Digital Control Systems

Solution of Difference Equation

Lecture-2
SZABIST, Karachi
 Solution of Difference equation

See also example 2.11

 Example-1
Compute the z-transform

m(k )  e(k )  e(k  1)  m(k  1)

M ( z )  E ( z )  z 1 E ( z )  z 1 M ( z )

(1  z 1 ) M ( z)  (1  z 1 ) E ( z )

1  z 1 
M ( z)   1 
E( z)
1  z 

 z  1
M ( z)    E( z)
 z  1
 Example-1
Since
2 2
1 z z
E ( z )  1  z 2  z 4  .....  2
 2 
1 z z  1 ( z  1)( z  1)

 z  1  z 2
M ( z)  
 z  1  ( z  1)( z  1)

z2
M ( z) 
( z  1) 2
Example  2 :

5
Simulation Diagrams and Flow Graphs

z 1

z 1

z 1
 Examples

y  k   2 y  k  1  2 y  k  2  f  k 

y  n  - 3 y  n -1  2 y  n - 2  u  n   u  n -1

y  k   1.7 y  k  1  0.72 y  k  2  u[k  2]

 Example-3

with initial conditions y(0) = 4 and y(1) = 3 and input x(n) = u(n),
the unit step function.
Example-3
 Example-4

with initial conditions x(0) = 0 and x(1) = 1 and input f(n) = u(n),
the unit step function.
 S-Domain to Z-Domain
Example:5
 Practice Problems
s-domain to z-domain
s
F (s)  2
s  2s  1

10 s  3
F (s)  3
s  10 s  2