 3. Therefore, first we
can apply linearity theorem to f(k). Second, sub-
function 9k(2
k-1
) can be considered as a product of
k and 2
-1
2
k
, then we can apply the theorem of
multiply by a
k
. Finally, we can find the answer by
combining these three together.
2.3 Z-transform examples
) 1 ( ) 2 1 (
2
1
3
2 1
1
) 2 1 (
9
] 3 [ ] 2 [ )] 2 ( 9 [ ) (
) 2 1 (
9
1) - (z/2
) 2 / (
2
9
] 2 [
2
9
] 2 2 9 [ )] 2 ( 9 [
2 1
1
1 2 /
2 /
] 1 2 [ ] 2 [
) 1 ( ) 1 (
Tz
Z[t] ;
1 z - 1
1
Z[1] ; )] ( [
] 3 [ ] 2 [ )] 2 ( 9 [ ] 3 2 ) 2 ( 9 [ ) (
1 2 1
2
1 1 2 1
1
1
2 1
1
2
1 1
1
2 2 1
1 -
1 -
1 1
+
=
= + =
= = = =
= =
= =
|
.
|
\
|
=
+ = + =
z z
z
z z z
z
Z Z k Z z F
z
z z
k Z k Z k Z
z z
z
Z Z
z
Tz
z z
z
a
z
F t f a Z
Z Z k Z k Z z F
k k
k k k
k k
t
k k k k
2.3 Z-transform examples
Example 2: Obtain the Z-transform of the
curve x(t) shown below.
0
1
2
3 4 5 6 7 8
1
t
f(t)
2.3 Z-transform examples
Solution: From the figure, we have
K 0 1 2 3 4 5 6
f(k) 0 0 0 1/3 2/3 1 1
Apply the definition of Z-transform, we have
) 1 ( 3 1 3
2 z
) 1 (
3
2 z
3
2
3
0 0 0 ) ( ) (
1
5 4 3
1
5 4 3 -
2 1 5
4 3 -
6 5
4 3
0
+ +
=
+
+
=
+ + + +
+
=
+ + + + + + + = =
z
z z z
z
z z
z z z
z
z z
z z
z k f z F
k
k
+ +
=
=
+
+ = =
+
+
+ =
+
+ + =
+
=
z e z
z z aTe e e aT
z e z z
aTz
a s
Z
s
Z
s
a
Z s F Z z F
a s s s
a
a s
k
s
k
s
k
a s s
a
s F
aT
aT aT aT
aT
2.4 Inverse Z-transform
The inverse Z-transform: When F(z), the Z-
transform of f(kT) or f(t), is given, the operation
that determines the corresponding time sequence
f(kT) is called as the Inverse Z-transform. We
label inverse Z-transform as Z
-1
.
(
+ + +
+ + +
= =
+ + +
+ + +
= = =
n
n o
m
m o
n
n o
m
m o
z a z a z a
z b z b z b b
Z z F Z kT f
z a z a z a
z b z b z b b
t f Z kT f Z z F
2
1
1
2
2
1
1
1 1
2
1
1
2
2
1
1
1
)] ( [ ) (
1
)] ( [ )] ( [ ) (
2.4 Inverse Z-transform
Z-transform
=
Inverse Z-transform
=
2.4 Inverse Z-transform
The inverse Z-transform can yield the
corresponding time sequence f(kt) uniquely.
However, it says nothing about f(t). There might
be numerous f(t) for a given f(kT).
f(t)
t
0
T 2T 3T 4T 5T 6T
2.4 Inverse Z-transform
x(kT)
f(t)
Zero-order
Hold
Low-pass
Filter
2.5 Methods for Inverse Z-transform
How can we find the time sequence for a
given Z-transform?
1) Z-transform table
Example 1: F(z)=1/(1-z
-1
), find f(kT).
F(z)=1+z
-1
+z
-2
+z
-3
+
f(kT)=Z
-1
[F(z)]=1, for k=0, 1, 2,
2.5 Inverse Z-transform examples
Example 2: Given ,
Find f(kT).
Solution: Apply partial-fraction-expansion to
simplify F(z), then find the simpler terms from
the Z-transform table.
Then we need to determine k
1
and k
2
) 1 )( 1 (
) 1 (
) (
1 1
1
=
z e z
z e
z F
aT
aT
1
2
1
1
1 1
1
1 1 ) 1 )( 1 (
) 1 (
) (
=
=
z e
k
z
k
z e z
z e
z F
aT aT
aT
2.5 Inverse Z-transform examples
Multiply (1-z
-1
) to both side and let z
-1
=1, we have
1
2
1
1
1 1
1
1 1 ) 1 )( 1 (
) 1 (
) (
=
=
z e
k
z
k
z e z
z e
z F
aT aT
aT
1
1
) 1 (
1
) 1 (
1
) 1 (
1 1
) 1 (
) 1 )( 1 (
) 1 (
) 1 (
1
1
1
1
1
2
1
1
1
1
1
2
1
1
1
1 1
1
1
1
=
+ =
|
.
|
\
|
z
aT
aT
aT aT
aT
aT aT
aT
z e
z e
k
z e
k z
k
z e
z e
z e
k
z
k
z
z e z
z e
z
2.5 Inverse Z-transform examples
Similar as the above, we let multiply (1-e
-aT
z
-1
) to
both side and let z
-1
=e
aT
, we have
Finally, we have
1
1
) 1 (
1
) 1 (
1
) 1 (
1 1
) 1 (
) 1 )( 1 (
) 1 (
) 1 (
1
1
1
2 2
1
1
1
1
1
1
2
1
1
1
1 1
1
1
=
= +
|
.
|
\
|
aT
e z
aT aT aT
aT
aT
aT
aT
aT
z
z e
k k
z
k z e
z
z e
z e
k
z
k
z e
z e z
z e
z e
0,1,2, k , 1 ) (
1
1
1
1
) 1 )( 1 (
) 1 (
) (
1 1 1 1
1
= =
=
=
akT
aT aT
aT
e kT f
z e z z e z
z e
z F
2.5 Inverse Z-transform examples
Exercise 4: Given the Z-transform
Determine the initial and final values of f(kT), the
inverse Z-transform of F(z), in a closed form.
Hint: Partial-fraction-expansion, then use Z-
transform table, and finally applying initial &
final value theorems of Z-transform.
) 4 . 0 3 . 1 1 )( 1 (
) (
2 1 1
1
+ +
=
z z z
z
z F
2.5 Inverse Z-transform examples
2) Direct division method
Example 1: F(z)=1/(1+z
-1
), find f(kT).
1
1
1 1
1
1
1
+
+
-z
z
z
1
2
2 1
1
1
1
1
1
1 1
+
+
+
z
z
z z
-z
z
z
-
+
+
+
+
2 1
2
2 1
1
1
1
1
1
1 1
z z
z
z z
-z
z
z
-
2.5 Inverse Z-transform examples
Finally, we obtain: F(z)=1-z
-1
+z
-2
-z
-3
+
K = 0 1 2 3
F(kT)= 1 -1 1 -1
Example 2: Given ,
Find f(kT).
Solution: Dividing the numerator by the
denominator, we obtain
2 1
1
) 1 (
2 1
) (
+
=
z
z
z F
+ + +
+
+ +
2 1
5 4
5 4 3
4 3
4 3 2
3 2
3 2 1
2 1
2 1
1 2 1
7 4 1
10 13
10 20 10
7 10
7 14 7
4 7
4 8 4
4
2 1
2 1 2 1
z z
z z
z z z
z z
z z z
z z
z z z
z z
z z
z z z
2.5 Inverse Z-transform examples
Finally, we obtain: F(z)=1+ 4z
-1
+ 7z
-2
+ 10z
-3
+
K = 0 1 2 3
F(kT)= 1 4 7 10
Exercise 5: ,
Find f(kT).
Ans. :k 0 1 2 3 4 5
f(kT) 0 0.3679 0.8463 1 1 1
2 1
4 3 2 1
3679 . 0 3679 . 1 1
05659 . 0 02221 . 0 343 . 0 3679 . 0
) (
+
+
=
z z
z z z z
z F
2.5 Inverse Z-transform examples
3) Computational method using Matlab
Example: Given find f(kT).
Solution:
num=[1 2 0]; den=[1 2 1]
Say we want the value of f(kT) for k=0 to 30
u=[1 zeros(1,30)]; F=filter(num, den, u)
1 4 7 10 13 16 19 22 25 28 31
2 1
1
) 1 (
2 1
) (
+
=
z
z
z F
1 2
2
) 1 (
2
) 1 (
2 1
) (
2
2
2
2
2 1
1
+
+
=
+
=
+
=
z z
z z
z
z z
z
z
z F
2.5 Inverse Z-transform examples
Exercise 6: Given the Z-transform
Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Answer: x(k)=-8.3333(0.5)
k
+8.333(0.8)
k
-2k(0.8)
k-1
x(k)=0;0.5;0.05;0.615;1.2035;-1.6257;-1.8778
2 1 1
1 1
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (
=
z z
z z
z F
Reading
Study book
Module 2: The Z-transform and theorems
Textbook
Chapter 2 : The Z-transform (pp23-50)
Tutorial
Exercise: The frequency spectrum of a continuous-
time signal is shown below.
1) What is the minimum sampling frequency for
this signal to be sampled without aliasing.
2) If the above process were to be sampled at 10
Krad/s, sketch the resulting spectrum from 20
Krad/s to 20 Krad/s.
-8 -4 4 8
e Krad/s
F(e)
Tutorial
Solution: 1) From the spectrum, we can see that the
bandwidth of the continuous signal is 8 Krad/s.
The Sampling Theorem says that the sampling
frequency must be at least twice the highest
frequency component of the signal. Therefore,
the minimum sampling frequency for this signal
is 2*8=16 Krad/s.
-8 -4 4 8
e Krad/s
F(e)
Tutorial
2) Spectrum of the sampled signal is formed by
shifting up and down the spectrum of the
original signal along the frequency axis at i
times of sampling frequency. As e
s
=10 Krad/s,
for i =0, we have the figure in bold line. For i=1,
we have the figure in bold-dot line.
4 8
e Krad/s
F(e)
12 2 6 14 18 16 10 -4 -8
Tutorial
For I=-1, 2, we have
4 8
e Krad/s
12 2 6 14 18 16 10
-18
F(e)
4 8
e Krad/s
12 2 6 14 18 16 10 -2 -4 -6 -8 -14
Tutorial
Exercise 1: Find the Z-transform of a
exponential decay f(t)=e
-aT
using other
method.
f(t)
t
Tutorial
1
1
3 3 2 2 1
2 2 1 1 1
2 2 1
0
1
1
) ( 1 ) ( ) (
) 1 ( ) (
1
) ( )] ( [ )] ( [ ) (
= =
+ + =
+ + + =
+ + + =
= = =
z e
z F z F z e z F
z e z e z e
z e z e z e z F z e
z e z e
kT f kT f Z t f Z z F
aT
aT
aT aT aT
aT aT aT aT
aT aT
k
Tutorial
Exercise 2: Find the Z-transform for a
decayed cosine function
Solution 1:
t e t f
at
e cos ) (
=
| |
2 2 1
1
2 1
1
2 1
1
cos 2 1
cos 1
cos 2 1
cos 1
] cos [
) ( )] ( [ ); ( )] ( [
) (
cos 2 1
cos 1
cos
=
+
=
+
=
= =
=
+
=
z e T z e
T z e
z T z
T z
t e Z
ze F t f e F z F t f Z
z F
z T z
T z
t Z
aT aT
aT
z e z
at
aT at
aT
e
e
e
e
e
e
e
e
Tutorial
Solution 2:
2 2 1
1
1 1
1
cos 2 1
cos 1
1
1
1
1
2
1
) (
1
1
] [
]) [ ] [ (
2
1
2
] cos [ ) (
+
+
+
+
=
(
=
=
+ =
(
+
= =
z e T z e
T z e
z e z e
z F
z e
e Z
e Z e Z
e e
Z t e Z z F
aT aT
aT
T j aT T j aT
aT
at
t j at t j at
t j at t j at
at
e
e
e
e e
e e
e e
Tutorial
Exercise 3: Find the Z-transform for
Solution:
at
te t f
= ) (
| |
2 1
1
2 1
1
2 1
1
) 1 (
) 1 (
] [
) ( )] ( [ ); ( )] ( [
) (
) 1 (
=
=
= =
=
=
z e
z Te
z
Tz
te Z
ze F t f e F z F t f Z
z F
z
Tz
t Z
aT
aT
z e z
at
aT at
aT
Tutorial
Exercise 4: Given the Z-transform
Determine the initial and final values of f(kT), the
inverse Z-transform of F(z), in a closed form.
Solution: Apply the initial value theorem and the
final value theorem respectively, we have
) 4 . 0 3 . 1 1 )( 1 (
) (
2 1 1
1
+ +
=
z z z
z
z F
Tutorial
) ) 8 . 0 ( 4 ) 5 . 0 ( 3 1 (
27
1
) (
8 . 0 1
48 . 1
5 . 0 1
11 . 1
1
37 . 0
8 . 0 1 5 . 0 1 1
) 5 . 0 1 )( 8 . 0 1 )( 1 ( ) 4 . 0 3 . 1 1 )( 1 (
) (
7 . 2
1
) 4 . 0 3 . 1 1 )( 1 (
) 1 (
)] ( ) 1 [( ) (
0
) 4 . 0 3 . 1 1 )( 1 (
) ( ) 0 (
1 1 1 1
3
1
2
1
1
1 1 1
1
2 1 1
1
2 1 1
1 1
1
1
2 1 1
1
lim lim
lim lim
k k
z z
z z
k f
z z z z
k
z
k
z
k
z z z
z
z z z
z
z F
z z z
z z
z F z f
z z z
z
z F f
+ =
+
+
+
=
+
+
+
+
=
+ +
=
+ +
=
=
+ +
= =
=
+ +
= =
Tutorial
Exercise 5: Given
Find f(kT) using direct-division method.
Solution:
2 1
4 3 2 1
3679 . 0 3679 . 1 1
05659 . 0 02221 . 0 343 . 0 3679 . 0
) (
+
+
=
z z
z z z z
z F
1
4 3 2
3 2 1
4 3 2 1 2 1
3679 . 0
0565 . 0 1576 . 0 0.8463
1354 . 0 5033 . 0 3679 . 0
0565 . 0 02221 . 0 343 . 0 3679 . 0 3679 . 0 3679 . 1 1
+
+ +
z
z z z
z z z
z z z z z z
Tutorial
Continuous
+ + + + =
+ + +
+
+
+ +
4 3 2 1
4 3 2 1
5 4
5 4 3
4 3
4 3 2
4 3 2
3 2 1
4 3 2 1 2 1
8463 . 0 3679 . 0 ) (
8463 . 0 3679 . 0
3679 . 0
3679 . 0 3679 . 1
3679 . 0
3114 . 0 1576 . 1 8463 . 0
0565 . 0 1576 . 0 0.8463
1354 . 0 5033 . 0 3679 . 0
0565 . 0 02221 . 0 343 . 0 3679 . 0 3679 . 0 3679 . 1 1
z z z z k f
z z z z
z z
z z z
z z
z z z
z z z
z z z
z z z z z z
Tutorial
Exercise 6: Given the Z-transform
Use 1) the partial-fraction-expansion method and 2)
the Matlab to find the inverse Z-transform of
F(z).
Solution1: To make the expanded terms more
recognizable in the Z-transform table, we
usually expand F(z)/z into partial fractions.
2 1 1
1 1
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (
=
z z
z z
z F
2
) 5 . 0 (
1 5 . 0
5 . 0
) 8 . 0 (
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 8 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 8 . 0 (
333 . 8
) 8 . 0 (
1 5 . 0
0.5 z let
8 . 0
) 5 . 0 (
) 8 . 0 (
) 5 . 0 (
) 8 . 0 (
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 5 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 5 . 0 (
8 . 0 ) 8 . 0 ( ) 5 . 0 ( ) 8 . 0 )( 5 . 0 (
1 5 . 0 ) (
) 8 . 0 )( 5 . 0 (
) 1 5 . 0 (
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (
8 . 0
2
3
2
2
1
3
2
2 1
2
2
2
5 . 0
2
1
3
2
2
1
2
3
2
2 1
2
3
2
2 1
2
2 2 1 1
1 1
=
+ +
|
|
.
|
\
|
= =
+ =
|
|
.
|
\
|
=
=
=
=
=
=
z
z
z
z
k
z
z k
k
z
z k
z
z
z
k
z
k
z
k
z
z z
z
z
z
z
k
z
z k
z
z k
k
z
z
z
k
z
k
z
k
z
z z
z
z
z
k
z
k
z
k
z z
z
z
z F
z z
z z
z z
z z
z F
k k k
z
z
k f
z z
z
z
z F
z z z z z
z
z
z F
z
z z
z
z
k
z
z
z k z k
z
z k
z
z
derivative
z
z k
k
z
z k
z
z
z
k
z
k
z
k
z
z z
z
z
) 8 . 0 ( 333 . 8 ) 8 . 0 ( 2 ) 5 . 0 ( 333 . 8 ) (
8 . 0 1
333 . 8
) 8 . 0 1 (
2
) 5 . 0 1 (
333 . 8
) (
8 . 0
333 . 8
) 8 . 0 (
2
) 5 . 0 (
333 . 8
) 8 . 0 )( 5 . 0 (
1 5 . 0 ) (
333 . 8
3 . 0
6 . 0 3 . 0 * 5 . 0
) 5 . 0 (
) 1 5 . 0 ( ) 5 . 0 ( 5 . 0
5 . 0
1 5 . 0
8 . 0 let ;
) 5 . 0 (
) 8 . 0 ( ) 5 . 0 (
0
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
5 . 0
) 8 . 0 (
5 . 0
) 8 . 0 (
5 . 0
1 5 . 0
8 . 0 ) 8 . 0 ( ) 5 . 0 (
) 8 . 0 (
) 8 . 0 )( 5 . 0 (
1 5 . 0
) 8 . 0 (
1
1 2 1
1
1
2 2
2
8 . 0
2
8 . 0
'
3
3 3
'
2
1
'
3
2
2
1
3
2
2 1
2
2
2
+ =
+
=
=
=
+
=
=
|
.
|
\
|
=
=
+ +
|
|
.
|
\
|
=
|
.
|
\
|
+ +
|
|
.
|
\
|
=
=
Tutorial
Partial fraction for inverse Z-transform
If F(z)/z involve s a multiple pole, eg. P
1
, then
i
p z
i i
n
n
n
m m
m m
n n
n n
m m
m m
z
z F
p z a
p z
a
p z
a
p z
a
p z p z p z
b z b z b z b
a z a z a z
b z b z b z b
z
z F
=
=
+ + +
=
+ + +
+ + +
=
) (
) ( ;
) ( ) )( (
) (
2
2
1
1
2 1
1
1
1 0
1
1
0
1
1
1 0
1
1
) (
) ( ;
) (
) ( ;
) (
) (
) ( ) ( ) ( ) (
) (
2
1 2
2
1 1
3
3
1
2
2
1
1
3
2
1
1
1
1 0
p z
p z p z
i i
n
n
n
m m
m m
z
z F
p z
dz
d
c
z
z F
p z c
z
z F
p z a
p z
a
p z
a
p z
c
p z
c
p z p z p z
b z b z b z b
z
z F
i
=
= =
= = =
=
+ + +
=
Tutorial
Solution 2: Expand F(z) into a polynomial form
Num=[0 0.5 1 0];
Den=[1 2.1 1.44 0.32];
U==[1 zeros(1,40)];
F=filter(Num, den,U)
0 0.5 0.05 -0.615 -1.2035
3 2 1
2 1
2 1 1
1 1
32 . 0 44 . 1 1 . 2 1
5 . 0
) 8 . 0 1 )( 5 . 0 1 (
) 5 . 0 (
) (
+
=
=
z z z
z z
z z
z z
z F