Page 1

Bilinear Transformation
Control Engineering
by Dr. L. K. Wong
Page 2
A Control System
Most plants are continuous-time systems
Power supply, power amplifier, motor
Digital controllers are in discrete-time
Implemented by micro-controller
Controller Plant
Reference
Output
+

Page 3
Continuous-time Signals
f(t)
t
Page 4
Discrete-time Signals
f*(t)
t
T
2T
3T
4T

'

Otherwise 0
), (
) (
*
nT t t f
t f
Page 5
Transformation
Convert a continuous-time transfer function
to a discrete-time transfer function
H(s) H(z)
Page 6
Methods of Transformation
Backward difference
Forward difference
Bilinear transformation
z-transform
Page 7
Theoretical Background
a s
b
s R
s Y
s H
+

) (
) (
) (
) ( ) ( ) ( t br t ay t y +
!
) ( ) ( ) (
1
t br t ay t y +
dt t y t y t y
t
t

+
2
1
) ( ) ( ) (
1 1 2
Let
T k t ) 1 (
1

kT t
2
Page 8
Theoretical Background
[ ] ) 1 ( ) (
2
) 1 ( ) (
1 1
+ + k y k y
T
k y k y
y
1
(t)
t
t
1
=(k1)T t
2
=kT
Page 9
Theoretical Background
[ ] ) 1 ( ) (
2
) 1 ( )
2
1 ( ) ( )
2
1 ( + + k r k r
bT
k y
aT
k y
aT
[ ]
1 1
) ( ) (
2
) ( )
2
1 ( ) ( )
2
1 (

+ + z z R z R
bT
z z Y
aT
z Y
aT
[ ] ) 1 ( ) (
2
) 1 ( ) (
1 1
+ + k y k y
T
k y k y
Page 10
Theoretical Background
a
z
z
T
b
aT
z
z
bT
aT
z
z z
bT
z
z aT
bT
z z
aT aT
z
bT
z
aT aT
z
bT
z R
z Y
+
+

+
+

+
+
+

+
+

+ + +
+

+
+

) 1 (
1 2
2 ) 1 (
1
2
2 ) 1 (
2 1
2
) 1 (
2
)
2
1 (
2
2 )
2
1 ( )
2
1 (
) 1 (
2
)
2
1 ( )
2
1 (
) 1 (
2
) (
) (
1
1
1
1
1
1 1
1
1
1 1
1
1
1
Page 11
Theoretical Background
a
z
z
T
b
z R
z Y
z H
+
+

) 1 (
1 2 ) (
) (
) (
1
1
a s
b
s R
s Y
s H
+

) (
) (
) (
1
1 2
+

z
z
T
s
Compare
Page 12
Example 1
Find a digital replacement of the following
continuous-time plant by bilinear
transformation with sampling period of
T = 0.1s.
100 10
100 2 . 0
) (
2
2
1
+ +
+ +

s s
s s
s H
Page 13
Answer
1
1
20
1
1 2
+

z
z
z
z
T
s
4286 . 0 8571 . 0
7086 . 0 8571 . 0 7200 . 0
300 600 700
496 600 504
) (
2
2
2
2
1
+
+

+
+

z z
z z
z z
z z
z H
Page 14
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
;

M
a
g
n
i
t
u
d
e

(
d
B
)
Bode Diagrams
-50
-40
-30
-20
-10
0
From: U(1)
10
-1
10
0
10
1
10
2
-100
-80
-60
-40
-20
0
T
o
:

Y
(
1
)
Frequency Warping
10
5
) (
2
+

s
s H
9048 . 0
) 1 ( 0238 . 0
) (
2

z
z
z H
Page 15
Frequency Warping
Approximation has been taken place
use a trapezoidal to approximate the area under
a curve
Frequency response of H(s) deviates from
that of H(z)
Significant if it lies in critical frequency
e.g. 3dB cut-off frequency
Page 16
Analytical Derivation
1
1 2
+

z
z
T
s
T j
A
D
e z j s

and Substitue
T
T j
T
e e
e e
T
e
e
T
j
D
D
T j T j
T j T j
T j
T j
A
D D
D D
D
D

2
1
cos
2
1
sin
2
2
1
1 2
2
1
2
1
2
1
2
1

into
Page 17
Analytical Derivation
T
T
D A

2
1
tan
2

D A
D D
D
T T

2
1
2
1
tan
small, is If
Page 18
Frequency Pre-warping
Modify H(s) before applying transform
Cancel out the warping effect exactly at a
frequency
Same frequency response of H(s) and H(z)
at
Page 19
Step 1
Calculate the pre-warped frequency
T
T
P

2
1
tan
2

Page 20
Step 2
Replace by
P
p
p
p
p
s
s
s
s

Page 21
Step 3
Applying bilinear transformation
1
1 2
+

z
z
T
s
P
Page 22
Example 2
Apply bilinear transformation with
frequency pre-warping at = 10 rad s
1
to
the following continuous-time plant with
sampling period of T = 0.1s. Calculate the
magnitude and phase angle at for both
continuous-time and discrete-time plant.
100 10
100 2 . 0
) (
2
2
3
+ +
+ +

s s
s s
s H
Page 23
Answer
Step 1
Step 2
926 . 10
1 . 0 10
2
1
tan
1 . 0
2

P
p
s
s
s 915 . 0
926 . 10
10

100 15 . 9 84 . 0
100 183 . 0 84 . 0
) (
2
2
3
+ +
+ +

P P
P P
P
s s
s s
s H
Page 24
Answer
Step 3
Substitute s= j to H
3
(s) and z= e
jT
to H
3
(z),
Magnitude = 0.02
Phase = 0 rad
4077 . 0 7606 . 0
6979 . 0 7606 . 0 7098 . 0
) (
2
2
3
+
+

z z
z z
z H
Page 25
Question
Can we select two frequencies to pre-warp?
Page 26
w-transform
Transform a z-plane transfer function into a
so-called w-plane transfer function
Inverse process of bilinear transformation
w
w
z

1
1
Page 27
Design on the w-plane
Employ s-plane design
velocity error constant
gain and phase margin
No need to tackle the irrational function
z= e
jT
Page 28
Further Modification
Large frequency distortion in w-transform
Modify the w-transform as follows
2
1
2
1
wT
wT
z

Page 29
Example 3
Transform H
4
(z) into a transfer function
H
4
(w) in w-plane by the given bilinear
transformation. Sketch the bode plot of
H
4
(w).
) 8187 . 0 )( 1 (
9356 . 0
03746 . 0 ) (
4

+

z z
z
z H
w
w
z
1 . 0 1
1 . 0 1

Page 30
Answer

,
_

,
_

,
_

997 . 0
1
300
1
10
1 2
) (
4
w
w
w w
w H
Page 31
Conclusion
Bilinear transformation
Frequency pre-warping
w-transform
Page 32
Reference
M. Gopal, Digital Control Engineering.
J ohn Wiley & Sons.
I.J . Nagrath and M. Gopal, Control Systems
Engineering. 2nd edition. J ohn Wiley &
Sons.