Ibrahim Chapter6c
Ibrahim Chapter6c
Ibrahim Chapter6c
Using the theorem of residues, the above integral can be evaluated via the expression
y(nT ) = [residues of Y (z)z n−1 ]. (6.31)
at poles of
[Y (z)z k−1 ]
Example 6.13
Using the inversion formula method, find the inverse z-transform of
z
Y (z) = .
(z − 1)(z − 2)
Solution
Using (6.31) and (6.32):
z n z n
y(nT ) = + = −1 + 2n
z − 2 z=1 z − 1 z=2
which is the same answer as in Example 6.9.
Example 6.14
Using the inversion formula method, find the inverse z-transform of
z
Y (z) = .
(z − 1)(z − 2)(z − 3)
Solution
Using (6.31) and (6.32),
zn zn zn 1 3n
y(nT ) = + + = − 2 n
+ .
(z − 2)(z − 3) z=1 (z − 1)(z − 3) z=2 (z − 1)(z − 2) z=3 2 2
Some examples of manipulating open-loop block diagrams are given in this section.
Example 6.15
Figure 6.18 shows an open-loop sampled data system. Derive an expression for the z-transform
of the output of the system.
Solution
For this system we can write
y(s) = e* (s)KG(s)
or
y * (s) = [e* (s)KG(s)]* = e* (s)KG* (s)
and
y(z) = e(z)KG(z).
Example 6.16
Figure 6.19 shows an open-loop sampled data system. Derive an expression for the z-transform
of the output of the system.
Solution
The following expressions can be written for the system:
y(s) = e* (s)G 1 (s)G 2 (s)
or
y * (s) = [e* (s)G 1 (s)G 2 (s)]* = e* (s)[G 1 G 2 ]* (s)
and
y(z) = e(z)G 1 G 2 (z),
where
G 1 G 2 (z) = Z {G 1 (s)G 2 (s)} = G 1 (z)G 2 (z).
For example, if
1
G 1 (s) =
s
and
a
G 2 (s) = ,
s+a
then from the z-transform tables,
a z(1 − e−aT )
Z {G 1 (s)G 2 (s)} = Z =
s(s + a) (z − 1)(z − e−aT )
and the output is given by
z(1 − e−aT )
y(z) = e(z) .
(z − 1)(z − e−aT )
Example 6.17
Figure 6.20 shows an open-loop sampled data system. Derive an expression for the z-transform
of the output of the system.
Solution
The following expressions can be written for the system:
x(s) = e* (s)G 1 (s)
or
x * (s) = e* (s)G *1 (s), (6.36)
and
y(s) = x * (s)G 2 (s)
or
y * (s) = x * (s)G 2* (s). (6.37)
From (6.37) and (6.38),
y * (s) = e* (s)G 1* (s)G *2 (s),
which gives
y(z) = e(z)G 1 (z)G 2 (z).
For example, if
1 a
G 1 (s) = and G 2 (s) = ,
s s+a
then
z az
Z {G 1 (s)} = and Z {G 2 (s)} = ,
z−1 z − ze−aT
and the output function is given by
z az
y(z) = e(z)
z − 1 z − ze−aT
or
az
y(z) = e(z) .
(z − 1)(1 − e−aT )
The open-loop time response of a sampled data system can be obtained by finding the inverse
z-transform of the output function. Some examples are given below.
Example 6.18
A unit step signal is applied to the electrical RC system shown in Figure 6.21. Calculate and
draw the output response of the system, assuming a sampling period of T = 1 s.
Solution
The transfer function of the RC system is
1
G(s) = .
s+1
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y(nT)
1.571
1.552
1.503
1.367
1.0
T
0 T 2T 3T 4T
It is important to notice that the response is only known at the sampling instants. For example,
in Figure 6.22 the capacitor discharges through the resistor between the sampling instants,
and this causes an exponential decay in the response between the sampling intervals. But this
behaviour between the sampling instants cannot be determined by the z-transform method of
analysis.
Example 6.19
Assume that the system in Example 6.17 is used with a zero-order hold (see Figure 6.23). What
will the system output response be if (i) a unit step input is applied, and (ii) if a unit ramp input
is applied.
G1(s) G2(s)
u(s) u*(s) y(s)
Z.O.H 1
s+1
Solution
The transfer function of the zero-order hold is
1 − e−T s
G 1 (s) =
s
and that of the RC system is
1
G(s) = .
s+1
For this system we can write
y(s) = u * (s)G 1 G 2 (s)
and
y * (s) = u * (s)[G 1 G 2 ]* (s)
or, taking z-transforms,
y(z) = u(z)G 1 G 2 (z).
Now, T = 1 s and
1 − e−s 1
G 1 G 2 (s) = ,
s s+1
and by partial fraction expansion we can write
1
−s 1
G 1 G 2 (s) = (1 − e ) − .
s s+1
From the z-transform tables we then find that
−1 z z 0.63
G 1 G 2 (z) = (1 − z ) − = .
z − 1 z − e−1 z − 0.37
y(nT)
0.98
0.95
0.86
0.63
T
0 T 2T 3T 4T
From the inverse z-transform tables we find that the time response is given by
y(nT ) = a − (0.37)n ,
where a is the unit step function; thus
y(nT ) = 0.63δ(t − 1) + 0.86δ(t − 2) + 0.95δ(t − 3) + 0.98δ(t − 4) + . . . .
The time response in this case is shown in Figure 6.24.
(ii) For a unit ramp input,
Tz
u(z) =
(z − 1)2
and the system output response (with T = 1) is given by
0.63z 0.63z
y(z) = = 3 .
(z − 1) (z − 0.37)
2 z − 2.37z + 1.74z − 0.37
2
Using the long division method, we obtain the first few output samples as
y(z) = 0.63z −2 + 1.5z −3 + 2.45z −4 + 3.43z −5 + . . .
and the output response is given as
y(nT ) = 0.63δ(t − 2) + 1.5δ(t − 3) + 2.45δ(t − 4) + 3.43δ(t − 5) + . . . ,
as shown in Figure 6.25.
Example 6.20
The open-loop block diagram of a system with a zero-order hold is shown in Figure 6.26.
Calculate and plot the system response when a step input is applied to the system, assuming
that T = 1 s.
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y(nT)
2.45
1.5
0.63
T
2T 3T 4T
Solution
The transfer function of the zero-order hold is
1 − e−T s
G 1 (s) =
s
and that of the plant is
1
G(s) = .
s(s + 1)
For this system we can write
y(s) = u * (s)G 1 G 2 (s)
and
y * (s) = u * (s)[G 1 G 2 ]*(s)
or, taking z-transforms,
y(z) = u(z)G 1 G 2 (z).
Now, T = 1 s and
1 − e−s
G 1 G 2 (s) =
s 2 (s + 1)
or, by partial fraction expansion,
1 1 −s1
G 1 G 2 (s) = (1 − e ) 2 − +
s s s+1
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y(nT)
0.9145
0.7675
0.3678
T
0 T 2T 3T
Some examples of manipulating the closed-loop system block diagrams are given in this
section.
Example 6.21
The block diagram of a closed-loop sampled data system is shown in Figure 6.28. Derive an
expression for the transfer function of the system.
Solution
For the system in Figure 6.28 we can write
e(s) = r (s) − H (s)y(s) (6.38)
and
y(s) = e* (s)G(s). (6.39)
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H(s)
Example 6.22
The block diagram of a closed-loop sampled data system is shown in Figure 6.29. Derive an
expression for the output function of the system.
Solution
For the system in Figure 6.29 we can write
y(s) = e(s)G(s) (6.46)
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r(s) e(s)
G(s) y(s)
+ −
y*(s)
H(s)
and
e(s) = r (s) − H (s)y * (s). (6.47)
Substituting (6.47) into (6.46), we obtain
y(s) = G(s)r (s) − G(s)H (s)y * (s) (6.48)
or
y * (s) = Gr * (s) − GH* (s)y * (s). (6.49)
Solving for y*(s), we obtain
Gr* (s)
y * (s) = (6.50)
1 + GH* (s)
and
Gr(z)
y(z) = . (6.51)
1 + GH(z)
Example 6.23
The block diagram of a closed-loop sampled data control system is shown in Figure 6.30.
Derive an expression for the transfer function of the system.
Solution
The A/D converter can be approximated with an ideal sampler. Similarly, the D/A converter
at the output of the digital controller can be approximated with a zero-order hold. Denoting
H(s)
Sensor
G(s)
H(s)
the digital controller by D(s) and combining the zero-order hold and the plant into G(s), the
block diagram of the system can be drawn as in Figure 6.31. For this system can write
e(s) = r (s) − H (s)y(s) (6.52)
and
y(s) = e* (s)D * (s)G(s). (6.53)
Note that the digital computer is represented as D*(s). Using the above two equations, we can
write
e(s) = r (s) − D * (s)G(s)H (s)e* (s) (6.54)
or
e* (s) = r * (s) − D * (s)GH* (s)e* (s)
and, solving for e* (s), we obtain
r * (s)
e* (s) = (6.55)
1 + D (s)GH* (s)
*
and, from (6.53),
r * (s)
y(s) = D * (s)G(s) . (6.56)
1 + D * (s)GH* (s)
The sampled output is then
r * (s)D * (s)G * (s)
y * (s) = , (6.57)
1 + D * (s)GH* (s)
Writing (6.57) in z-transform format,
r (z)D(z)G(z)
y(z) = (6.58)
1 + D(z)GH(z)
and the transfer function is given by
y(z) D(z)G(z)
= . (6.59)
r (z) 1 + D(z)GH(z)
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The closed-loop time response of a sampled data system can be obtained by finding the inverse
z-transform of the output function. Some examples are given below.
Example 6.24
A unit step signal is applied to the sampled data digital system shown in Figure 6.32. Calculate
and plot the output response of the system. Assume that T = 1 s.
Solution
The output response of this system is given in (6.44) as
r (z)G(z)
y(z) = .
1 + GH(z)
where
z z(1 − e−T )
r (z) = , G(z) = , H (z) = 1;
z−1 (z − 1)(z − e−T )
thus,
z/z − 1 z(1 − e−T )
y(z) = .
1 + (z(1 − e−T )/(z − 1)(z − e )) (z − 1)(z − e−T )
−T
Simplifying,
z 2 (1 − e−T )
y(z) = .
(z 2 − 2ze−T + e−T )(z − 1)
Since T = 1,
0.632z 2
y(z) = .
z 3 − 1.736z 2 + 1.104z − 0.368
After long division we obtain the first few terms
y(z) = 0.632z −1 + 1.096z −2 + 1.25z −3 + . . . .
The first 10 samples of the output response are shown in Figure 6.33.
6.4 EXERCISES
1. A function y(t) = 2 sin 4t is sampled every T = 0.1 s. Find the z-transform of the resultant
number sequence.
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EXERCISES 167
(i) Apply the final value theorem to calculate the final value of the output when a unit
step input is applied to the system.
(ii) Check your results by finding the inverse z-transform of y(z).
5. Find the inverse z-transform of the following functions using both long division and the
method of partial fractions. Compare the two methods.
0.2z 0.1(z + 1)
(i) y(z) = (ii) y(z) =
(z − 1)(z − 0.5) (z − 0.2)(z − 1)
0.2 z(z − 1)
(iii) y(z) = (iv) y(z) =
(z − 3)(z − 1) (z − 2)2