Digital Control – Sheet (2)

▪ Some important notes (Z Transform)

y(t) Y(Z)
1 Z
Z −1
t TZ
( Z − 1) 2
a kT Z
Z −a
e − at Z
Z − e − aT

▪ To determine Z-Transform E(z):

• Definition

E ( Z ) =  e(kT ).z − k
k =0

▪ Properties of E(z):

• Addition and subtraction

Z  e1 (k )  e2 (k )  = E1 ( z )  E2 ( z )

• Real translation
− Delay → Z  e(k − n)  = Z − n .E ( z )
 n −1

− Advance → Z  e(k + n)  = Z .  E ( z ) −  e(kT ).Z − k 
n

 k =0 

• Complex translation
Z e  at .e(k )  =  E ( z ) z = z .e a
▪ Ex.1:

• Data
e(t ) = e − (t + 2) .u (t )

• Re quired
E( z)

• Solution
Re al Translation ( Advance)
 n −1

Z  e(k + n)  = Z .  E ( z ) −  e(kT ).Z − k 
n

 k =0 
n=2
 − t 2−1 
E ( z ) = Z  Z [e ] −  e(kT ).Z − k 
2

 k =0 
 Z 2 −1

= Z2 
Z − e
−T
− k =0
e(kT ).Z − k 

 Z 
= Z2  −T
− ( e(0).Z 0 + e(T ).Z −1 ) 
Z − e 
 Z 
= Z2  −T
− ( e(0).Z 0 + e(T ).Z −1 ) 
Z − e 
 Z  e(T )  
= Z2  − 1 + 
Z −e
−T
 Z  
Z3
= −T
− Z 2 − Z .e −T
Z −e
▪ Ex.2:

• Data
e(t ) = te − at

• Re quired
E( z)

• Solution
Complex translation
Z e  at .e(k )  =  E ( z ) z = z .e a

E ( z ) = Z e − at 
z = z .e a

 T .Z  T .Ze a
= 2
=
 ( Z − 1)  z = Z .ea ( Ze − 1)
a 2

▪ Ex.3:

• Data
e(t ) = e − (2t −3) .u (2t − 3)

• Re quired
E( z)

• Solution
Real translation
Delay → Z  e(k − n)  = Z − n .E ( z )
n=3
E ( z ) = Z −3 .Z e −2T 

−3Z Z −2 1
=Z . −2T
= −2T
= 2
Z −e Z −e Z ( Z − e −2T )
▪ To determine inverse Z-Transform e(k):

• Partial Fraction
Ex.:
• Data
Z
E( z) =
Z 2 − 3Z + 2

• Re quired
e(k )

• Solution
E( z) 1 A B
= = +
Z ( Z − 2)( Z − 1) ( Z − 2) ( Z − 1)
1 1
= −
( Z − 2) ( Z − 1)
Z Z
E( z) = −
( Z − 2) ( Z − 1)
e(k ) = 2k − 1

• Residues:
- Different Poles
e(k) = 
poles of
Re sidues of E ( z ).Z k −1
E(z)

- Repeated Poles
 
1 d n−1  k −1 
e(k) = .  Re sidues of E ( z ).Z 
(n − 1)! dz n−1  poles of
 E ( z ) 
(2)
• Data
1
E ( z) = ; use pratial frcation method
( Z − 1)( Z − 2)

• Re quired
e(k )

• Solution
E ( z) 1 1 1 1
= = − +
Z Z ( Z − 1)( Z − 2) 2 Z Z − 1 2( Z − 2)
1 Z Z
E ( z) = − +
2 Z − 1 2( Z − 2)
1 1
e(k ) =  (k ) − 1 + .2k
2 2
(5)
• Data
(2 Z 2 + Z )
E( z) =
( Z − 1)( Z + 2)

• Re quired
e(k )

• Solution
- Using Partial Fraction:
E( z) (2 Z + 1) A B
= = +
Z ( Z − 1)( Z + 2) ( Z − 1) ( Z + 2)
1 1
= +
( Z − 1) ( Z + 2)
Z Z
E( z) = +
( Z − 1) ( Z − ( −2))
= 1 + (−2) k

- Using Residues:
e(k) = 
poles of
Re sidues of E ( z ).Z k −1 ; no repeated poles
E( z)

Z (2 Z + 1)
E( z) =
( Z − 1)( Z + 2)
 Z (2 Z + 1) k −1   Z (2 Z + 1) k −1 
e(k ) =  .Z  + .Z 
 ( Z − 1)  z =−2  ( Z + 2)  z =1
e(k ) = −2.(−2) k −1 + (1) k −1
e(k ) = (−2) k + 1
(6)
• Data
Z2
E ( z) =
( Z − 1) 2 ( Z − 2)

• Re quired
e(k )

• Solution
- Using Partial Fraction:
E( z) Z A B C
= = + +
Z ( Z − 1) ( Z − 2) ( Z − 1) ( Z − 1)
2 2
( Z − 2)
A( Z − 1)( Z − 2) + B ( Z − 2) + C ( Z − 1) 2 = Z
Z =2→C =2
Z = 1 → B = −1
Z = 0 → A = −2
−2 Z Z 2Z
E( z) = − +
( Z − 1) ( Z − 1) 2 ( Z − 2)
E ( z ) = −2 − k + 2.2 k
E ( z ) = 2k +1 − k − 2

- Using Residues:
 
1 d n−1  k −1 
e(k) = .  Re sidues of E ( z ).Z  ; repeated poles
(n − 1)! dZ n−1  poles of
 E ( z ) 
e(k) =  Re sidues of E ( z ).Z k −1 ; no repeated poles
poles of
E(z)

 Z2 k −1 
 1 d  Z2 k −1 

e( k ) =  .Z  +  .  .Z 
 ( Z − 1)  z =2  (1 − 1)! dZ  Z − 2
2
  z=1
  Z k +1   d  Z k +1  
e( k ) =  2
+  2 
 ( Z − 1)  z =2  dZ  ( Z − 2)   z =1

 Z k +1   (k + 1)( Z − 2) Z k − Z k +1  
e( k ) =  2
+  
 ( Z − 1)  z = 2  ( Z − 2) 2   z =1

e(k ) = 2k +1 − k − 2
(3)
• Data
m(k + 2) = e(k + 1) − e(k ) + e(k − 1) − m(k − 1)
Under the constraints:
m( k ) = 0 → k  1
e(k ) = 0 → k  0
e(k ) = 10 at k is even
at k is odd

• Re quired
m(k ) in closed form

• Solution
1- Z-transform
M ( Z + 2) = E ( Z + 1) − E ( Z ) + E ( Z − 1) − M ( Z − 1)
- Real Translation (Advance)
 n −1

Z  e(k + n)  = Z − n .  E ( z ) −  e(kT ).Z − k 
 k =0 
- Real translation (Delay)
Z  e(k − n) = Z − n .E ( z )
 2 −1
  1−1

 Z 2  M ( z ) −  M (k ).Z − k )  = Z 1  E ( z ) −  e( kT ).Z − k )  − E ( Z )
 k =0   k =0 
−1 −1
+ Z .E ( z ) − Z .M ( Z )
 Z 2 ( M ( z ) − ( M (0).Z 0 + M (1).Z −1 ) ) = Z 1 ( E ( z ) − E (0).Z 0 ) − E ( Z )
+ Z −1.E ( z ) − Z −1.M ( Z )
 Z 2 ( M ( z ) − (0 + 0) ) = Z 1 ( E ( z ) − 0 ) − E ( Z ) + Z −1.E ( z ) − Z −1.M ( Z )
 ( Z 2 + Z −1 ) M ( Z ) = ( Z − 1 + Z −1 ) E ( z )
 Z3 +1  Z 2 − Z +1
  M ( Z ) =   E( z)
 Z   Z 
  Z 2 − Z +1
 M (Z ) =   E( z)
 Z +1 
3


 E ( Z ) =  e(k ).Z − k
k =0

= e(0).Z 0 + e(1).Z −1 + e(2).Z −2 + e(3).Z −3 + e(4).Z −4 + ...

= 0 + 0 + 1.Z −2 + 0 + 1.Z −4 + ...
= Z −2 + Z −4 + ... = Z −2 (1 + Z −2 + Z −4 ...)
Z −2 1
= −2
= 2
1− Z Z −1
 Z − Z +1  1 
2
Z 2 − Z +1
 M (Z ) =   . 2 =
 Z 3
+ 1   Z − 1  ( Z + 1)( Z − Z + 1)( Z − 1)
2 2

1
 M (Z ) =
( Z + 1) 2 ( Z − 1)

2- Inverse Z-transform (Residues)

 1 k −1   1 d  1 k −1  
 m( k ) =  .Z  +  .  .Z 
 ( Z + 1)  z =1  (1 − 1)! dZ  Z − 1   z =−1
2

 Z k −1   d  Z k −1  
= 2
+  
 ( Z + 1)  z =1  dZ  Z − 1   z =−1
 Z k −1   ( Z − 1)(k − 1).Z k −2 − Z k −1 
= 2
+ 
 ( Z + 1)  z =1  ( Z − 1) 2  z =−1
 1k −1   (−1 − 1)( k − 1).( −1) k −2 − ( −1) k −1 
= 2
+ 
 (1 + 1)  z =1  (−1 − 1) 2  z =−1

= (1 − 2(k − 1).(−1) −2 (−1) k − (−1) −1 (−1) k )

1
4
= (1 − 2(k − 1).(−1) k + (−1) k )
1
4