606 TRANSACXIONS

IEEE ON AUTOMATIC CONTROL, OCTOBER 1967

A General z-Transform Formula e+.

for Sampled-Data Systems = J-p-e@,t>Z+6+l-Al)X(z/p, ?~+6-&)dP,
?t~+6<A1<?~+6+1
(8)
ELIAHU I. JURY, SENIOR MEMBER, IEEE O<Az<tn+6
e-(l+6)T*
Abstract-In this paper a generalized formulation for the con- = -JSrp-'s(p,
2irj
nz+6+l-Al)X(z/#, m+6+1-A2)dp,
volution z transform is presented. The advent of this formulation tB+6<A15m+6+1
could cover most of the sampled-data cases discussed in the litera-
?n+6lAn<m+6+1 (9)
ture. This includes nonsynchronized, cyclic rate, multirate, and non-
e-(l&)Ts
synchronizedmultiratesampling.Furthermore,the use of this = -,i-Jr5(p, nf+6-&)x(z/p, ?n+b+l-Az)dp,
formula lies in its applications to certain forms of nonlinear discrete
O<AlSm+S
analysis, as well as to time-varying cases. Each of the applications
is singled out, and the proper references are cited. >nf6<A2S>x+6+1 ( I O )
a.here is a string of unitimpulses which extendsfrom zero to
I. INTRODUCTIOK infinity, and r is a contour of integration defined in JuryIl] and re-
T h e purpose of this paper is to introduce a general, or unified, stated in Remark 5 hereafter. Iiote that
z-transform formula that can be applied to many sampling schemes S(P, ??21) = 5(s, 9 H ) 1-p (11)
in feedback systems.I t is shown that this formulacovers most of the m=m

encountered forms of sampled-data systems, as well as having many where, in this case,
other applications. This unified theorem is based on a slight gen-
eralization of the convolution z-transform theorem, which has been 50, az) = LLf(t)I,
recently studied by this authoras Tell as others.[11-[61 i.e., the usual definition of modified z transform.
In the past, the convolution formula has been derived for A1=
A2 = 0 1 and also when6 =0.2 The extension for 6#0 is quite important Remarks
due to the fact that many more sampling schemes can be tackled. 1) The proof of the formulasfolllon-s closelythe proof of the con-
The main contribution of this paper is based on this extension and volution theorem, as stated in Jury.[']
lies also in pointing out the various applications. 2) The
alternate proofs of the convolutionare
not
suitable for the present generalization.
Cmvollct.wn Formnula 3) The case of a multiple product of time function can be treated
The following formulation is divided into two parts.Part A covers by repeated application of the theorem.[ll
the z-transform case, and Part B covers the modified e transform. 4) The convolution formulas with minormodification can also b e
Though Part A can be obtained from Part B by a limiting process, applied when A I , A?, and 6 are larger than unity. \iThen 8 f O , Part X
its representationin the present form is advantageous in applications. of the formulas is most applicable.
5 ) The contour r in the theorem is a closed path in the p plane
Part A which encloses only the poles of S ( p ) / p in a counterclockvise direc-
tion.
6 ) The s-domainrepresentation of the formulascanbeestab-
lished by noting[']

S(z) Iz-cT~= -
T L-*
(
:.- = F*(s), with j ( 0 ) = 0.
F s + J )2

7) The extension of the formulas to the multidimensional z trans-

form and modified z transform is evident.I*l This extension is useful
in the studyof nonlinear discrete systems.
11. APPLICATIOXS
1) Delayed Samplers Operations (iYonsdmchronized Sampling)
This case occurs when two samplers in the system are not syn-
Note that in (1) through ( 3 , chronized, or when the sampler operation is not synchronized with
nt1) = Z51(B, nz) lm4,
5(€, (5) the time application of the signal. I t is obtained from (1) by letting
&=&=O and h ( t ) = u ( t ) =unit step. Therefore,
X(€,r n d = f l l ( € , .t) (6)
where the modified z transforms on the right-hand sides are the usual
modified z transforms, i.e., '31(s,nz) = 'Z, b(t!].

Part B
~'Lf(t-AlT)/~(t-Ad')]
= c ~ ( ~ - A ~ T , ? H ) ~ (7npT(t--6~)],
~-A~T, 01~413 In this case, as shown in Fig. 2, one can obtain the z transform
with respect to the period mzT from the z transform of period T.
From (I), letting & = & = 6 = 0 , and h(t) = z ~ ( t ) ,

Manuscript received December 30. 1966; revised May 23. 1967. This work \as
supported wholly by the Air Force O5ce of SCienti6c Research, O5ce of Aerospace
Research, U. S . Air Force, under Grant AF-AFOSR-292-66. Evaluating the above
equationby enclosing the poles of
The author is with the Dept. of Electrical Engineering and Computer Sciences,
Electronics Research Lab.. University of California, Berkeley. C a l i . 1/(1- ( s / p ) - n ) , one obtains,[l]
1 A I , Az are delays in the time fun$tionsf(t) and h ( f ) bee (l)].
* 8 is a delay in the string of unlt impulses, with respect to the time origin
[see (111.
a Whereflt-(l - m ) n is more b r i d y denoted byf(t. m).

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SHORT PAPERS 607

Fig. 1. Nonsynchronized sampler operation.

Fig. 3. Submultiple of the sampling period.

Fig. 4. A multirate sampling.

Fig. 5. Delayed multirate sampling.

3) Sz4bnzzdti~Zeof the Sampling Period

As shown in Fig. 3, one can obtain the z transform of f ( t ) for the Fig. 7. A time domain decomposition of multirate sampling.
period T' = T / n from the z transform of period T as follows.
From (l), letting A 1 = ~ 2 = 6 = 0 ,h(t) = f ( t ) , f ( t )= u ( t ) , Applications 1 and 4 t o obtain

However,
where
) 5((zn/AJn),
S ( Z / P=
W Z , 6) =z51(z, m) l m 4 .
where
= 3nn e((T/n)a)n, p = pnn = e(Tqh)n. (19) 6) Variable Rate (or Cyclic R a t e ) S a n ~ p l i n g [ ~ ~ ] - [ ~ ~ ]
The pattern of the cyclic rate is shown in Fig. 6. Using Applica-
Hence tion 1, for the z transform in period T and noting Fig. 6(b), the fol-
S'(z) = 5(&"). (20) lowing is derived.

Also, the above reduces to 5 ( z ) if znn=z. + e-T81,"1S(z, +

S ( z , 6) = 5 ( z ) 61) e-TalK2

4) Rational Rate Identify (i1fultirab Sa?np&d Systems)[ l o ] 62) .IS(% + . + e - T ~ / ~ ~ n San)( z}, (23)
This is a case of two samplers with periods nlT and nnT, where where
nl/nt?is a rational number (Fig. 4). S ( z , 6,+) = zSl(z, m) Im-ar-.
I n this case, it is often required to find the z transform of period
nzT in terms of z transform of period T. This can be readily obtained 7) Time D o m a i n S a m p b r D e c o m p o s i t i o n F ~ r t n u l a [ ~ ~ l
by repeated application of the integer rate iden ity as follows:
This formula represents an alternate way for analyzinga multi-
rate sampled system. I t is based on the delayed sampler operation
which introduces an advance and a delay in the time function. Thisis
shown in Fig. 7. The B transform of the output in terms of the period
5) Delayed Multirate T is given using Application 6.
As shown in Fig. 5 , one can obtain thez transform of period ?z?T
in terms of period T. This can be achieved by using the results of
F(z, 6) = S(z) + e-(r/n)s(S(z,s1)J+ . . . + e-(n-l/*)Ts { 5(sj &-I)} (24)
where
c
4 This identity is useful in the study of general multirate sampled-data sys- J ( Z , an) = z ~ l ( zWZ)
, Im-8,.
tems.D61

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608 IEEE TRANSACTIONS
COXIXOL,
AUTOMATICON OCTOBER 1967

8 ) Frequency Domain Sample7 Decon1position[~l~I~~1 15) Unmixed Differenze-Diffmentd and Sum Epations[1l
I n some applications such as the study of multiloop, multirate The convolution z-transform theorem is applicablet o the solution
sampled-data systems, the multirate identity(21) is often used inthe of equations of the following form
frequency domain. By noting Remark 6 , write (21)5 as follows:
c c -Y:A(t) + 2PkYk(t)
M

m-0
B

L O b
o
= x&). (3 1)

16) In Obtainitzg Periodic Modes of Oscillation in h'onlinear Sampled-

9 ) Xodified z Transform of the Intqral Time Function[Il
By using (7) of Part B of the theorem and letting 6 = A l
one can obtain
Data SystemsI'l
T h e use of the convolution formula in the limit cycle analysisof
=& =0,
certain nonlinear discrete systems is established.['l In particular it
is used in the study of PII'M (pulse width modulated), quantized,
relay, and saturating systems and also sl-stems with hysteresis.

17) In the Solzction of Certuin L?.'onlinear Sampkd-Datu SystemsIIl

This method is suitable for obtaining analytic solution
of systems
described by the following nonlinear difference equation
10) To Obtain the Inverse S(z) - F(s) Trensformation[~l
This transformation is given as follows: p=O
Izpx(n + p ) + f [ z ( n ) ,x(n + l), , x(n + Y - l)] = 0. (32)

18) In tlz Solution of Certain Sampled-Data Systems with Periodically

Varying Parameters[21

11) To Obtain the I Transform and Xodijed z Transform of Special 111. CosCLUsIoN
Fz~nctions[11 In this paper a general convolution theorem is presented in its
I t is of interest to note that, letting A1 =A? = 6 = O and h ( t ) =u(t) various forms. The applicationof this formula is illustratedin a vari-
=unit step, then (1) and (7) yield the z transform and the modified e t y of cases which covers a substantial part of sampled-data investi-
s transform, respectively.
gations. The purposeof this paper can be summarized as follows.
1) The introduction of the general formula is quite useful in the
12) To Obtain Szrnzmatio?z of Infinite and Finite Seritd1l teaching of sampled-data or in self study. It is important in the fact
that man); cases can be treated from this formula and thus shorten
Thissummation is obtainedfrom (1) byletting &=&=6=0
the time for discussing the various cases.
and z = 1. Hence 2) If the practicingengineer in industry is facedwith a new
sampling scheme,[I1l thentheformulamightsupplyeitherthe
answer or the way to obtain the solution.
3) For the research worker, the formula may indicate the various
For the finite summation, let h(t) be a finite function, i.e., cases which have not been covered in the literature and which are
h(t) = 1 for n E 10, k ] aorthwhile to investigate.
h(t) = 0 otherwise (28b) ACKKOWLEDGMEXT
to obtain The author is indebted to K. G. Oza and C . E. Gray for helpful
discussions.
REFEREKCES
13) Evaluation of Integrals or Mowents of T i m e F z r n d i o n ~ [ ~ l hl E. I. Jury, Theory arld Application o j the e-Transform Method. New York:
Wiley. 1964, chs. 46.
$1 B. F r i e p n d . 'Sampled-data control systems containing periodically vary-
From (7) of Part B, one can determine the integral of time func- ing members, Proc. 151 Ia!nnat'l Fed. Autmnatic Control C o w- . (Woscon~. . 1960).
tion as follows: London: Butterworth. 1963.
$1 W . Kaplan. Operatiord Methods for Linear Sysfents. Reading, Mass.: Addi-
son-Wesley. 1962, p. 383.
141 I. KLiger and W . C. Lipinski. 'The 8 transform of a product of two functions."
IEEE Trans. Aulontalic Control (Correspondezce). pp. 582-583. October 1964.
161 Y . Z.Tsypkin. Theoryoj Pldse Systems (in Russian). Moxow: State Press for
Physics and Math. Lit.. 1958.
Similarly, one can evaluate moments
of the form 8 1 E. I. Jury. "A contribution tomodified e-transform theory," J . Franklin Imt..
vol. 270 pp. 114-129 1960.
[a E.'I. JUW. Sam&&Dala control & 3 t ~ n s . s e w X-ork: \v5:iley, 1958.
[SI A Rault and E. I. Jury, "Nonlinear sampled-data systems and multidimen-
sional s-transform," Electronics Research Lab., University oi California, Berkeley,
Calif. Memo. hi-112February 1965.
I g l ' T . C. Coffex ahd I. J. Williams, "Stability analysis of multiloop. multirate
or finite integrals of the form sampled systems. presented at the AI.&A/IOS GuidanceandControl Conf.
(Minneapolis, hlinn.. August 1&18. 1965).
Irt b@lG. M. Kranc. 'Additional techniques for sampled-data feedback problems."
1957 I R E Wscon Coso. Rec., pt. 4. pp. 157-365.
Iul E. I. Jury, "Sampling schemes in sarnpled-data control systems." I R E Trans.
Atdomafic Control (Correspodence). vol. AC-6. pp. 86-88, February 1961.
1121 R. E. Hufnagel. "Analysis of cyclic-rate sampled-data feedback-control sys-
The evaluation of the integral of the square of the time function t:~:,~ Trans. A I E E (Applicatwtls arld Izdus!ry). vol. 77. pp. 4 2 1 4 2 5 . Sovember
or of the moments is important in the design of sampled-data systems. 1YJ6.
1131 E. I. Jury and F. J. Mullin, "The analysi: of sampled-data control systems
with a periodically time-vawingsamplingrate, I R E Trans. Aulmn,ratic Control,
11) Application in the .4nalysis of Finite Pulsed Feedback Systems vol. 4C-4. pp. l 5 2 1 , , M a y 1959.
I141 R. XI. DuPlems. *Two digital computer programs with muitirate sampled-
with Periodirally ITulhrq'ing Sampling Rate and Pulse TT'idth[L51 data system analysis." I R E T X I Z S .Automatic Coiatrol (Correspondence), vol. AC-6.
pp. 8586. February 1961.
1151 E. I. Jury and T. Sishimura, "Analysis of finite pulsed systems with peri-
odically w i n g sampling rate and pulse a.idth." presented at the A I E E Summer
5 This equation is also reierred to as frequency domain sampler decomposition General Meeting (hew York. June 1960) CP60-866.
in the e plane. A useful relationshipbetween time and frequenc? domain dwomposi- 861 E. I. Jury. 'A note on multirate sampled-data systems,"I E E E Tram. Atrlo-
tions is obtained.lW mafic Cor2zroI (Correspondence). vol. AC-12, pp. 319-320, June 196;.

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