Course Name: Digital Control Systems Lecture (4)

Course Code: EEC 161

Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Introduction to Digital Control - Continued

Inverse of z-transform for second order system

Example 4-1

Obtain the inverse z-transform of the function

𝒛
𝑭(𝒛) =
𝒛𝟐 − √𝟐 𝒛 + 𝟏
Solution
𝑧−𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑧 𝑠𝑖𝑛 𝜔𝑇
Try to obtain: 𝑠𝑖𝑛 𝜔𝑘𝑇 →
𝑧 2 −2𝑧 𝑐𝑜𝑠 𝜔𝑇+1

𝑧
𝐹(𝑧) =
2
𝑧 2 − ( ) ∗ √2 𝑧 + 1
2
𝑧
=
1
𝑧 2 − 2𝑧 +1
√2
𝑧
= 𝜋
𝑧 2 − 2𝑧 𝑐𝑜𝑠 +1
4
𝜋
√2 𝑧 𝑠𝑖𝑛 4
= 𝜋
𝑧 2 − 2𝑧 𝑐𝑜𝑠 + 1
4
𝜋
𝑓(𝑘) = √2 𝑠𝑖𝑛 𝑘
4

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 1 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-2
Obtain the inverse z-transform of the function
𝒛
𝑭(𝒛) =
𝟏
𝒛𝟐 −
𝒛 + 𝟎. 𝟔𝟒
√𝟐
Then, plot the function in the discrete-time domain.
Solution
𝑧−𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 (𝑧 𝑎−1 ) 𝑠𝑖𝑛 𝜔𝑇
Try to obtain: 𝑎𝑘 𝑠𝑖𝑛 𝜔𝑘𝑇 → (𝑧 𝑎−1 )2 −2(𝑧 𝑎−1 ) 𝑐𝑜𝑠 𝜔𝑇+1

0.64−1 𝑧 1.56 𝑧
𝐹(𝑧) = ( ) ∗ =
0.64−1 1 (0.64)−1
𝑧2 − 𝑧 + 0.64 (0.64)−1 𝑧 2 − 𝑧+1
√2 √2
1.25(𝑧(0.8)−1 ) 1.4 (𝑧(0.8)−1 ) 𝑠𝑖𝑛 1.12
= =
(𝑧(0.8)−1 )2 − 0.44(2𝑧(0.8)−1 ) + 1 (𝑧(0.8)−1 )2 − 2(𝑧(0.8)−1 )𝑐𝑜𝑠 1.12 + 1

𝑓(𝑘) = 1.4 (0.8)𝑘 𝑠𝑖𝑛 1.12𝑘

1.0 1.4*(0.8)k sin (1.12 k)

f(k)

0.0
0 5 10 15 20

K
-1.0

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 2 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Partial fractions expansion to get inverse z-transform of second order system.

Generally; if the coefficients of second order system are real numbers, then its poles are conjugate.

𝐹(𝑧) 𝑐 𝑐∗
= +
𝑧 𝑧 − 𝑝 𝑧 − 𝑝∗

Where;

𝑝 is complex pole.

𝑐𝑜𝑛𝑗𝑢𝑔𝑎𝑡𝑒 𝑐𝑜𝑛𝑗𝑢𝑔𝑎𝑡𝑒
𝑝∗ is conjugate of complex pole (𝑝), i.e., 𝑟∠𝜃 → 𝑟∠ − 𝜃 & 𝑎 ± 𝑏𝑗 → 𝑎 ∓ 𝑏𝑗.

𝑐 is the numerator of first pole (𝑝).

𝑐 ∗ is conjugate of first pole 𝑐.

Then,

𝑐𝑧 𝑐∗ 𝑧
𝐹(𝑧) = +
𝑧 − 𝑝 𝑧 − 𝑝∗

The inverse z-transform

𝑓(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐)

Or

𝑓(𝑘) = 2|𝑐 ∗ | |𝑝∗ |𝑘 𝑐𝑜𝑠 (𝑘∠𝑝∗ + ∠𝑐 ∗ )

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 3 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-3
Obtain the inverse z-transform of the function
𝒛
𝑭(𝒛) =
𝒛𝟐 − √𝟐 𝒛 + 𝟏
Solution

𝐹(𝑧) 1 1
= =
𝑧 𝑧 2 − √2 𝑧 + 1 (𝑧 − (0.707 + 0.707𝑗))(𝑧 − (0.707 − 0.707𝑗))
𝐴 𝐵
= +
(𝑧 − (0.707 + 0.707𝑗)) (𝑧 − (0.707 − 0.707𝑗))

𝐹(𝑧)
𝐴= lim ((𝑧 − (0.707 + 0.707𝑗)) ∗ )
𝑧→0.707+0.707𝑗 𝑧

1
= lim ((𝑧 − (0.707 + 0.707𝑗)) ∗ )
𝑧→0.707+0.707𝑗 (𝑧 − (0.707 + 0.707𝑗))(𝑧 − (0.707 − 0.707𝑗))

1
= = −0.707𝑗
(0.707 + 0.707𝑗 − 0.707 + 0.707𝑗)

𝐹(𝑧)
𝐵= lim ((𝑧 − (0.707 − 0.707𝑗)) ∗ )
𝑧→0.707−0.707𝑗 𝑧

1
= lim ((𝑧 − (0.707 − 0.707𝑗)) ∗ )
𝑧→0.707−0.707𝑗 (𝑧 − (0.707 + 0.707𝑗))(𝑧 − (0.707 − 0.707𝑗))

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 4 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

1
= = 0.707𝑗
(0.707 − 0.707𝑗 − 0.707 − 0.707𝑗)

𝐹(𝑧) 𝐴 𝐵
= +
𝑧 (𝑧 − (0.707 + 0.707𝑗)) (𝑧 − (0.707 − 0.707𝑗))
−0.707𝑗 0.707𝑗
= +
(𝑧 − (0.707 + 0.707𝑗)) (𝑧 − (0.707 − 0.707𝑗))

−𝜋 𝜋
(0.707∠ 2 ) 𝑧 (0.707∠ 2 ) 𝑧
𝐹(𝑧) = 𝜋 + −𝜋
(𝑧 − ∠ 4 ) (𝑧 − ∠ 4 )

𝑓(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐)

𝜋 −𝜋
𝑓(𝑘) = 2(0.707) (1)𝑘 𝑐𝑜𝑠 (𝑘 ( ) + ( ))
4 2

Remember:

𝒄𝒐𝒔 (𝜽 − 𝟗𝟎) = 𝒄𝒐𝒔 𝜽 𝒄𝒐𝒔 𝟗𝟎 + 𝒔𝒊𝒏 𝜽 𝒔𝒊𝒏 𝟗𝟎 = 𝒔𝒊𝒏 𝜽

𝜋
𝑓(𝑘) = √2 𝑠𝑖𝑛 ( 𝑘)
4

***Hint:

- To apply partial fractions expansion, the order of numerator must be lower than the order of denominator.
- If the order of numerator ≥ the order of denominator, apply the long division method.

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 5 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-4

Obtain the inverse z-transform of the function

𝒛
𝑭(𝒛) =
𝟏
𝒛𝟐 − 𝒛 + 𝟎. 𝟔𝟒
√𝟐

Solution

𝐹(𝑧) 1 1
= =
𝑧 1
𝑧2 − 𝑧 + 0.64 (𝑧 − (0.35 + 0.72𝑗))(𝑧 − (0.35 − 0.72𝑗))
√2
𝐴 𝐵
= +
(𝑧 − (0.35 + 0.72𝑗)) (𝑧 − (0.35 − 0.72𝑗))

𝐹(𝑧)
𝐴= lim ((𝑧 − (0.35 + 0.72𝑗)) ∗ )
𝑧→0.35+0.72𝑗 𝑧

1
= lim ((𝑧 − (0.35 + 0.72𝑗)) ∗ )
𝑧→0.35+0.72𝑗 (𝑧 − (0.35 + 0.72𝑗))(𝑧 − (0.35 − 0.72𝑗))

1
= = −0.7𝑗
(0.35 + 0.72𝑗 − (0.35 − 0.72𝑗))

𝐹(𝑧)
𝐵= lim ((𝑧 − (0.35 − 0.72𝑗)) ∗ )
𝑧→0.35−0.72𝑗 𝑧

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 6 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

1
= lim ((𝑧 − (0.35 − 0.72𝑗)) ∗ )
𝑧→0.35−0.72𝑗 (𝑧 − (0.35 + 0.72𝑗))(𝑧 − (0.35 − 0.72𝑗))

1
= = 0.7𝑗
(0.35 − 0.72𝑗 − (0.35 + 0.72𝑗))

𝐹(𝑧) −0.7𝑗 0.7𝑗

= +
𝑧 (𝑧 − (0.35 + 0.72𝑗)) (𝑧 − (0.35 − 0.72𝑗))

−𝜋 𝜋
0.7∠ 𝑧 0.7∠ 𝑧
𝐹(𝑧) = 2 + 2
(𝑧 − (0.8∠1.12)) (𝑧 − (0.8∠ − 1.12))

𝑓(𝑘) = 2|𝑐| |𝑝|𝑘 𝑐𝑜𝑠 (𝑘∠𝑝 + ∠𝑐)

−𝜋
𝑓(𝑘) = 2(0.7) (0.8)𝑘 𝑐𝑜𝑠 (𝑘(1.12) + ( ))
2

Remember:

𝒄𝒐𝒔 (𝜽 − 𝟗𝟎) = 𝒄𝒐𝒔 𝜽 𝒄𝒐𝒔 𝟗𝟎 + 𝒔𝒊𝒏 𝜽 𝒔𝒊𝒏 𝟗𝟎 = 𝒔𝒊𝒏 𝜽

𝑓(𝑘) = 1.4 (0.8)𝑘 𝑠𝑖𝑛 (1.12𝑘)

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 7 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Initial & final value theory

Initial & final value theory in s-domain
Initial value is: 𝑓(0) = lim 𝑠𝐹(𝑠)
𝑠→∞
Final value or steady state value is: 𝑓(∞) = lim 𝑠𝐹(𝑠)
𝑠→0
Hint: the initial & final value theory is suitable to obtain only the initial and final values of the
function in time domain. If other values (between initial & final values) are required, it is necessary
to get the inverse Laplace transform.
Example 4-5
𝟏
Find the initial & final value of the function, 𝑭(𝒔) = , using inverse Laplace transform
𝒔+𝟑
and using initial & final value theory. Then plot the function in time-domain.
Solution
𝑓(𝑡) = 𝑒 −3𝑡
The initial value, 𝑓(𝑜) = 𝑒 −3(0) = 1
The final value, 𝑓(∞) = 𝑒 −3(∞) = 0
Using initial & final value:
𝑠
𝑠 1
Initial value is: 𝑓(0) = lim 𝑠𝐹(𝑠) = lim = lim 𝑠
𝑠 3 = 3 =1
𝑠→∞ 𝑠→∞ 𝑠+3 𝑠→∞ +
𝑠 𝑠
1+
∞
𝑠 0
Final value or steady state value is: 𝑓(∞) = lim 𝑠𝐹(𝑠) = lim = =0
𝑠→0 𝑠→0 𝑠+3 0+3
1 1
f(t)=e-3t
f(t)

0.050 0.002 0.000 0.000

0 t

Initial & final value theory in z-domain

Initial value at 𝑘 = 0 : 𝑓(0) = lim 𝐹(𝑧)
𝑧→∞
Final value or steady state value at 𝑘 = ∞ : 𝑓(∞) = lim(1 − 𝑧 −1 )𝐹(𝑧)
𝑧→1
Or, 𝑓(∞) = lim(𝑧 − 1)𝐹(𝑧)
𝑧→1

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 8 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-6
𝒛
Find the initial & final value of the function, 𝑭(𝒛) = (𝒛−𝟎.𝟐)(𝒛−𝟎.𝟓) using inverse z-transform
and using initial & final value theory in z-domain.
Solution
Using inverse z-transform
𝐹(𝑧) 1 𝐴 𝐵
= = +
𝑧 (𝑧 − 0.2)(𝑧 − 0.5) 𝑧 − 0.2 𝑧 − 0.5
The partial fraction coefficients are given by:
𝐹(𝑧) 1 1 −10
𝐴 = lim (𝑧 − 0.2 ∗ ) = lim [(𝑧 − 0.2) ∗ ]= =
𝑧 → 0.2 𝑧 𝑧→0.2 (𝑧 − 0.2)(𝑧 − 0.5) (0.2 − 0.5) 3
𝐹(𝑧) 1 1 10
𝐵 = lim (𝑧 − 0.5 ∗ ) = lim [(𝑧 − 0.5) ∗ ]= =
𝑧 → 0.5 𝑧 𝑧→0.5 (𝑧 − 0.2)(𝑧 − 0.5) (0.5 − 0.2) 3

−10 10
𝐹(𝑧) 1 𝐴 𝐵 3 3
= = + = +
𝑧 (𝑧 − 0.2)(𝑧 − 0.5) 𝑧 − 0.2 𝑧 − 0.5 𝑧 − 0.2 𝑧 − 0.5
−10 𝑧 10 𝑧
𝐹(𝑧) = +
3 𝑧 − 0.2 3 𝑧 − 0.5
−10 10
𝑓(𝑘) = (0.2)𝑘 + (0.5)𝑘
3 3
−10 0 10 0
The initial value: 𝑓(0) = (0.2) + (0.5) = 0
3 3
−10 10
The final value: 𝑓(∞) = (0.2)∞
+ (0.5)∞ = 0
3 3
Using initial & final value theory in z-domain:
𝑧
𝑧 𝑧2 0
Initial value: 𝑓(0) = lim 𝐹(𝑧) = lim (𝑧−0.2)(𝑧−0.5) = lim 𝑧 0.2 𝑧 0.5 = (1−0)(1−0) = 0
𝑧→∞ 𝑧→∞ 𝑧→∞ (𝑧 − 𝑧 )(𝑧 − 𝑧 )
𝑧
𝑧 𝑧 𝑧2
Or, 𝑓(0) = lim 𝐹(𝑧) = lim (𝑧−0.2)(𝑧−0.5) = lim = lim 2 =
𝑧→∞ 𝑧→∞ 𝑧→∞ 𝑧 2 − 0.7 𝑧 + 0.1 𝑧→∞ 𝑧2 − 0.7 𝑧2 + 0.1
𝑧 𝑧 𝑧2
1
0
lim 𝑧
1 0.1 = =0
𝑧→∞ 1 − 0.7 + 2 1−0.7(0)+0
𝑧 𝑧
𝑧
Final value or steady state value: 𝑓(∞) = lim(𝑧 − 1)𝐹(𝑧) = lim (𝑧 − 1) (𝑧−0.2)(𝑧−0.5)
𝑧→1 𝑧→1
1
𝑓(∞) = (1 − 1) =0
(1 − 0.2)(1 − 0.5)

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 9 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-7
𝒛
Find the initial & final value of the function, 𝑭(𝒛) = (𝒛−𝟏)(𝒛−𝟎.𝟓) using inverse z-transform
and using initial & final value theory in z-domain.
Solution
Using inverse z-transform
𝐹(𝑧) 1 𝐴 𝐵
= = +
𝑧 (𝑧 − 1)(𝑧 − 0.5) 𝑧 − 1 𝑧 − 0.5
The partial fraction coefficients are given by:
𝐹(𝑧) 1 1
𝐴 = lim (𝑧 − 1 ∗ ) = lim [(𝑧 − 1) ∗ ]= =2
𝑧→1 𝑧 𝑧→1 (𝑧 − 1)(𝑧 − 0.5) (1 − 0.5)
𝐹(𝑧) 1 1
𝐵 = lim (𝑧 − 0.5 ∗ ) = lim [(𝑧 − 0.5) ∗ ]= = −2
𝑧 → 0.5 𝑧 𝑧→0.5 (𝑧 − 1)(𝑧 − 0.5) (0.5 − 1)

𝐹(𝑧) 1 𝐴 𝐵 2 −2
= = + = +
𝑧 (𝑧 − 1)(𝑧 − 0.5) 𝑧 − 1 𝑧 − 0.5 𝑧 − 1 𝑧 − 0.5
𝑧 𝑧
𝐹(𝑧) = 2 −2
𝑧−1 𝑧 − 0.5
𝑓(𝑘) = 2 𝑢(𝑘) − 2 (0.5)𝑘
The initial value: 𝑓(0) = 2 − 2(0.5)0 = 0
The final value: 𝑓(∞) = 2 − 2(0.5)∞ = 2
Using initial & final value theory in z-domain:
𝑧
𝑧 𝑧2 0
Initial value: 𝑓(0) = lim 𝐹(𝑧) = lim (𝑧−1)(𝑧−0.5) = lim 𝑧 1 𝑧 0.5 = (1−0)(1−0) = 0
𝑧→∞ 𝑧→∞ 𝑧→∞ (𝑧 − 𝑧)(𝑧 − 𝑧 )
𝑧
𝑧 𝑧 𝑧2
Or, 𝑓(0) = lim 𝐹(𝑧) = lim (𝑧−1)(𝑧−0.5) = lim = lim 2 =
𝑧→∞ 𝑧→∞ 𝑧→∞ 𝑧 2 − 1.5 𝑧 + 0.5 𝑧→∞ 𝑧2 − 1.5 𝑧2 + 0.5
𝑧 𝑧 𝑧2
1
0
lim 𝑧
1 0.5 = =0
𝑧→∞ 1 − 1.5 + 2 1−1.5(0)+0
𝑧 𝑧
𝑧
Final value or steady state value: 𝑓(∞) = lim(𝑧 − 1)𝐹(𝑧) = lim (𝑧 − 1) (𝑧−1)(𝑧−0.5)
𝑧→1 𝑧→1
1
𝑓(∞) = (1 − 1) =2
(1 − 1)(1 − 0.5)

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 10 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-8
𝒛 (𝟏−𝒆−𝑻 )
Find the initial & final value of the function, 𝑭(𝒛) = (𝒛−𝟏)(𝒛−𝒆−𝑻) using inverse z-transform
and using initial & final value theory in z-domain.
Solution
Using inverse z-transform
𝐹(𝑧) 1 − 𝑒 −𝑇 𝐴 𝐵
= = +
𝑧 (𝑧 − 1)(𝑧 − 𝑒 −𝑇 ) 𝑧 − 1 𝑧 − 𝑒 −𝑇
The partial fraction coefficients are given by:
𝐹(𝑧) 1 − 𝑒 −𝑇 1 − 𝑒 −𝑇
𝐴 = lim (𝑧 − 1 ∗ ) = lim [(𝑧 − 1) ∗ ]= =1
𝑧→1 𝑧 𝑧→1 (𝑧 − 1)(𝑧 − 𝑒 −𝑇 ) (1 − 𝑒 −𝑇 )
−𝑇
𝐹(𝑧) −𝑇
1 − 𝑒 −𝑇 1 − 𝑒 −𝑇
𝐵 = lim−𝑇 (𝑧 − 𝑒 ∗ ) = lim−𝑇 [(𝑧 − 𝑒 ) ∗ ] = −𝑇 = −1
𝑧→𝑒 𝑧 𝑧→𝑒 (𝑧 − 1)(𝑧 − 𝑒 −𝑇 ) (𝑒 − 1)

𝐹(𝑧) 1 − 𝑒 −𝑇 𝐴 𝐵 1 1
= = + = −
𝑧 (𝑧 − 1)(𝑧 − 𝑒 −𝑇 ) 𝑧 − 1 𝑧 − 𝑒 −𝑇 𝑧 − 1 𝑧 − 𝑒 −𝑇
𝑧 𝑧
𝐹(𝑧) = −
𝑧 − 1 𝑧 − 𝑒 −𝑇
𝑓(𝑘) = 𝑢(𝑘) − 𝑒 −𝑘𝑇
The initial value: 𝑓(0) = 1 − 𝑒 0 = 0
The final value: 𝑓(∞) = 1 − 𝑒 −∞ = 1
Using initial & final value theory in z-domain:
𝑧
𝑧 (1−𝑒 −𝑇 ) (1−𝑒 −𝑇 ) 0
𝑧2
Initial value: 𝑓(0) = lim 𝐹(𝑧) = lim (𝑧−1)(𝑧−𝑒 −𝑇) = lim −𝑇 = (1−0)(1−0) = 0
𝑧→∞ 𝑧→∞ 𝑧→∞ (𝑧 − 1)(𝑧 − 𝑒 )
𝑧 𝑧 𝑧 𝑧
𝑧 (1−𝑒 −𝑇 ) 𝑧 (1−𝑒 −𝑇 )
Or, 𝑓(0) = lim 𝐹(𝑧) = lim lim (𝑧−1)(𝑧−𝑒 −𝑇) = lim =
𝑧→∞ 𝑧→∞ 𝑧→∞ 𝑧→∞ 𝑧 2 − (1+𝑒 −𝑇 ) 𝑧 + 𝑒 −𝑇
𝑧 −𝑇 )
2 (1−𝑒 0
lim 2
𝑧
−𝑇 = =0
𝑧→∞ 𝑧 − (1+𝑒 −𝑇) 𝑧 + 𝑒 1−(1+𝑒 −𝑇)(0)+0
𝑧2 𝑧2 𝑧2
𝑧 (1−𝑒 −𝑇 )
Final value or steady state value: 𝑓(∞) = lim(𝑧 − 1)𝐹(𝑧) = lim (𝑧 − 1) (𝑧−1)(𝑧−𝑒 −𝑇)
𝑧→1 𝑧→1
−𝑇 )
1 ∗ (1 − 𝑒
𝑓(∞) = (1 − 1) =1
(1 − 1)(1 − 𝑒 −𝑇 )

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 11 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Difference equations

For given series RL circuit shown in Figure 4-1,

Figure 4-1. Series RL circuit.

The system modeling using differential equation in continuous-time domain:

𝑑𝑖 𝐿𝑎𝑝𝑙𝑎𝑐𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚
𝐸(𝑡) = 𝑅 𝑖(𝑡) + 𝐿 → 𝐸(𝑠) = 𝑅 𝐼(𝑠) + 𝐿 [𝑠 𝐼(𝑠) − 𝑖(0)]
𝑑𝑡
The system modeling using difference equation in discrete-time domain:
∆𝐼
𝐸(𝑘𝑇) = 𝑅 𝑖(𝑘𝑇) + 𝐿
∆𝑇
Using "backward" difference equation:
∆𝐼 ∆𝐼
= 𝐼(𝑘𝑇) − 𝐼((𝑘 − 1)𝑇) 𝑂𝑟, = 𝐼(𝑘) − 𝐼(𝑘 − 1)
∆𝑇 ∆𝑇
Using "forward" difference equation:
∆𝐼 ∆𝐼
= 𝐼((𝑘 + 1)𝑇) − 𝐼(𝑘) 𝑂𝑟, = 𝐼(𝑘 + 1) − 𝐼(𝑘)
∆𝑇 ∆𝑇
IL(k)
1 IL(k+1)
VL(kT)

IL(k-1)

0 KT
2T 3T 4T
0 1 2 3 4 5
Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 12 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-9
For given difference equation,
𝒚(𝒌) + 𝟓 𝒚(𝒌 − 𝟏) = 𝒖(𝒌)
With initial condition 𝒚(𝟎) = 𝟏. Find 𝒚(𝟏), 𝒚(𝟐) 𝒂𝒏𝒅 𝒚(𝟑).
Solution
𝑦(1) + 5𝑦(1 − 1) = 𝑢(1) → 𝑦(1) = −5𝑦(0) + 1 = −5 + 1 = −4
𝑦(2) + 5𝑦(2 − 1) = 𝑢(2) → 𝑦(2) = −5𝑦(1) + 1 = 20 + 1 = 21
𝑦(3) + 5𝑦(3 − 1) = 𝑢(3) → 𝑦(3) = −5𝑦(2) + 1 = −105 + 1 = −104

It is required to find more equations to find higher orders of function 𝑦(𝑘). For instance, to
find 𝑦(10), you must firstly find 𝑦(1), 𝑦(2), 𝑦(3), 𝑦(4), 𝑦(5), 𝑦(6), 𝑦(7), 𝑦(8), 𝑦(9).

But, using z-transform, you can immediately solve the difference equation to find any order of 𝑦(𝑘)
as follows,
𝑧−𝑡𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑧
𝑦(𝑘) + 5 𝑦(𝑘 − 1) = 𝑢(𝑘) → 𝑌(𝑧) + 5 𝑧 −1 𝑌(𝑧) =
𝑧−1
𝑧
𝑌(𝑧)[1 + 5 𝑧 −1 ] =
𝑧−1

𝑧 𝑧2
𝑌(𝑧) = =
(𝑧 − 1)(1 + 5 𝑧 −1 ) (𝑧 − 1)(𝑧 + 5)

𝑌(𝑧) 𝑧 𝐴 𝐵
= = +
𝑧 (𝑧 − 1)(𝑧 + 5) 𝑧 − 1 𝑧 + 5

𝑌(𝑧) 𝑧 1 1
𝐴 = lim (𝑧 − 1 ∗ ) = lim [(𝑧 − 1) ∗ ]= =
𝑧→1 𝑧 𝑧→1 (𝑧 − 1)(𝑧 + 5) (1 + 5) 6
𝑌(𝑧) 𝑧 −5 5
𝐵 = lim (𝑧 + 5 ∗ ) = lim [(𝑧 + 5) ∗ ]= =
𝑧 → −5 𝑧 𝑧→−5 (𝑧 − 1)(𝑧 + 5) (−5 − 1) 6

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 13 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

1 5
𝑌(𝑧) 𝐴 𝐵 6
= + = + 6
𝑧 𝑧−1 𝑧+5 𝑧−1 𝑧+5

1 𝑧 5 𝑧
𝑌(𝑧) = ( ) +( )
6 𝑧−1 6 𝑧 − (−5)

1 5
𝑦(𝑘) = 𝑢(𝑘) + (−5)𝑘
6 6

1 5
𝑦(0) = 𝑢(0) + (−5)(0) = 1
6 6
1 5
𝑦(1) = 𝑢(1) + (−5)(1) = −4
6 6

1 5
𝑦(2) = 𝑢(2) + (−5)(2) = 21
6 6

1 5
𝑦(3) = 𝑢(3) + (−5)(3) = −104
6 6

Generally, for system modeling,

𝑑𝑦 𝑖𝑛 𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒−𝑡𝑖𝑚𝑒 𝑑𝑜𝑚𝑎𝑖𝑛 𝑦(𝑘) − 𝑦(𝑘 − 1)

→
𝑑𝑡 𝑇

𝑦(𝑘) − 𝑦(𝑘 − 1) 𝑦(𝑘 − 1) − 𝑦(𝑘 − 2)

𝑑2 𝑦 𝑖𝑛 𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒−𝑡𝑖𝑚𝑒 𝑑𝑜𝑚𝑎𝑖𝑛 −
→ 𝑇 𝑇
𝑑𝑡 2 𝑇

𝑑2 𝑦 𝑖𝑛 𝑑𝑖𝑠𝑐𝑟𝑒𝑡𝑒−𝑡𝑖𝑚𝑒 𝑑𝑜𝑚𝑎𝑖𝑛 𝑦(𝑘) − 2𝑦(𝑘 − 1) + 𝑦(𝑘 − 2)

→
𝑑𝑡 2 𝑇2

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 14 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

Example 4-10
Solve the following difference equation,
𝒚(𝒌 + 𝟐) − 𝟏. 𝟓 𝒚(𝒌 + 𝟏) + 𝟎. 𝟓 𝒚(𝒌) = 𝒖(𝒌 + 𝟏)
With initial condition 𝒚(𝟎) = 𝟎. 𝟓 & 𝒚(−𝟏) = 𝟏.
Solution

𝑧 2 𝑌(𝑧) − 𝑧 2 𝑦(0) − 𝑧𝑦(1) − 1.5[𝑧𝑌(𝑧) − 𝑧𝑦(0)] + 0.5𝑌(𝑧) = 𝑧𝑈(𝑧) − 𝑧𝑢(0)

But, 𝑦(1) is not given. So, substitute in the discrete-time equation by 𝑘 = −1.
𝑦(1) − 1.5 𝑦(0) + 0.5 𝑦(−1) = 𝑢(0)
𝑦(1) = 1.5 (0.5) − 0.5 (1) + 1 = 1.25
Now, substitute in z-domain equation by the initial values
𝑧 2 𝑌(𝑧) − 𝑧 2 𝑦(0) − 𝑧𝑦(1) − 1.5[𝑧𝑌(𝑧) − 𝑧𝑦(0)] + 0.5𝑌(𝑧) = 𝑧𝑈(𝑧) − 𝑧𝑢(0)
𝑧 2 𝑌(𝑧) − 0.5𝑧 2 − 1.25𝑧 − 1.5[𝑧𝑌(𝑧) − 0.5𝑧] + 0.5𝑌(𝑧) = 𝑧𝑈(𝑧) − 𝑧
𝑧
𝑌(𝑧) [𝑧 2 − 1.5𝑧 + 0.5] = 0.5𝑧 2 − 0.5𝑧 + 𝑧
𝑧−1
𝑧2 𝑧 2 + 0.5𝑧 2 (𝑧 − 1) − 0.5𝑧(𝑧 − 1)
𝑌(𝑧) [𝑧 2 − 1.5𝑧 + 0.5] = 2
+ 0.5𝑧 − 0.5𝑧 =
𝑧−1 𝑧−1

𝑧 2 + 0.5𝑧 3 − 0.5𝑧 2 − 0.5𝑧 2 + 0.5𝑧 0.5𝑧 3 + 0.5𝑧 0.5𝑧(1 + 𝑧 2 )

𝑌(𝑧) [𝑧 2 − 1.5𝑧 + 0.5] = = =
𝑧−1 𝑧−1 𝑧−1
0.5𝑧(1 + 𝑧 2 ) 0.5𝑧(1 + 𝑧 2 ) 0.5𝑧(1 + 𝑧 2 )
𝑌(𝑧) = = =
(𝑧 − 1)(𝑧 2 − 1.5𝑧 + 0.5) (𝑧 − 1)(𝑧 − 1)(𝑧 − 0.5) (𝑧 − 1)2 (𝑧 − 0.5)

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 15 of 16
 Course Name: Digital Control Systems Lecture (4)
Course Code: EEC 161
Level: 2 Prepared by:
Dr. Mohammed Morad Salama

𝑌(𝑧) 0.5(𝑧 2 + 1) 𝐴2 𝐴1 𝐵
= = + +
𝑧 (𝑧 − 1)2 (𝑧 − 0.5) (𝑧 − 1)2 (𝑧 − 1) (𝑧 − 0.5)
The partial fraction coefficients are given by:
2
𝑌(𝑧) 2
0.5(𝑧 2 + 1) 0.5(12 + 1)
𝐴2 = lim ((𝑧 − 1) ∗ ) = lim [(𝑧 − 1) ∗ ]= =2
𝑧→1 𝑧 𝑧→1 (𝑧 − 1)2 (𝑧 − 0.5) (1 − 0.5)
1 𝑑 2
𝑌(𝑧) 1 𝑑 2
0.5(𝑧 2 + 1)
𝐴1 = lim ( (𝑧 − 1) ∗ ) = lim [ (𝑧 − 1) ∗ ]
𝑧→1 1! 𝑑𝑧 𝑧 𝑧→1 1! 𝑑𝑧 (𝑧 − 1)2 (𝑧 − 0.5)
𝑧(𝑧 − 0.5) − 0.5(𝑧 2 + 1) (1 − 0.5) − 0.5(12 + 1)
= lim [ ]= = −2
𝑧→1 (𝑧 − 0.5)2 (1 − 0.5)2
𝑌(𝑧) 0.5(𝑧 2 + 1) 0.5(0.52 + 1)
𝐵 = lim ((𝑧 − 0.5) ∗ (𝑧
) = lim [ − 0.5) ∗ ]= = 2.5
𝑧 → 0.5 𝑧 𝑧 → 0.5 (𝑧 − 1)2 (𝑧 − 0.5) (0.5 − 1)2
𝑌(𝑧) 𝐴2 𝐴1 𝐵 2 −2 2.5
= + + = + +
𝑧 (𝑧 − 1)2 (𝑧 − 1) (𝑧 − 0.5) (𝑧 − 1)2 (𝑧 − 1) (𝑧 − 0.5)
𝑧 𝑧 𝑧
𝑌(𝑧) = 2 − 2 + 2.5
(𝑧 − 1)2 (𝑧 − 1) (𝑧 − 0.5)
𝑦(𝑘) = 2𝑘 − 2𝑢(𝑘) + 2.5(0.5)𝑘
To check the solution;
𝑦(0) = 2(0) − 2𝑢(0) + 2.5(0.5)0 = 0.5
𝑦(1) = 2(1) − 2𝑢(1) + 2.5(0.5)1 = 1.25

Reference book:
“Modern control systems”, Richard C. Drof & Robert H. Bishop, 12th edition, 2011, by Pearson Education, Inc., New Jersey.
Chapter 13: Digital Control Systems
Page 16 of 16