The Pulse Transfer Function

• Convolution Summation

k 
Z  y (t )  Y ( z )   y (kT ) z k
k 0
– For the continuous time-system
t t
y (t )   g (t   ) x( )d   x(t   ) g ( )d
0 0

– For the discrete-time system

 
x (t )   x(t ) (t  kT )   x(kT ) (t  kT )
*

k 0 k 0

• For a physical system a response cannot precede the input


y (t )   g (t  hT ) x(ht ) 0  t  kT
h 0
 The Pulse Transfer Function
• Convolution Summation (cont.)
– The value of the output y(t) at the sampling instants t=kT are
given by
k k
y (kT )   g (kT  hT ) x(hT )   x(kT  hT ) g (hT ) Convolution summation
h 0 h 0

y(kT )  x(kT ) * g (kT )

– Since we assume that x(t)=0 for t <0
 
y (kT )   g (kT  hT ) x(hT )   x(kT  hT ) g (hT )
h 0 h 0

– It is noted that if G(s) is a ratio of polynimials in s and if the

degree of the denominator polynomial exceeds that of the
numerator polynomial only by 1 the output y(t) is discontinuous.
 The Pulse Transfer Function
• Convolution Summation (cont.)
– In analyzing discrete-time control systems it is important to
remember that the system response to the impulse-sampled
signal may not portray the correct time-response behavior of the
actual system unless the transfer function G(s) of the continuous-
time part of the system has at least two more poles than zeros,
so that lim sG(s)  0
s 
 The Pulse Transfer Function
• Pulse Transfer Function

y (kT )   g (kT  hT ) x(hT ) k  0,1,2,
h 0

– The z transform of y(kT)

  
Y ( z )   y (kT ) z k
  g (kT  hT ) x(hT ) z  k
k 0 k 0 h 0
   
  g (mT ) x(hT ) z ( m  h )
  g (mT ) z m
 x(hT ) z h

m 0 h 0 m 0 h 0

 G( z) X ( z)
Y ( z)
G( z)  Pulse transfer function
X ( z)

to the Kronecker delta input

Y ( z )  G( z )
 The Pulse Transfer Function
• Starred Laplace Transform of the Signal involving both
Ordinary and Starred Laplace Transform

Y ( s)  G( s) X * ( s) X * (s)  X * (s  j s k ), k  0,1,2
 
Y * (s)  G(s) X * (s)  G(s) X * (s)  G* (s) X * (s)
* *

 
t t 
y (t )  L G ( s ) X ( s)   g (t   ) x ( )d   g (t   ) x( ) (  kT )d
1 * *

0 0 k 0

 t 
   g (t   ) x( ) (  kT )d   g (t  kT )x(kT )
k 0 0 k 0

  -n  
Y ( z )  Z  y (t )    g (nT  kT )x(kT )z   g (mT ) x(kT ) z ( k  m )
n 0  k 0  m 0 k 0

 G( z) X ( z)
Y * ( s)  G* ( s) X * ( s)
 The Pulse Transfer Function
• General Procedures for Obtaining Pulse Transfer
Functions
 G ( z )  Z G( s)
Y ( z)
X ( z)

Y ( s)  G( s) X * ( s) Y * ( s)  G* ( s) X * ( s)

Y ( s)
 G( s)
X ( s)

Y * (s)  G(s) X (s)  GX (s)

* *

Y ( z)  Z Y (s)  Z G(s) X (s)  Z GX (s)  GZ ( z)  G( z) X ( z)

 The Pulse Transfer Function
• Pulse Transfer Function of Cascaded Elements

U (s)  G(s) X * (s), Y (s)  H (s)U * (s)

U * (s)  G* (s) X * (s), Y * (s)  H * (s)U * (s)
Y * (s)  H * (s)U * (s)  H * (s)G* (s) X * (s)
Y ( z)
Y ( z )  G( z ) H ( z ) X ( z )  G( z ) H ( z )
X ( z)

Y (s)  G(s) H (s) X * (s)  GH (s) X * (s)

Y * (s)  GH (s) X * (s)
*

Y ( z)  GH ( z) X ( z)

 GH ( z )  Z GH ( s) Note that G( z) H ( z)  GH ( z)  Z GH (s)

Y ( z)
X ( z)
 The Pulse Transfer Function
Pulse Transfer Function of Closed-Loop Systems

E ( s)  R( s)  H ( s)C ( s)
C ( s)  G( s) E * ( s)
E (s)  R(s)  H (s)G(s) E * (s)
R* ( s)
E (s)  R (s)  GH (s) E (s)
* * * *
E ( s) 
*

1  GH * ( s)
C * ( s)  G* ( s) E * ( s)

G * ( s) R* ( s) G ( z ) R( z ) C ( z) G( z )
C ( s) 
* C ( z)  
1  GH * ( s) 1  GH ( z ) R( z ) 1  GH ( z )

Refer to Table 3-1

 The Pulse Transfer Function
• Table 3-1: Five typical configurations for closed-loop
discrete-time control systems
 The Pulse Transfer Function
• Pulse Transfer Function of a Digital Controller
– The input to the digital controller is e(k) and the output is m(k)
m(k )  a1m(k  1)  a2 m(k  2)    an m(k  m)
 b0e(k )  b1e(k  1)    bn e(k  n)

– The z transform of the equation

M ( z )  a1 z 1M ( z )  a2 z 2 M ( z )    an z  n M ( z )
 b0 E ( z )  b1 z 1 E ( z )    bn z n E ( z )
(1  a1 z 1  a2 z 2    an z  n )M ( z)  (b0  b1 z 1    bn z  n ) E ( z)
M ( z) b0  b1 z 1    bn z  n
GD ( z )  
E ( z ) 1  a1 z 1  a2 z 2    an z n
 The Pulse Transfer Function
• Closed-loop Pulse Transfer Function of a Digital Control
System

1  e Ts
G p ( s)  G( s) C (s)  G(s)GD* E * (s) C * (s)  G* (s)GD* (s) E * (s)
s
C ( z)  G( z )GD ( z) E ( z)
E ( z )  R( z )  C ( z ) C ( z) GD ( z )G ( z )

C ( z )  GD ( z )G( z )R( z )  C ( z ) R( z ) 1  GD ( z )G ( z )
 The Pulse Transfer Function
• Pulse Transfer Function of a Digital PID Controller
– The PID control action in analog controllers
 1
t
de(t ) 
m(t )  K e(t )   e(t )  Td 
 Ti 0 dt 
– Discretization of the equation to obtain the pulse transfer
function
 T  e(0)  e(T ) e(T )  e(2T ) e((k  1)T )  e(kT )  e(kT )  e((k  1)T ) 
m(kT )  K e(kT )     
 dT 
 Ti  2 2 2 T 
 T k e((h  1)T )  e(hT ) Td 
m(kT )  K e(kT )    e(kT )  e((k  1)T )
 Ti h 1 2 T 
e((h  1)T )  e(hT )
Define  f (hT ), f (0)  0
2
k
e((h  1)T )  e(hT ) k

h 1 2
  f (hT )
h 1
 The Pulse Transfer Function
• Pulse Transfer Function of a Digital PID Controller(cont.)
 k e((h  1)T )  e(hT )  k 
Z    Z  f ( hT ) 
1
 1  z 1 F ( z )  f ( 0)  
1
1
F ( z)
 h 1 2   h 1  1  z

1  z 1  k e((h  1)T )  e(hT )  1  z 1

F ( z )  Z  f (hT )  E( z) Z    2(1  z 1 ) E ( z )
2  h1 2 

 k
e((h  1)T )  e(hT ) Td 
m(kT )  K e(kT ) 
T
  e( kT )  e(( k  1)T ) 
 Ti h 1 2 T 

 T 1  z 1 Td 1 
M ( z )  K 1  1
 (1  z ) E ( z )
 2Ti 1  z T 
 T T 1 Td 1 
 K 1   1
 (1  z ) E ( z )
 2Ti T i 1  z T 
 KI 
 K P  1
 K D (1  z 1 ) E ( z )
1 
z 
GD ( z )
 The Pulse Transfer Function
• Obtaining response between consecutive sampling
instants
– Laplace transform method
– Modified z transform method
– State-space method
• Laplace Transform Method
R* ( s)
C ( s)  G( s) E ( s)  G( s)
*

1  GH * ( s)

 R* ( s ) 
c(t )  L C ( s)  L G( s)
1 1

 1  GH *
( s ) 