Course Name: Digital Control Systems Lecture (7)

Course Code: EEC 161

Level: 2 Prepared by:
Dr. Mohammed Morad Salama

System pulse transfer function

Recall that,

In continuous-time system, the transfer function of a control system is defined as the ratio of the
Laplace transform of the output variable to Laplace transform of the input variable assuming all
initial conditions to be zero.

𝑌(𝑠)
𝑇𝐹(𝑠) = |
𝑈(𝑠) 𝑎𝑙𝑙 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑐𝑜𝑛𝑑𝑖𝑜𝑛𝑡𝑠 𝑎𝑠𝑠𝑢𝑚𝑒𝑑 𝑡𝑜 𝑏𝑒 𝑧𝑒𝑟𝑜

In discrete-time system, the pulse transfer function of a digital control system is defined as the ratio
of the z-transform of the output variable to z-transform of the input variable assuming all initial
conditions to be zero.

𝑌(𝑧)
𝑇𝐹(𝑧) = |
𝑈(𝑧) 𝑎𝑙𝑙 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑐𝑜𝑛𝑑𝑖𝑜𝑛𝑡𝑠 𝑎𝑠𝑠𝑢𝑚𝑒𝑑 𝑡𝑜 𝑏𝑒 𝑧𝑒𝑟𝑜

Example 7-1
Obtain the pulse transfer function of the following difference equation,
𝒚(𝒌 − 𝟐) + 𝟎. 𝟓𝒚(𝒌 − 𝟏) + 𝟎. 𝟐𝒚(𝒌) = 𝒖(𝒌 − 𝟏)
Solution
The z-transform of the difference equation is:
𝑧 −2 𝑌(𝑧) + 0.5𝑧 −1 𝑌(𝑧) + 0.2𝑌(𝑧) = 𝑧 −1 𝑈(𝑧)
𝑌(𝑧)[𝑧 −2 + 0.5𝑧 −1 + 0.2] = 𝑧 −1 𝑈(𝑧)
𝑌(𝑧) 𝑧 −1 𝑧
= −2 =
𝑈(𝑧) 𝑧 + 0.5𝑧 −1 + 0.2 0.2𝑧 2 + 0.5𝑧 + 1

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 1 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 7-2
For given difference equation of a specific digital control system,
𝒚(𝒌) = 𝒚(𝒌 − 𝟏) + 𝒖(𝒌)
i) Obtain the pulse transfer function of the system.
ii) Determine the poles of the system.
iii) Determine the stability of the system according to the poles of the system.
iv) Assuming zero initial conditions, find the unit impulse response of the system
analytically.
v) Sketch the system response.
vi) Assuming zero initial conditions, find the unit pulse response by successive
substitutions.
Solution
Point (i):
The z-transform of the difference equation is:
𝑌(𝑧) = 𝑧 −1 𝑌(𝑧) + 𝑈(𝑧)
𝑌(𝑧)[1 − 𝑧 −1 ] = 𝑈(𝑧)
𝑌(𝑧) 1 𝑧
𝑇. 𝐹 = = =
𝑈(𝑧) 1 − 𝑧 −1 𝑧 − 1
Point (ii):
The pole of the system, 𝑧 = 1

Point (iii):
The system is critically stable, because the pole locates on the unit circle of z-plane.

Point (iv):

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
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 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

System unit impulse response means the output of the system when the input is unit impulse
signal.
𝑧 𝑧
𝑌(𝑧) = 𝑈(𝑧) = (1)
𝑧−1 𝑧−1

𝑦(𝑘) = 𝑢(𝑘)
Or 𝑦(𝑘) = 1𝑘
Or 𝑦(𝑘) = 1, unit step signal.

Point (v):

y(k)=u(k)

1
y(k)

0 K
0 1 2 3 4 5

Point (vi):
The system difference equation is,
𝑦(𝑘) = 𝑦(𝑘 − 1) + 𝑢(𝑘) = 𝑦(𝑘 − 1) + 𝛿(𝑘)
𝑦(0) = 𝑦(0 − 1) + 𝛿(0) = 𝑦(−1) + 𝛿(0) = 0 + 1 = 1
𝑦(1) = 𝑦(1 − 1) + 𝛿(1) = 𝑦(0) + 𝛿(1) = 1 + 0 = 1
𝑦(2) = 𝑦(2 − 1) + 𝛿(2) = 𝑦(1) + 𝛿(2) = 1 + 0 = 1

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 3 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 7-3
For given difference equation of a specific digital control system,
𝒚(𝒌) = 𝟎. 𝟑 𝒚(𝒌 − 𝟏) + 𝒖(𝒌)
i) Obtain the pulse transfer function of the system.
ii) Determine the poles of the system.
iii) Determine the stability of the system according to the poles of the system.
iv) Assuming zero initial conditions, find the unit impulse response of the system
analytically.
v) Sketch the system response.
vi) Assuming zero initial conditions, find the unit pulse response by successive
substitutions.
Solution
Point (i):
The z-transform of the difference equation is:
𝑌(𝑧) = 0.3𝑧 −1 𝑌(𝑧) + 𝑈(𝑧)
𝑌(𝑧)[1 − 0.3𝑧 −1 ] = 𝑈(𝑧)
𝑌(𝑧) 1 𝑧
𝑇. 𝐹 = = =
𝑈(𝑧) 1 − 0.3𝑧 −1 𝑧 − 0.3
Point (ii):
The pole of the system, 𝑧 = 0.3

Point (iii):
The system is stable, because the pole locates within the unit circle of z-plane.

Point (iv):

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 4 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

System unit impulse response means the output of the system when the input is unit impulse
signal.
𝑧 𝑧
𝑌(𝑧) = 𝑈(𝑧) = (1)
𝑧 − 0.3 𝑧 − 0.3

𝑦(𝑘) = 0.3𝑘

Point (v):

1 y(kT)=0.3k
y(k)

0.30

0.09
0 0.03 0.01 K
0 1 2 3 4 5
Hint: the system is stable because its output goes to bounded value.

Point (vi):
The system difference equation is,
𝑦(𝑘) = 0.3 𝑦(𝑘 − 1) + 𝑢(𝑘) = 0.3 𝑦(𝑘 − 1) + 𝛿(𝑘)
𝑦(0) = 0.3 𝑦(0 − 1) + 𝛿(0) = 0.3 𝑦(−1) + 𝛿(0) = 0 + 1 = 1
𝑦(1) = 0.3 𝑦(1 − 1) + 𝛿(1) = 0.3 𝑦(0) + 𝛿(1) = 0.3 + 0 = 0.3
𝑦(2) = 0.3 𝑦(2 − 1) + 𝛿(2) = 0.3 𝑦(1) + 𝛿(2) = 0.09 + 0 = 0.09

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 5 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 7-4
For given difference equation of a specific digital control system,
𝒚(𝒌) = 𝟎. 𝟕𝟎𝟕 𝒚(𝒌 − 𝟏) − 𝟎. 𝟐𝟓 𝒚(𝒌 − 𝟐) + 𝒖(𝒌 − 𝟏)
i) Obtain the pulse transfer function of the system.
ii) Determine the poles of the system.
iii) Determine the stability of the system according to the poles of the system.
iv) Assuming zero initial conditions, find the unit impulse response of the system
analytically.
v) Sketch the system response.
vi) Assuming zero initial conditions, find the unit pulse response by successive
substitutions.
Solution
Point (i):
The z-transform of the difference equation is:
1
𝑌(𝑧) = 𝑧 −1 𝑌(𝑧) − 0.25𝑧 −2 𝑌(𝑧) + 𝑧 −1 𝑈(𝑧)
√2
1
𝑌(𝑧) [1 − 𝑧 −1 + 0.25𝑧 −2 ] = 𝑧 −1 𝑈(𝑧)
√2
𝑌(𝑧) 𝑧 −1 𝑧
𝑇. 𝐹 = = =
𝑈(𝑧) 1 − 1 𝑧 −1 + 0.25𝑧 −2 𝑧 2 − 1 𝑧 + 1
√2 √2 4

Point (ii):
The poles of the system, 𝑧1 = 0.35 + 0.35𝑗 & 𝑧2 = 0.35 − 0.35𝑗
𝑧1 = 0.5∠45 & 𝑧2 = 0.5∠ − 45

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 6 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Point (iii):
The system is stable, because the poles locate within the unit circle of z-plane.

Point (iv):
System unit impulse response means the output of the system when the input is unit impulse
signal.
𝑧 𝑧
𝑌(𝑧) = 𝑈(𝑧) = (1)
2 1 1 2 1 1
𝑧 − 𝑧+ 𝑧 − 𝑧+
√2 4 √2 4
Due to the poles are complex numbers, so the inverse of z-transform do not be obtained by partial
fraction expansion, but by using the general rule (𝑓(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐)), or by get
the sinusoidal function formula.
𝑧−𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑧 𝑠𝑖𝑛 𝜔𝑇
Recall that; 𝑠𝑖𝑛 𝜔𝑘𝑇 →
𝑧 2 −2𝑧 𝑐𝑜𝑠 𝜔𝑇+1
𝑧 ∗4 4𝑧 4𝑧
𝑌(𝑧) = ( )= =
1 1 4 4
𝑧2 − 𝑧+ ∗4 4𝑧 2 − 𝑧 + 1 (2𝑧)2 − 𝑧+1
√2 4 √2 √2
𝑧−𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚
Recall that; 𝑎𝑘 𝑓(𝑘) → 𝐹(𝑧𝑎−1 )
2(0.5)−1 𝑧
𝑌(𝑧) =
2
((0.5)−1 𝑧)2 − (0.5)−1 𝑧 + 1
√2
(0.5)−1 𝑧 (0.5)−1 𝑧
𝑌(𝑧) = 2 =2 𝜋
1 ((0.5)−1 𝑧)2 − 2(0.5)−1 𝑧 𝑐𝑜𝑠 +1
((0.5)−1 𝑧)2 − 2(0.5)−1 𝑧 ∗ +1 4
√2

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
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 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

𝜋
(0.5)−1 𝑧 𝑠𝑖𝑛
𝑌(𝑧) = 2√2 4
𝜋
((0.5)−1 𝑧)2 − 2(0.5)−1 𝑧 𝑐𝑜𝑠 + 1
4
𝜋
𝑦(𝑘) = 2√2(0.5)𝑘 𝑠𝑖𝑛 𝑘
4
Another solution using general rule: 𝑓(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐);
𝑧 𝑧
𝑌(𝑧) = 𝑈(𝑧) =
1 1 1 1
𝑧2 − 𝑧+ 𝑧2 − 𝑧+
√2 4 √2 4
𝑌(𝑧) 1 1
= =
𝑧 1 1 [𝑧 − (0.5∠45)][𝑧 − (0.5∠ − 45)]
𝑧2 − 𝑧+
√2 4
𝑌(𝑧) 𝐴 𝐵
= +
𝑧 𝑧 − (0.5∠45) 𝑧 − (0.5∠ − 45)
𝑌(𝑧)
𝐴= lim (𝑧 − (0.5∠45) ∗ )
𝑧→0.5∠45 𝑧
1
= lim (𝑧 − (0.5∠45) ∗ ) = √2∠ − 90
𝑧→0.5∠45 [𝑧 − (0.5∠45)][𝑧 − (0.5∠ − 45)]

𝑌(𝑧)
𝐵= lim (𝑧 − (0.5∠ − 45) ∗ )
𝑧→0.5∠−45 𝑧
1
= lim (𝑧 − (0.5∠ − 45) ∗ ) = √2∠90
𝑧→0.5∠−45 [𝑧 − (0.5∠45)][𝑧 − (0.5∠ − 45)]

𝑌(𝑧) √2∠ − 90 √2∠90

= +
𝑧 𝑧 − (0.5∠45) 𝑧 − (0.5∠ − 45)
𝜋 𝜋
𝑦(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐) = 2(√2)(0.5𝑘 )𝑐𝑜𝑠 ( 𝑘 − )
4 2

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 8 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

𝜋
𝑦(𝑘) = 2(√2)(0.5𝑘 )𝑠𝑖𝑛 ( 𝑘)
4
Point (v):

1.0
2(√2)(0.5^𝑘 )𝑠𝑖𝑛(𝜋/4 𝑘)
1.0
0.71

0.25
y(k)

0.0 0.00 -0.02 0.00 0.00 0.00 0.00 0.00 0.00 0.0 0.0 0.0
-0.06 -0.04 0.0 0.0
0.0 K
0 5 10 15 20

-1.0

Hint: the system is stable because its output goes to bounded value.

Point (vi):
The system difference equation is,
𝑦(𝑘) = 0.707 𝑦(𝑘 − 1) − 0.25 𝑦(𝑘 − 2) + 𝛿(𝑘 − 1)
𝑦(0) = 0.707 𝑦(0 − 1) − 0.25 𝑦(0 − 2) + 𝛿(0 − 1) = 0.707 𝑦(−1) − 0.25 𝑦(−2) + 𝛿(−1)
=0−0+0=0
𝑦(1) = 0.707 𝑦(1 − 1) − 0.25 𝑦(1 − 2) + 𝛿(1 − 1) = 0.707 𝑦(0) − 0.25 𝑦(−1) + 𝛿(0)
= 0.707(0) − 0 + 1 = 1
𝑦(2) = 0.707 𝑦(2 − 1) − 0.25 𝑦(2 − 2) + 𝛿(2 − 1) = 0.707 𝑦(1) − 0.25 𝑦(0) + 𝛿(1)
= 0.707(1) − 0.25(0) + 0 = 0.707

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 9 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Transfer function of Zero Order Hold (ZOH)

A common configuration for digital control systems is shown in Figure 7-1. The configuration
includes a digital-to-analog converter (DAC), the process (an analog subsystem), and an analog-to-
digital converter (ADC). The DAC converts numbers calculated by a microprocessor or computer
into analog electrical signals that can be amplified and used to control an analog plant. The process
(analog subsystem) includes the plant as well as the actuators necessary to drive it. The output of
the plant is periodically measured and converted to a number that can be fed back to the computer
using an ADC.

Set
e(kT) D/A p(t) Process
Continuous point Computer
+_ ZOH 𝑮𝒑 (𝒔) Output
time signal Sampler (digital controller)
A/D

Sensor
Sampler
A/D

Figure 7-1. Common digital control system configuration.

The digital-to-analog converter can usually be represented by a zero-order hold (ZOH) circuit. The
zero-order hold takes the discrete value and holds it constant for 𝑘𝑇 ≤ 𝑡 < (𝑘 + 1)𝑇, as shown in
Figure 7-2 for k = 0. Thus, the discrete signal is used during the sampling period.

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
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 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

f(kT)
3

2 2

1
0.5
0
T 2T 3T 4T 5T 6T kT
-0.5

ZOH(t)
1
t
T

f(t)
3

2 2

1
0.5
0
T 2T 3T 4T 5T 6T t
-0.5

Figure 7-2. D/A conversion using ZOH function.

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
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 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

The ZOH can be represented by the subtraction of unit step function and right shifted unit step
function by T as shown in Figure 7-3;

u(t)
1
t

u(t-T)
1
t
T

ZOH(t)
1
t
T

Figure 7-3. Modeling of ZOH function using unit step signals.

Thus, 𝑍𝑂𝐻(𝑡) = 𝑢(𝑡) − 𝑢(𝑡 − 𝑇)

The Laplace transform of ZOH (t) is:

1 𝑒 −𝑠𝑇 1 − 𝑒 −𝑠𝑇
𝑍𝑂𝐻(𝑠) = ℒ{𝑢(𝑡)} − ℒ{𝑢(𝑡 − 𝑇)} = − =
𝑠 𝑠 𝑠

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
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 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Hint: by default, in any digital control system, the ZOH function precedes the process transfer
function 𝐺𝑝 (𝑠).

So, the open-loop transfer function of any digital system in s-domain 𝐺(𝑠) is:

1 − 𝑒 −𝑠𝑇
𝐺(𝑠) = 𝑍𝑂𝐻(𝑠) 𝐺𝑝 (𝑠) = 𝐺𝑝 (𝑠)
𝑠

While, the open-loop transfer function of any digital system in z-domain is:

1 − 𝑒 −𝑠𝑇 𝐺𝑝 (𝑠)
𝐺(𝑧) = 𝑍𝑂𝐻(𝑧) 𝐺𝑝 (𝑧) = 𝒵 { 𝐺𝑝 (𝑠)} = (1 − 𝑧 −1 ) ∗ 𝒵 { }
𝑠 𝑠

Where, 𝑧 = 𝑒 𝑠𝑇

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 13 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 7-5
Get the z-transform of open-loop transfer function for digital control system with process
transfer function given as,
𝒂
𝑮𝒑 (𝒔) =
𝒔+𝒂
Solution

𝐺𝑝 (𝑠) 𝑎
𝐺(𝑧) = (1 − 𝑧 −1 )𝒵 { } = (1 − 𝑧 −1 )𝒵 { }
𝑠 𝑠(𝑠 + 𝑎)
𝑎 𝐴 𝐵
= +
𝑠(𝑠 + 𝑎) 𝑠 𝑠 + 𝑎
𝑎 𝑎
𝐴 = lim (𝑠 ∗ )= =1
𝑠→0 𝑠(𝑠 + 𝑎) 0+𝑎
𝑎 𝑎
𝐵 = lim ((𝑠 + 𝑎) ∗ )= = −1
𝑠→ −𝑎 𝑠(𝑠 + 𝑎) −𝑎
𝑎 1 1 𝑖𝑛𝑣𝑒𝑟𝑠𝑒 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚
= − → 𝑢(𝑡) − 𝑒 −𝑎𝑡
𝑠(𝑠 + 𝑎) 𝑠 𝑠 + 𝑎
𝑎 𝑧 𝑧
𝒵{ } = 𝒵{𝑢(𝑘𝑇) − 𝑒 −𝑎𝑘𝑇 } = −
𝑠(𝑠 + 𝑎) 𝑧−1 𝑧 − 𝑒 −𝑎𝑇
𝑎 𝑧 𝑧
𝐺(𝑧) = (1 − 𝑧 −1 )𝒵 { } = (1 − 𝑧 −1 ) ( − )
𝑠(𝑠 + 𝑎) 𝑧−1 𝑧 − 𝑒 −𝑎𝑇
1 𝑧 𝑧 𝑧−1 𝑧 𝑧 𝑧−1
𝐺(𝑧) = (1 − ) ( − ) = ( ) ( − ) = 1 −
𝑧 𝑧−1 𝑧 − 𝑒 −𝑎𝑇 𝑧 𝑧−1 𝑧 − 𝑒 −𝑎𝑇 𝑧 − 𝑒 −𝑎𝑇
−𝑎𝑇 −𝑎𝑇
𝑧−𝑒 −𝑧+1 1−𝑒
𝐺(𝑧) = =
𝑧 − 𝑒 −𝑎𝑇 𝑧 − 𝑒 −𝑎𝑇

Hint:
- The z-transformation do not change the stability state of the system (stable system in this example). Because
the pole (-a) locates on the left half side of s-plane & less than 1 on the z-plane (𝑒 −𝑎𝑇 ).
- The z-transformation do not change the pole location, which = −𝑎 on the s-plane &= 𝑒 −𝑎𝑇 on the z-plane.
Where, 𝑧 = 𝑒 𝑠𝑇 .

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 14 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 7-6
Get the z-transform of open-loop transfer function for digital control system with process
transfer function given as,
𝟐
𝑮𝒑 (𝒔) =
(𝒔 + 𝟏)(𝒔 + 𝟐)
Then, get the poles in the s-domain & z-domain to ensure that 𝒛 = 𝒆𝒔𝑻 .
Solution

𝐺𝑝 (𝑠) 2
𝐺(𝑧) = (1 − 𝑧 −1 )𝒵 { } = (1 − 𝑧 −1 )𝒵 { }
𝑠 𝑠(𝑠 + 1)(𝑠 + 2)

2 𝐴 𝐵 𝐶
= + +
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠 𝑠 + 1 𝑠 + 2

2 2
𝐴 = lim (𝑠 ∗ )= =1
𝑠→ 0 𝑠(𝑠 + 1)(𝑠 + 2) (0 + 1)(0 + 2)

2 2
𝐵 = lim (𝑠 + 1 ∗ )= = −2
𝑠→ −1 𝑠(𝑠 + 1)(𝑠 + 2) −1(−1 + 2)

2 2
𝐶 = lim (𝑠 + 2 ∗ )= =1
𝑠→ −2 𝑠(𝑠 + 1)(𝑠 + 2) −2(−2 + 1)

2 1 2 1 𝑖𝑛𝑣𝑒𝑟𝑠𝑒 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚

= − + → 𝑢(𝑡) − 2𝑒 −𝑡 + 𝑒 −2𝑡
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠 𝑠+1 𝑠+2

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 15 of 16
 Course Name: Digital Control Systems Lecture (7)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

2 𝑧 𝑧 𝑧
𝒵{ } = 𝒵{𝑢(𝑘𝑇) − 2𝑒 −𝑘𝑇 + 𝑒 −2𝑘𝑇 } = − 2 +
𝑠(𝑠 + 1)(𝑠 + 2) 𝑧−1 𝑧 − 𝑒 −𝑇 𝑧 − 𝑒 −2𝑇

2 𝑧 𝑧 𝑧
𝐺(𝑧) = (1 − 𝑧 −1 )𝒵 { } = (1 − 𝑧 −1 ) ( − 2 + )
𝑠(𝑠 + 1)(𝑠 + 2) 𝑧−1 𝑧 − 𝑒 −𝑇 𝑧 − 𝑒 −2𝑇

1 𝑧 𝑧 𝑧
𝐺(𝑧) = (1 − ) ( − 2 −𝑇
+ )
𝑧 𝑧−1 𝑧−𝑒 𝑧 − 𝑒 −2𝑇
𝑧−1 𝑧 𝑧 𝑧
=( )( − 2 + )
𝑧 𝑧−1 𝑧 − 𝑒 −𝑇 𝑧 − 𝑒 −2𝑇

𝑧−1 𝑧−1
=1−2 +
𝑧 − 𝑒 −𝑇 𝑧 − 𝑒 −2𝑇

(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −2𝑇 ) − 2(𝑧 − 1)(𝑧 − 𝑒 −2𝑇 ) + (𝑧 − 1)(𝑧 − 𝑒 −𝑇 )

𝐺(𝑧) =
(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −2𝑇 )

𝑧 2 − 𝑧𝑒 −𝑇 − 𝑧𝑒 −2𝑇 + 𝑒 −3𝑇 − 2𝑧 2 + 2𝑧 + 2𝑧𝑒 −2𝑇 − 2𝑒 −2𝑇 + 𝑧 2 − 𝑧 − 𝑧𝑒 −𝑇 + 𝑒 −𝑇

=
(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −2𝑇 )

−2𝑧𝑒 −𝑇 + 𝑧 + 𝑧𝑒 −2𝑇 + 𝑒 −𝑇 − 2𝑒 −2𝑇 + 𝑒 −3𝑇

𝐺(𝑧) =
(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −2𝑇 )
𝑧(1 − 2𝑒 −𝑇 + 𝑒 −2𝑇 ) + 𝑒 −𝑇 − 2𝑒 −2𝑇 + 𝑒 −3𝑇
=
(𝑧 − 𝑒 −𝑇 )(𝑧 − 𝑒 −2𝑇 )

The poles in the s-domain are:𝑠 = −1 & 𝑠 = −2

The poles in the z-domain are: 𝑧 = 𝑒 −𝑇 & 𝑧 = 𝑒 −2𝑇

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 16 of 16