Lecture 5: Open-Loop Systems

• Relation between E*(s) and E(z)

• Pulse Transfer Function

• Open-Loop Systems with Digital Filters

• Reading: Chapter 4 of the textbook

Relation Between E(z) and E*(s)

e(t) e(kT ) ē(t) e(t) T e∗ (t) ē(t)
Sampler Data hold
T

Ideal sampler Data hold

sampler and hold

∞
e(kT ) E(z) = k=0 e(kT )z−k

1
E(z) E(z) = [residues of E(λ) 1−z −1 eT λ
]

e(t)
E(s)

e∗(t) E ∗ (s) = [residues of E(λ) 1−e−T1 (s−λ) ]
E ∗(s) 1

∞ e(0)
E ∗ (s) = T k=−∞ E(s + jkωs ) + 2

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 Pulse Transfer Function

Adding a Plant
e(t) e(kT ) ē(t) c(t) c(kT )
Sampler Data hold Gp (s) Sampler

sampler and hold

What is the relation of the input e(t) with the output c(t), or the relations of their
sampled signals e(kT) and c(kT), k=0,1,2,…?

In the second perspective:

E(s) T E ∗(s) Ē(s) C(s) T C ∗ (s)

1−e−T s
s
Gp (s)

Ideal sampler Data hold Ideal sampler

1−e−T s (combined plant and data hold

G(s) = s Gp (s) transfer function)

Relation of E*(s) and C*(s)?

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 After Simplification
E(s) T E ∗(s) C(s) T C ∗ (s)
G(s)

C(s) = G(s)E ∗ (s)

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∞
C ∗ (s) = T k=−∞ C(s + jkωs ) assume c(0)=0

C ∗ (s) = G∗ (s)E ∗ (s)

C(z) = G(z)E(z)

General Case
In general, if we have
F ∗ (s) A(s)
A(s) = B(s)F ∗ (s) B(s)

By following the same procedure, we have

F ∗(s) A∗ (s)
A∗ (s) = B ∗ (s)F ∗ (s) B ∗ (s)

Therefore, by replacing esT with z, we have

A(z) = B(z)F (z) F (z) A(z)

B(z)

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 Interpretation of C(z)=G(z)E(z)
e(t) e(kT ) ē(t) c(t) c(kT )
Sampler Data hold Gp (s) Sampler

E(z) G(z) C(z)

• G(z) is called the pulse transfer function

– Transfer function between the sampled input and the sampled output
• Note that G(z) is not the z-transform of Gp(s), but the z-transform of
the combined plant and data hold transfer function.
• Knowing e(t), we can first compute E(z), and then use C(z)=G(z)E(z)
to find c(kT), k=0,1,…

• Different inputs e(t) may produce the same output c(kT), k=0,1,…

Example
e(t) e(kT ) ē(t) 1 c(t) c(kT )
Sampler Data hold Gp (s) = s+1 Sampler

Under unit step input e(t)=u(t), what is the output c(kT), k=0,1,…?

E(s) T E ∗(s) C(s) T C ∗ (s)

G(s)

1−e−sT 1−e−sT
G(s) = s · Gp (s) = s(s+1)

E(z) G(z) C(z)

G(z) =?

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 Example: Finding G(z)
1−e−sT
G(s) = s(s+1)
G(z) =?

Approach I: Use the general formula

A(s) = B(s)F ∗ (s) ⇒ A(z) = B(z)F (z)

1−e−T
G(z) = z−e−T

Approach II: Use the time delay property of star transform

Example: Compute Output c(kT)

e(t) e(kT ) ē(t) 1 c(t) c(kT )
Sampler Data hold s+1 Sampler

E(z) 1−e−T C(z)

z−e−T

Under unit step input e(t)=u(t), we have e(kT)=1, k=0,1,…, thus

z
E(z) = z−1
z(1−e−T ) z z
⇒ C(z) = G(z)E(z) = (z−1)(z−e−T ) = z−1
− z−e−T

⇒ c(kT ) = 1 − e−kT , k = 0, 1, . . .

(check using the fact that the reconstructed signal ē(t) is itself a unit step function)

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 DC Gain
e(t) e(kT ) ē(t) c(t) c(kT )
Sampler Data hold Gp (s) Sampler

c(∞)
DC gain is defined as e(∞)

Assume e(t) → 1 as t → ∞. Then

DC gain = c(∞) = limt→∞ c(t)

Using the final value theorem, we have

DC gain = lims→0 Gp (s)

or

DC gain = G(z)z=1

More Complicated Configurations

(Serial Connection of Two Identical Units)
e(t) e(kT ) ē(t) a(t)
Sampler Data hold Gp1 (s)

a(kT ) ā(t) c(t)

Sampler Data hold Gp2 (s)

E(s) T E ∗(s) A(s) T A∗ (s) C(s)

G1 (s) G2 (s)

1−e−sT 1−e−sT
G1 (s) = s
Gp1 (s) G2 (s) = s
Gp2 (s)

C(s) = G2 (s)A∗ (s) ⇒ C(z) = G2 (z)A(z)

⇒ C(z) = G1 (z)G2 (z)E(z)
A(s) = G1 (s)E ∗ (s) ⇒ A(z) = G2 (z)E(z)

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 Another Configuration
(Without the Second Sampler and Hold)
e(t) e(kT ) ē(t) a(t)
Sampler Data hold Gp1 (s)

c(t)
Gp2 (s)

E(s) T E ∗ (s) A(s) C(s)

G1 (s) Gp2(s)

E(s) T E ∗ (s) C(s) T C ∗(s)

G(s)

G(s) = G1 (s)Gp2 (s)

C(s) = G(s)E ∗ (s) ⇒ C(z) = G(z)E(z)

Note that in general G(z) = G1 (z)Gp2(z)!

Another Configuration
(Without the First Sampler and Hold)
e(t) a(t)
Gp1 (s)

a(kT ) ā(t) c(t)

Sampler Data hold Gp2 (s)

E(s) A(s) T A∗ (s) C(s)

Gp1 (s) G2 (s)

1−e−sT
G2 (s) = s
Gp2 (s)

C(s) = G2 (s)A∗ (s) ⇒ C(z) = G2 (z)A(z)

A(s) = Gp1 (s)E(s) ⇒ A(z) = Gp2 (z)E(z)

No simple relation between C(z) and E(z)

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 Open-Loop Systems with Digital Filters

Open-Loop Systems with Digital Filters

e(t) Sampler e(kT ) m(kT ) Data hold m̄(t) c(t) c(kT )
Digital Filter Plant Sampler
(A/D) (microprocessor) (D/A)

A digital filter (controller) is inserted between the sampler (A/D) and data hold (D/A)
The digital filter typically models the signal processing of a microprocessor, which
can be described by a discrete-time transfer function D(z)

Relation of the input e(t) with the output c(t)?

Relations of the sampled signals e(kT) and c(kT)?

In the frequency domain:

E(s) T E(z) M (z) M̄ (s) C(s) T C (z)

D(z) 1−e−T s Gp (s)
∗ s
M (s)

Relation between E(z) and C(z)?

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 In The Frequency Domain
E(s) T E(z) M (z) M̄ (s) C(s) T C (z)
D(z) 1−e−T s Gp (s)
s
M ∗ (s)
−Ts
Let G(s) = Gp (s) 1−es be the combined plant and data hold transfer function:
T
E(s) T E(z) M (z) C(s) C (z)
D(z) G(s)
∗
M (s)

M (z) = D(z)E(z) C(s) = G(s)M ∗ (s)

⇒ C ∗ (s) = G∗ (s)M ∗ (s)
⇒ C(z) = G(z)M (z)
Combining: C(z) = G(z)D(z)E(z)
E(z) C (z)
D(z) G(z)

G(z) is the pulse transfer function

An Alternative View
E(s) T E ∗(s) M ∗ (s) M̄ (s) C(s) T C ∗(s)
D∗ (s) 1−e−T s Gp (s)
s

where samplers are ideal samplers, and the digital filter is converted to a
continuous-time system:
E(z) M (z) E ∗(s) M ∗ (s)
D(z) D∗ (s)

Example:
D(z) = z −1

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 Example
e(t) e(kT ) m(kT ) m̄(t) c(t) c(kT )
2z−1 1
Sampler D(z) = z Data hold Gp (s) = s+1 Sampler

Under unit step input e(t)=u(t), what is the output c(kT), k=0,1,…?

E(s) T E(z) M (z) C(s) T C(z)

D(z) G(s)

1−e−sT 1−e−sT
G(s) = s · Gp (s) = s(s+1)

E(z) D(z) G(z) C(z)

1−e−T
G(z) = z−e−T

Example: Compute Output c(kT)

E(z) C(z)
D(z) G(z)

z
Under unit step input e(t)=u(t), we have e(kT)=1, k=0,1,…, thus E(z) = z−1
1−e−T 2z−1 z (1−e −T )(2z−1)
⇒ C(z) = G(z)D(z)E(z) = z−e−T
· z
· z−1
= (z−1)(z−e−T )
C(z) 1−eT 1 e T −2
z
= z
+ z−1
+ z−e−T

⇒ c(kT ) = (1 − eT )δ(k) + u(k) + (eT − 2)e−kT

Checked directly:

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 Using Matlab

DC Gain
e(t) e(kT ) m(kT ) m̄(t) c(t) c(kT )
Sampler D(z) Data hold Gp (s) Sampler

c(∞)
DC gain is defined as e(∞)

Assume e(t) → 1 as t → ∞. Then

DC gain = c(∞) = limt→∞ c(t)
 
DC gain = D(z)z=1 · Gp (s)s=0

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 DC Gain for the Previous Example
e(t) e(kT ) m(kT ) m̄(t) c(t) c(kT )
2z−1 1
Sampler D(z) = z Data hold Gp (s) = s+1 Sampler

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