Chapter 03transformada Z

3
The
Transform
Exercises 3.2.3
1(a)
F (z) =

(1/4)k
k=0
1(b)
F (z) =
zk

3k
k=0
1(c)
F (z) =

(2)k
k=0
1(d)
F (z) =
zk
zk

(2)k
k=0
zk
4z
1
=
1 1/4z
4z 1
z
1
=
1 3/z
z3
z
1
=
1 (2)/z
z+2
if | z |> 2
z
1
=
1 2/z
z2
if | z |> 2
if | z |> 1/4
if | z |> 3
1(e)
Z{k} =
z
(z 1)2
if | z |> 1
from (3.6) whence

Z{3k} = 3
z
(z 1)2
if | z |> 1

k
uk = e2kT = e2T
whence
U (Z) =
z
z e2T
c Pearson Education Limited 2004

160
Glyn James: Advanced Modern Engineering Mathematics, Third edition
Exercises 3.3.6
3
Z{sin kT } =
=
4
z
z
1
1
T
2 z e
2 z eT
z2
z sin T
2z cos T + 1
k
2z
1
}=
Z{
2
2z 1
so
Z{yk } =
2
1
2z
= 2
3
z
2z 1
z (2z 1)
Proceeding directly
Z{yk } =

xk3
k=3
5(a)
zk
1
Z
5
5(b)

=

xr
1
2
=
Z
{x
}
=
k
z r+3
z3
z 2 (2z 1)
r=0
r

1
r=0
5z
Z {cos k} =
By (3.5)
so
5z
5z + 1
| z |>

{cos k} = (1)k
so
z
z+1
| z |> 1

k
2z
1
=
Z
2
2z 1

Z (ak ) =

Z (kak1 ) =
z
za
z
(z a)2

1
5

thus

Z (kak ) =
whence
az
(z a)2

k
2z
1
=
Z k
2
(2z 1)2
7(a)
sinh k =
so
1
Z {sinh k} =
2
1 k 1 k
(e ) (e )
2
2
z
z
ze
z e

=
z2
z sinh
2z cosh + 1
7(b)
cosh k =
1 k 1 k
(e ) + (e )
2
2
then proceed as above.
8(a)
8(b)

k
uk = e4kT = e4T ;
Z {uk } =
z
z e4T

1 kT
e
e kT
2

z
z sin T
1
z
= 2
Z {uk } =
T
2 z e
ze
z 2z cos T + 1
uk =
8(c)
uk =

1 2kT
e
+ e 2kT
2
then proceed as above.
Initial value theorem: obvious from denition.

161
162
9

Final value theorem
(1 z
)X(z) =

xr xr1
zr
r=0
= x0 +
As z 1 and if
lim
r
x2 x1
x1 x0
xr xr1
+
+ ... +
+ ...
2
z
z
zr
xr exists, then
lim (1 z 1 )X(z) = lim xr
r
z1
10
Multiplication property (3.19): Let Z {xk } =

Z a xk =

ak xk
k=0
10
zk
xk
k=0 z k
= X(z) then
= X(z/a)
Multiplication property (3.20)

z

d xk
kxk
d
X(z) = z
=
= Z {kxk }
dz
dz
zk
zk
k=0
k=0
The general result follows by induction.
Exercises 3.4.2
11(a)
11(b)
11(c)
z
;
z1
from tables uk = 1
z
z
;
=
z+1
z (1)
z
;
z 1/2
from tables uk = (1)k
from tables uk = (1/2)k


11(d)
1
z
1
z
=
(1/3)k
3z + 1
3 z + 1/3
3
11(e)
z
;
z
11(f )
from tables uk = ( )k
z
z
=
( 2)k
z+ 2
z ( 2)
11(g)
1
1 z
=
z1
zz1
0; k = 0
1; k > 0
using rst shift property.
11(h)

1 z
z+2
1;
k=0
=1+
k1
(1)
;
k
>0
z+1
zz+1

1;
k=0
=
k+1
; k>0
(1)
12(a)
Y (z)/z =
so
Y (z) =
12(b)
1
Y (z) =
7
1 1
1 1
3z1 3z+2

1 z
1
1 z
1 (2)k
3z1 3z+2
3
z
z
z 3 z + 1/2

1 k
(3) (1/2)k
7
12(c)
Y (z) =
1
z
1 1
1 z
+
+ (1/2)k
3 z 1 6 z + 1/2
3 6
163
164
12(d)
Y (z) =
z
2
2
2 z
2
(1/2)k (1)k
3 z 1/2 3 z + 1
3
3
=
12(e)
2
2
(1/2)k + (1)k+1
3
3

z
z
1
Y (z) =
2 z
z ( )

1
z
z
=
2 z e /2
z e /2

1
(e /2 )k (e /2 )k = sin k/2
12(f )
z

z ( 3 + ) z ( 3 )

z
z
1
=
2 z ( 3 + ) z ( 3 )

z
z
1
=
2 z 2e /6
z 2e /6

1 k k/6
k k/6
2 e
= 2k sin k/6
2 e
2
Y (z) =
12(g)
Y (z) =
1 z
z
1 z
5
+
2
2 (z 1)
4z1 4z3

1
5
k+
1 3k
2
4
12(h)
Y (z)/z =
z
(z
1)2 (z 2
z + 1)
so
z
1
Y (z) =
(z 1)2
3
1
1
2
2
(z 1)
z z+1
1+ 3
2

1 3
2
1
z
=
2
(z 1)
3
z
z
/3
ze
z e /3
2
2
k sin k/3 = k + cos(k/3 3/2)
3
3
13(a)
X(z) =

xk
k=0
zk
2
1
+ 7
z
z
whence x0 = 0 , x1 = 1 , x2 = x3 = . . . = x6 = 0 , x7 = 2 and xk = 0, k > 7 .
13(b)
Proceed as in Example 13(a).
13(c)
Observe that
1
3
3z + z 2 + 5z 5
=5+ 3 + 4
5
z
z
z
and proceed as in Example 13(a).
13(d)
Y (z) =
1
1
z
+ 3+
2
z
z
z + 1/3
{0, 0, 1, 1} + {(1/3)k }
13(e)
1
1/2
3
+ 2
z
z
z + 1/2

1 0, k = 0
{1, 3, 1}
2 (1/2)k , k 1
Y (z) = 1 +
1, k = 0
5/2, k = 1
k=2
5/4,
1
2 (1/2)k1 , k 3
1, k = 0
5/2, k = 1
k=2
5/4,
1
8 (1/2)k3 , k 3

165
166
13(f )
Y (z) =

2
1
1
+
z 1 (z 1)2
z2
0, k = 0
1 2(k 1) + 2k1 , k 1

0, k = 0
=
3 2k + 2k1 , k 1
13(g)
Y (z) =

2
1
z1 z2
0, k = 0
2 2k1 , k 1
Exercises 3.5.3
14(a) If the signal going into the left D-block is wk and that going into the right
D-block is vk , we have
yk+1 = vk ,
1
vk+1 = wk = xk vk
2
so
1
yk+2 = vk+1 = xk vk
2
1
1
= xk vk = xk yk+1
2
2
i.e.
1
yk+2 + yk+1 = xk
2
14(b)
Using the same notation

yk+1 = vk ,
1
1
vk+1 = wk = xk vk yk
4
5


Then
1
1
yk+2 = xk yk+1 yk
4
5
or
1
1
yk+2 + yk+1 + yk = xk
4
5
15(a)
z 2 Y (z) z 2 y0 zy1 2(zY (z) zy0 ) + Y (z) = 0
with y0 = 0, y1 = 1
Y (z) =
z
(z 1)2
so yk = k, k 0 .
15(b)
Transforming and substituting for y0 and y1

Y (z)/z =
2z 15
(z 9)(z + 1)
so
Y (z) =
3 z
17 z
10 z 9 10 z + 1
thus
yk =
15(c)
3 k 17
9 (1)k , k 0
10
10
Transforming and substituting for y0 and y1

Y (z) =
1
=
4
thus
yk =
z
(z 2 )(z + 2 )
z
z
z 2e /2
z 2e /2

1 k k/2
2 e
e k/2 = 2k1 sin k/2, k 0
4
167
168
15(d)
Transforming, substituting for y0 and y1 , and rearranging

Y (z)/z =
so
Y (z) = 2
6z 11
(2z + 1)(z 3)
z
z
+
z + 1/2 z 3
thus
yk = 2(1/2)k + 3k , k 0
16(a)
6yk+2 + yk+1 yk = 3,
y0 = y 1 = 0
Transforming with y0 = y1 = 0 ,
(6z 2 + z 1)Y (z) =
so
Y (z)/z =
and
Y (z) =
3z
z1
3
(z 1)(3z 1)(2z + 1)
9
2
z
z
1 z
+
2 z 1 10 z 1/3 5 z + 1/2
Inverting
yk =
16(b)
1
2
9
(1/3)k + (1/2)k
2 10
5
Transforming with y0 = 0, y1 = 1 ,
(z 2 5z + 6)Y (z) = z + 5
whence
Y (z) =
7 z
z
5 z
+
6
2z1 2z3
z2
so
yk =
16(c)
z
z1
5 7 k
+ (3) 6 (2)k
2 2
(z 2 5z + 6)Y (z) =
z
z 1/2


so
Y (z) =
z
2 z
2 z
4
+
15 z 1/2 3 z 2 5 z 3
whence
yn =
16(d)
4
2
2
(1/2)k (2)k + (3)k
15
3
5
Transforming with y0 = 1, y1 = 0 ,
(z 2 3z + 3)Y (z) = z 2 3z +
so
z
z1
z
z
2
z 1 z 3z + 3

1
z
z
z
=
3 3j
z1
3j z 3+ 3j
z
2
2

1
z
z
z
=
z1
3j z 3ej/6
z 3ej/6
Y (z) =
so
16(e)
ejn/6 ejn/6
2
= 1 2( 3)n1 sin n/6
yn = 1 ( 3)k
2j
3
Transforming with y0 = 1, y1 = 2
(2z 2 3z 2)Y (z) = 2z 2 + z + 6
so
z
+z
Y (z) =
z2
=
z+5
2
(z 1) (2z + 1)(z 2)
12 z
2
z
z
z
2
5 z 2 5 z + 1/2 z 1
(z 1)2
so
yn =
16(f )
z
z
+
2
(z 1)
z1
12 n 2
(2) (1/2)n 1 2n
5
5
(z 2 4)Y (z) = 3
z
z
5
2
(z 1)
z1

169
170
so
z
1 z
1 z
z
2
z 1 (z 1)
2z2 2z+2
Y (z) =
and
17
1
1
yn = 1 n (2)n (2)n
2
2
Write the transformed equations in the form

z 3/2
1
c(z)
zC0
=
zE0
0.21
z 1/2
e(z)
Then
c(z)
e(z)
1
= 2
z 2z + 0/96
Solve for c(z) as

c(z) = 1200
z 1/2 1
0.21 z 3/2

zC0
zE0
z
z
+ 4800
z 1.2
z 0.8
and
Ck = 1200(1.2)k + 4800(0.8)k
This shows the 20% growth in Ck in the long term as required.
Then
Ek = 1.5Ck Ck+1
= 1800(1.2)k + 7200(0.8)k 1200(1.2)k+1 4800(0.8)k+1
Dierentiate wrt k and set to zero giving
k
0.6 log(1.2) + 5.6x log(0.8) = 0 where x = (0.8/1.2)

Solving, x = 0.0875 and so
k=
log 0.0875
= 6.007
log(0.8/1.2)
The nearest integer is k = 6 , corresponding to the seventh year in view of the

labelling, and C6 = 4841 approx.
18
Transforming and rearranging

Y (z)/z =
1
z4
+
(z 2)(z 3) (z 1)(z 2)(z 3)


so
Y (z) =
z
1 z
1 z
+
2z1 z2 2z3
thus
yk =
1
1
+ 2k 3k
2
2
19
Ik = Ck + Pk + Gk
= aIk1 + b(Ck Ck1 ) + Gk
= aIk1 + ba(Ik1 Ik2 ) + Gk
so
Ik+2 a(1 + b)Ik+1 + abIk = Gk+2
Thus substituting
1
Ik+2 Ik+1 + Ik = G
2
Using lower case for the z transform we obtain
1
z
(z 2 z + )i(z) = (2z 2 + z)G + G
2
z1

1
2
i(z)/z = G 2
+
z1
z z + 12

1
2
+
=G
1
z 1 (z 1+
2 )(z 2 )

whence
so
2
z
+
i(z) = G 2
z 1 2
Thus
z
z
1 e /4
2
1
z 2 e /4

2 1 k k/4
k/4
Ik = G 2 +
( ) e
e
2
2

k
1
= 2G 1 +
sin k/4
2
171
172
20

Elementary rearrangement leads to
in+2 2 cosh in+1 + in = 0
with cosh = 1 + R1 /2R2 . Transforming and solving for I(z)/z gives

I(z)/z =
zi0 + (i1 2i0 cosh )

(z e )(z e )

i0 e + (i1 2i0 cosh ) i0 e + (i1 2i0 cosh )
1
=
2 sinh
z e
z e
Thus
ik =
(i0 e + (i1 2i0 cosh ))en (i0 e + (i1 2i0 cosh ))en
2 sinh
=
1
{i1 sinh n i0 sinh(n 1)}
sinh
Exercises 3.6.5
21
Transforming in the quiescent state and writing as Y (z) = H(z)U (z) then
21(a)
H(z) =
z2
1
3z + 2
H(z) =
z2
z1
3z + 2
21(b)
21(c)
H(z) =
22
z3
1 + 1/z
z 2 + 2z + 1
For the rst system, transforming from a quiescent state, we have

(z 2 + 0.5z + 0.25)Y (z) = U (z)
The diagram for this is the standard one for a second order system and is shown
in Figure 3.1 and where Y (z) = P (z), that is yk = pk .
173
Figure 3.1: The block diagram for the basic system of Exercise 22.
Transforming the second system in the quiescent state we obtain
(z 2 + 0.5z + 0.25)Y (z) = (1 0.6)U (z)
Clearly
(z 2 + 0.5z + 0.25)(1 0.6z)P (z) = (1 0.6z)U (z)
indicating that we should now set Y (z) = P (z) 0.6zP (z) and this is shown in
Figure 3.2.
Figure 3.2: The block diagram for the second system of Exercise 22
174
23(a)
Y (z)/z =
so
z
1
z
1
2 z + 1/4 2 z + 1/2
Y (z) =
yk =
1
(4z + 1)(2z + 1)
1
1
(1/4)k (1/2)k
2
2
23(b)
Y (z)/z =
whence
so
z2
z
3z + 3
3 + 3
3 3
z
z

Y (z) =
2 3 z (3+ 3 )
2 3 z (3 3 )
2
2
3 + 3 k k/6 3 3 k k/6
yk =

( 3) e
( 3) e
2 3
2 3

k
1
3
sin k/6 + cos k/6
= 2( 3)
2
2
= 2( 3)k sin(k + 1)/6
23(c)
Y (z)/z =
so
Y (z) =
then
yk =
z
(z 0.4)(z + 0.2)
1 z
2 z
+
3 z 0.4 3 z + 0.2
2
1
(0.4)k + (0.2)k
3
3
23(d)
Y (z)/z =
so
Y (z) =
5z 12
(z 2)(z 4)
z
z
+4
z2
z4
and
yk = (2)k + (4)k+1
175
24(a)
Y (z) =
=

yk =
z2
1
3z + 2
1
1
z2 z1
0, k = 0
2k1 1, k > 0
24(b)
Y (z) =
so

yk =
25
1
z2
0, k = 0
2k1 , k > 0
Examining the poles of the systems, we nd
25(a)
Poles at z = 1/3 and z = 2/3 , both inside | z |= 1 so the system is
stable.
25(b) Poles at z = 1/3 and z = 2/3 , both inside | z |= 1 so the system is

stable.
25(c) Poles at z = 1/2 1/2 , | z |= 1/ 2, so both inside | z |= 1 and the

system is stable.
25(d) Poles at z = 3/4

system is unstable.
17/4 , one of which is outside | z |= 1 and so the
25(e) Poles at z = 1/4 and z = 1 thus one pole is on | z |= 1 and the other is
inside and the system is marginally stable.

176
26

To use the convolution result, calculate the impulse response as y,k (1/2)k .
Then the step response is

yk =
k
kj
1 (1/2)
j=0
= (1/2)
k
1 (2)j = (1/2)k
j=0
1 (2)k+1
12
= (1/2)k (2k+1 1) = 2 (1/2)k

Directly,
Y (z)/z =
2
1
z
=
(z 1/2)(z 1)
z 1 z 1/2
so
yk = 2 (1/2)k
27
Substituting
yn+1 yn + Kyn1 = K/2n
or
yn+2 yn+1 + Kyn = K/2n+1
Taking z transforms from the quiescent state, the characteristic equation is
z2 z + K = 0
with roots
1 1
1 1
+
1 4K and z2 =
1 4K
2 2
2 2
For stability, both roots must be inside | z |= 1 so if K < 1/4 then
z1 =
z1 < 1
and
z2 > 1
1 1
+
1 4K < 1 K > 0
2 2
1 1
1 4K > 1 k > 2
2 2
If K > 1/4 then
1
1
+
4K 1 |2 < 1 K < 1
2
2
The system is then stable for 0 < K < 1 .
|
When k = 2/9 we have
2
1
yn+2 yn+1 + yn =
9
9

Transforming with a quiescent initial state
1
z
2
(z 2 z + )Y (z) =
9
9 z 1/2

1
1
Y (z) = z
9 (z 1/2)(z 1/3)(z 2/3)
so
=2
z
z
z
+2
4
z 1/3
z 2/3
z 1/2
which inverts to
yn = 2(1/3)n + 2(2/3)n 4(1/2)n
28
z 2 + 2z + 2 = (z (1 + ))(z (1 + ))
establishing the pole locations. Then
Y (z) =
So since (1 ) =
1
z
z
1
2 z (1 + ) 2 z (1 )
2e3 /4 etc.,
yk = ( 2)k sin 3k/4
Exercises 3.9.6
29
H(s) =
Replace s with
2 z1
to give
z+1
H(z)
=
1
s2 + 3s + 2
2 (z + 1)2
4(z 1)2 + 6(z 2 1) + 22 (z + 1)2
2 (z + 1)2
(4 + 6 + 22 )z 2 + (42 8)z + (4 6 + 22 )
177
178
This corresponds to the dierence equation

(Aq 2 + Bq + C)yk = 2 (q 2 + 2q + 1)uk
where
A = 4 + 6 + 22
B = 42 8
C = 4 6 + 22
Now put q = 1 + to get

(A2 2 + (2A + B) + A + B + C)yk
= 2 (2 2 + 4 + 4)uk
With t = 0.01 in the q form the system poles are at z = 0.9048 and z = 0.8182 ,
inside | z |= 1 . When t = 0.01 these move to z = 0.9900 and z = 0.9802 ,
closer to the stability boundary. Using the form with t = 0.1 , the poles are at
= 1.8182 and = 0.9522 , inside the circle centre (10, 0) in the -plane
with radius 10 . When t = 0.01 these move to = 1.9802 and = 0.9950 ,
within the circle centre (100, 0) with radius 100 , and the closest pole to the
boundary has moved slightly further from it.
30
The transfer function is

H(s) =
s3
1
+ 2s + 1
2s2
To discretise using the bi-linear form use s
H(z)
=
2 z1
to give
T z+1
T 3 (z + 1)3
Az 3 + Bz 2 + Cz + D
and thus the discrete-time form

(Aq 3 + Bq 2 + Cq + D)yk = T 3 (q 3 + 3q 2 + 3q + 1)uk
where
A = T 3 + 4T 2 + 8T + 8,
C = 3T 3 4T 2 8T + 3,
B = 3T 3 + 4T 2 8T 3,
D = T 3 4T 2 + 8T 1


To obtain the form use s
179
2
giving the transfer function as
2 +
(2 + )3
A 3 + B 2 + C + D
This corresponds to the discrete-time system

(A 3 + B 2 + C + D)yk = (3 3 + 22 2 + 4 + 8)uk
where
A = 3 + 42 + 8 + 8,
B = 62 + 16 + 16,
C = 12 + 16,
D=8
31 Making the given substitution and writing the result in vector-matrix form
we obtain

0
1
0
x(t)
=
x(t) +
u(t)
2 3
1
and
y(t) = [1, 0]x(t)
This is in the general form
x(t)
= Ax(t) + bu(t)
y = cT x(t) + d u(t)
The Euler discretisation scheme gives at once
x((k + 1)) = x(k ) + [Ax(k ) + bu(k )]
Using the notation of Exercise 29 write the simplied form equation as

8
12 + 8
1 2 2
2
+
yk =
+ 4 + 4 uk
+
A
A
A
Now, as usual, consider the related system

8
12 + 8
2
+
pk = u k
+
A
A
180
and introduce the state variables x1 (k) = pk , x2 (k) = pk together with the
redundant variable x3 (k) = 2 pk . This leads to the representation

1
0
u(k)
12 + 8 x(k) +
1
x(k) =
8
A

yk =
82
4
2
A
A

4 (12 + 8)2
2
u(k)
,
x(k)
+
A
A2
A
or
x(k + 1) = x(k) + [A()x(k) + bu(k)]
yk = cT ()x(k) + d()uk
Since A(0) = 4 it follows that using A(0) , c(0) and d(0) generates the Euler
Scheme when x(k) = x(k) etc.
32(a)
In the z form substitution leads directly to

H(z) =
12(z 2 z)
(12 + 5)z 2 + (8 12)z
When = 0.1 this gives

H(z) =
12(z 2 z)
12.5z 2 + 11.2z 0.1
(b)
The form is given by replacing z by 1 + .
rearrangement gives
H()
=
2 (12
12(1 + )
+ 5) + (8 12) + 12
when = 0.1 this gives
H()
=
12(1 + 0.1)
1.25 2 11.2 + 12

Substitution and
Review exercises 3.10

1
Z {f (kT )} = Z {kT } = T Z {k} = T
z
(z 1)2

ak (e k e k )
Z a sin k = Z
2

1
=
Z (ae )k (ae )k
2

z
1
z
=
2 z ae
z ae
az sin
= 2
z 2az cos + a2

3 Recall that

Z ak =
z
(z a)2
Dierentiate twice wrt a then put a = 1 to get the pairs

k
then
z
(z 1)2

Z k2 =
k(k 1)
2z
(z 1)3
2z
z
z(z + 1)
+
=
3
2
(z 1)
(z 1)
(z 1)3
4
H(z) =
3z
2z
+
z 1 (z 1)2
so inverting, the impulse response is

{3 + 2k}

181
182
z
(z + 1)(z + 2)(z 1)
1 z
1 z
1 z
+
+
=
2z+1 3z+2 6z1
YSTEP (z) =
Thus
1
1
1
ySTEP,k = (1)k + (2)k +
2
3
6
6
F (s) =
1
1
1
=
s+1
s s+1
which inverts to
f (t) = (1 et )(t)
where (t) is the Heaviside step function, and so
F (z) = Z {f (kT )} =
z
z
z 1 z eT
Then
esT F (s) f ((t T ))
which when sampled becomes f ((k 1)T ) and
Z {f ((k 1)T )} =

f ((k 1)T )
k=0
That is
esT F (s)
zk
1
F (z)
z
1
F (z)
z
So the overall transfer function is

z
z
1 eT
z1
=
z
z 1 z eT
z eT
7
H(s) =
1
s+1
2
=
(s + 2)(s + 3)
s+3 s+2
y (t) = 2e3t e2t {2e3kT e2kT }

so
H(z)
=2
z
z
3T
ze
z e2T


8(a)
183
Simple poles at z = a and z = b . The residue at z = a is

lim (z a)z n1 X(z) = lim (z a)
za
za
The residue at z = b is similarly

of these, that is
an
zn
=
(z a)(z b)
ab
bn
and the inverse transform is the sum
ba

n
a bn
ab
8(b)
(i) There is a only double pole at z = 3 and the residue is
n1
d
zn
(z 3)2
=
n3
z3 dz
(z 3)2
lim
1
3
. The individual residues are
(ii) There are now simple poles at z =
2
2
thus given by
n

1
3
2
2
lim
3
z(1/2 3/2 )
Adding these and simplifying in the usual way gives the inverse transform

as
2
sin n/3
3
9
H(z) =
so
z
z
z+1 z2

z
z
z
YSTEP (z) =
z+1 z2 z1
3z
=
(z 1)(z + 1)(z 2)
1 z
z
3 z
+
2
=
2z1 2z+1
z2
so
ySTEP,k =
3 1
+ (1)k 2k+1
2 2

184
10

1
z
z2
1
=
Y (z) =
(z + 1)(z 1)
z
z+1
so
yk = (1)k

z2
+
Y (z) =
1
+ 2 =1
(z )(z )
z
z
11
so
yk = {k } = {1, 0, 0, . . .}
z
The response of the system with H(z) =
is clearly given by
(z )(z )
Y (z) = 1/z , which transforms to
yk = {k1 } = {0, 1, 0, 0, . . .}
12
From H(s) =
s
the impulse response is calculated as
(s + 1)(s + 2)
y (t) = (2e2t et ) t 0
Sampling gives

{y (nT )} = 2e2nT enT t
with z transform
Z {y (nT )} = 2
z
z
= D(z)
2T
ze
z eT
Setting Y (z) = T D(z)X(z) gives

Y (z) = T 2

z
z
X(z)
z e2T
z eT
Substituting for T and simplifying gives

1
z 0.8452
Y (z) = z 2
X(z)
2 z 0.9744z + 0.2231
so
(z 2 0.9744z + 0.2231)Y (z) = (0.5z 2 0.4226z)X(x)

leading to the dierence equation
yn+2 0.9744yn+1 + 0.2231yn = 0.5xn+2 0.4226xn+1
As usual (see Exercise 22), draw the block diagram for
pn+2 0.9744pn+1 + 0.2231pn = xn
then taking yn = 0.5pn+2 0.4226pn+1
yn+2 0.9744yn+1 + 0.2231yn = 0.5pn+4 0.4226pn+3
0.9774(0.5pn+3 0.4226pn+2 ) + 0.2231(0.5pn+2 0.4226pn+1 )
= 0.5xn+2 0.4226xn+1
13
yn+1 = yn + avn
vn+1 = vn + bun
= vn + b(k1 (xn yn ) k2 vn )
= bk1 (xn yn ) + (1 bk2 )vn
so
yn+2 = yn+1 + a[bk1 (xn yn ) + (1 bk2 )vn ]
(a) Substituting the values for k1 and k2 we get
1
yn+2 = yn+1 + (xn yn )
4
or
1
1
yn+2 yn+1 + yn = xn
4
4
Transforming with relaxed initial conditions gives
Y (z) =
1
X(z)
(2z 1)2

185
186
(b) When X(z) =
A
,
z1

z
A
z
z
4
Y (z) =
4
2
4
z1
z 1/2
(z 1/2)2
then
yn =
14

A
4 4(1/2)n 2n(1/2)n1
4
Substitution leads directly to

yk yk1
yk 2yk1 + yk2
+ 2yk = 1
+3
2
T
T
Take the z transform under the assumption of a relaxed system to get
[(1 + 3T z + 2T 2 )z 2 (2 + 3T )z + 1]Y (z) = T 2
z3
z1
The characteristic equation is thus

(1 + 3T z + 2T 2 )z 2 (2 + 3T )z + 1 = 0
with roots (the poles)
1
1
, z=
1+T
1 + 2T
The general solution of the dierence equation is a linear combination of these
together with a particular solution. That is
z=

yk =
1
1+T
k

+
1
1 + 2T
k
+
This can be checked by substitution which also shows that = 1/2 . The
yk yk1
, y (0) = 0
condition y(0) = 0 gives y0 = 0 and since y (t)
T
implies yk1 = 0 . Using these we have
1
=0
2
1
(1 + T ) + (1 + 2T ) + = 0
2
++

187
with solution = 1 , = 1/2 so

yk =
1
1+T
k
1
+
2
1
1 + 2T
k
+
1
2
The dierential equation is simply solved by inverting the Laplace transform

to give
y(t) =
1 2t
2et + 1), t 0
(e
2
Figure 3.3: Response of continuous and discrete systems in Exercise 14 over

10 seconds when T = 0.1

188

15 Substitution for s and simplifying gives

[(4 + 6T + 2T 2 )z 2 + (4T 2 8)z + (4 6T + 2T 2 )]Y (z)
= T 2 (z + 1)2 X(x)
The characteristic equation is
(4 + 6T + 2T 2 )z 2 + (4T 2 8)z + (4 6T + 2T 2 ) = 0
with roots
z=
That is
z=
8 4T 2 4T
2(4 + 6T + 2T 2 )
2T
1T
and z =
1+T
2+T

189
The general solution of the dierence equation is then

yk =
1T
1+T
k

+
2T
2+T
k
+
This can be checked by substitution which also shows that = 1/2 . The
yk yk1
condition y(0) = 0 gives y0 = 0 and since y (t)
, y (0) = 0
T
implies yk1 = 0 . Using these we have
++
2+T
1
1+T
+
+ =0
1T
2T
2
with solution
=
Thus
1T
yk =
2
1
=0
2
1T
2
1T
1+T
k
2T
2
2T
+
2
2T
2+T
k
+
1
2

190
Figure 3.6: Response of continuous and discrete systems in Exercise 14 over 10

seconds when T = 0.05
16
f (t) = t2 ,

{f (k)} = k 2 2 , k 0
Now
Z{k 2 } = z
z
d
z(z + 1)
=
2
dz (z 1)
(z 1)3
So
Z{k 2 2 } =
z(z + 1)2
(z 1)3
To get D -transform, put z = 1 + to give

(1 + )(2 + )2
3 3
F () =
Then the D -transform is
F () = F () =
(1 + )(2 + )
3

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3

from (3.6) whence

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

then proceed as above.

then proceed as above.

Initial value theorem: obvious from denition.

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Multiplication property (3.19): Let Z {xk } =

Multiplication property (3.20)

The general result follows by induction.

from tables uk = (1)k

from tables uk = (1/2)k

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

using rst shift property.

Glyn James: Advanced Modern Engineering Mathematics, Third edition

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

whence x0 = 0 , x1 = 1 , x2 = x3 = . . . = x6 = 0 , x7 = 2 and xk = 0, k > 7 .

Proceed as in Example 13(a).

and proceed as in Example 13(a).

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Using the same notation

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Transforming and substituting for y0 and y1

Transforming and substituting for y0 and y1

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Transforming, substituting for y0 and y1 , and rearranging

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Solve for c(z) as

0.6 log(1.2) + 5.6x log(0.8) = 0 where x = (0.8/1.2)

The nearest integer is k = 6 , corresponding to the seventh year in view of the

Transforming and rearranging

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Glyn James: Advanced Modern Engineering Mathematics, Third edition

with cosh = 1 + R1 /2R2 . Transforming and solving for I(z)/z gives

zi0 + (i1 2i0 cosh )

For the rst system, transforming from a quiescent state, we have

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Glyn James: Advanced Modern Engineering Mathematics, Third edition

= 2( 3)k sin(k + 1)/6

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Examining the poles of the systems, we nd

Poles at z = 1/3 and z = 2/3 , both inside | z |= 1 so the system is

25(b) Poles at z = 1/3 and z = 2/3 , both inside | z |= 1 so the system is

25(c) Poles at z = 1/2 1/2 , | z |= 1/ 2, so both inside | z |= 1 and the

25(d) Poles at z = 3/4

17/4 , one of which is outside | z |= 1 and so the

c Pearson Education Limited 2004

Glyn James: Advanced Modern Engineering Mathematics, Third edition

Then the step response is

= (1/2)k (2k+1 1) = 2 (1/2)k

If K > 1/4 then

When k = 2/9 we have