Control Engineering 2

Mapping between the s plane and the

z plane

Dr. Eng. Cristina I. Muresan 1

 Outline and Objectives
• Introduction
• The complex exponential function
• Stability in the z plane – a preliminary view
upon the problem
• Mapping the s plane into the z plane
• Worked examples

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 Introduction
• Importance of the locations of poles
– Stability issues
• Relation between the s plane and the z plane
  𝑧= 𝑒𝑇 𝑠 𝑠

• Location in the z plane depends on 2 things:

– Location of the point in the s plane
– The sampling period
𝑇 𝑠1 𝑠 𝑇 𝑠2 𝑠
 𝑧 1=𝑒  𝑧 2=𝑒

Ts1≠ Ts2, then z1≠z2

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 The complex exponential function
𝑒  𝑗 𝛼 =𝑐𝑜𝑠 ( 𝛼 ) + 𝑗𝑠𝑖𝑛 ( 𝛼 )
  𝑗𝛼 2 2
|𝑒 |= √𝑐𝑜𝑠 ( 𝛼 ) +𝑠𝑖𝑛 ( 𝛼 )=1
  𝑠𝑖𝑛 ( 𝛼 )
𝑗𝛼
∠ 𝑒 =𝑎𝑡𝑎𝑛
(
cos ( 𝛼 )
=𝛼
)
• Consider a complex conjugate pole in the left half of
the s plane:  𝑠 1= 𝜎 + 𝑗 𝜔
• Its corresponding location in the z plane, assuming
the sampling period Ts would be:
= 

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 The complex exponential function
•• Consider
  a different complex conjugate pole in the left
half of the s plane: 𝑠  =𝜎 + 𝑗 ( 𝜔+ 2 𝜋 𝑘 )
2
𝑇𝑠

• Its corresponding location in the z plane, assuming the

sampling period Ts would be:
2𝜋 𝑘 2𝜋 𝑘
  𝑇 𝑠
𝑧 =𝑒 = 𝑒
(
𝑇 𝜎 + 𝑗 ( 𝜔+
𝑠
𝑇2
)
) 𝑠
𝑇 𝜎
=𝑒 𝑒
𝑗𝑇 (𝜔+
𝑠 𝑇
)
𝑠
𝑠
𝑠
2
𝑇 𝑠𝜎
 𝑧 2=𝑒 (cos ( 𝑇 𝑠 𝜔+2 𝜋 𝑘 )+ 𝑗𝑠𝑖𝑛 (𝑇 𝑠 𝜔+ 2 𝜋 𝑘 ))
𝑇 𝑠𝜎 𝑇𝑠𝜎
𝑧  2=𝑒 ( cos ( 𝑇 𝑠 𝜔 +2 𝜋 𝑘 ¿ )+ 𝑗𝑠𝑖𝑛 ( 𝑇 𝑠 𝜔+2 𝜋 𝑘 ) )=𝑒 ( cos ( 𝑇 𝑠 𝜔 )+ 𝑗𝑠𝑖𝑛 ( 𝑇 𝑠 𝜔 ) )
• !!!  𝑧 2=𝑧 1 for each pole in the z plane we have an
infinite number of poles in the s plane (k apart)
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 Stability in the z plane
• 1. Stable complex conjugated pole:
𝑠=𝜎
  + 𝑗𝜔 𝜎
  <0

• In the z plane: 𝑧=𝑒

 
𝑇 𝑠𝑠
=𝑒 𝑇 𝜎 (cos ( 𝑇 𝑠 𝜔 ) + 𝑗𝑠𝑖𝑛 (𝑇 𝑠 𝜔))
𝑠

• The modulus: 𝑇𝑠 𝜎 2 2 𝑇 𝑠𝜎
|𝑧|=𝑒 √ 𝑐𝑜𝑠 ( 𝛼 ) +𝑠𝑖𝑛 ( 𝛼 )=𝑒
 

|  𝑧|=𝑒 𝑇 𝜎 < 𝑒 0=1 ⟹|𝑧|<1

𝑠

• 2. Pole located on the imaginary axis, in the s plane

𝑠=
  𝑗𝜔 𝜎  =0
• In the z plane: |  𝑧|=𝑒 𝑇 𝜎 =𝑒 0 =1
𝑠

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 Stability in the z plane
• 3.
  Real stable pole: 𝑠=𝜎
  𝜎
  <0
𝑇 𝜎
• In the z plane:   𝑧|=𝑒 < 1
| 𝑠

3.1. If , then |  𝑧|=𝑒 𝑇 𝜎 ⟹|𝑧|→ 𝑒 −∞ ⟹|𝑧|→ 0

𝑠

• 4. Unstable conjugate pole: 𝑠=𝜎

  + 𝑗𝜔 𝜎
  >0

• In  the 𝑇z𝜎plane:

2 2 𝑇𝜎 0
|𝑧|=𝑒 𝑠
√ 𝑐𝑜𝑠 ( 𝛼 ) +𝑠𝑖𝑛 ( 𝛼 )=𝑒 𝑠
>𝑒 =1⟹|𝑧|>1
𝑠=𝜎
  𝜎
  >0
• 5. Unstable real pole:𝑇 𝜎 0
|  𝑧|=𝑒 > 𝑒 =1 𝑠

• In the z plane:
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 Stability in the z domain
• Determining stability:
– Unstable pole |  𝑧|>1
– Stable pole |  𝑧|<1
– Stability limit |  𝑧|=1

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 Mapping the s plane into the z plane
• Consider two complex conjugated poles in the s
plane located on the imaginary axis:
 𝑠 =− 𝑗 𝜔𝑠  𝑠 = 𝑗 𝜔 𝑠
1 2
2 2

• Locations in the z plane are:

𝜔𝑠 𝜔𝑠
− 𝑗 𝑇𝑠
  2   𝑗𝑇𝑠
𝑧 1=𝑒 𝑧 2=𝑒 2

2𝜋
• Sampling period:  
𝑇 𝑠=
𝜔𝑠
• Then:
𝜔𝑠 2 𝜋 𝜔𝑠 𝜔𝑠 2 𝜋 𝜔𝑠
  − 𝑗𝑇 −𝑗   𝑗𝑇 𝑗
𝑠
2 𝜔𝑠 2 − 𝑗𝜋 𝑠
2 𝜔𝑠 2 𝑗𝜋
𝑧 1=𝑒 =𝑒 =𝑒 𝑧 2=𝑒 =𝑒 =𝑒

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 Mapping the s plane into the z plane

• The modulus: |  𝑧 1|=|𝑒 − 𝑗 𝜋|=1 |  𝑧 2|=|𝑒 𝑗 𝜋|=1

sin (− 𝜋 ) sin ( 𝜋 )
• The phase:  
∠ 𝑧 =atan
1
cos (− 𝜋 )
=− 𝜋  
∠ 𝑧 2=atan
cos ( 𝜋 )
=𝜋
• Location of the two poles in the s plane and in the z plane:

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 Mapping the s plane into the z plane

• Pole: s0=0, in the z plane  𝑧 =𝑒

0
𝑗 𝑇𝑠 0

• What is the modulus and phase?

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 Mapping the s plane into the z plane
𝜔𝑠 3 𝜔𝑠
• Pole located at:
 
𝑠 3= 𝑗 (
2 )
+𝜔 𝑠 = 𝑗
2
3 𝜔𝑠
• In the z plane:  𝑧 = 𝑒 = 𝑒
3
𝑗 𝑇𝑠
2 𝑗3𝜋

• What is its modulus and phase?

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 Mapping the s plane into the z plane

• Two
  poles having the same real part :
𝜔 𝜔
𝑠  1= 𝜎 − 𝑗 𝑠  2= 𝜎 + 𝑗
𝑠 𝑠
2 2

• In the z plane:
𝜔𝑠 𝜔𝑠
𝜎 𝑇𝑠 − 𝑗 𝑇 𝑠 𝜎 𝑇 𝑠 + 𝑗𝑇 𝑠
  2   2
𝑧 1=𝑒 𝑧 2=𝑒

• Modulus?
• Phase?
• What if goes from 0 to -∞? What is the modulus

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 Mapping the s plane into the z plane

•  goes from 0 to -∞ ?

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 The issue of the settling time
• Consider a second order system and its two
complex conjugated poles:
2
𝑠 1,2=−𝜉 𝜔𝑛 ± 𝑗 𝜔 𝑛 √1−𝜉
 
𝑠  1,2=𝜎 ± 𝑗 𝜔
• The settling time is defined as: 𝑡  = 𝜉 4𝜔 =|𝔑𝔢 4{𝑠 }| 𝑠
𝑛 1,2

• Imposed settling time 𝑡  : ∗

𝑠

• Effect on the location of poles in the s plane:

𝑡  𝑠 ≤ 𝑡 ∗𝑠 →| 𝔑𝔢 { 𝑠 1,2 }|≥|𝔑𝔢 { 𝑠 ∗1,2 }|→|− 𝜉 𝜔 𝑛|≥|−𝜉 ∗ 𝜔∗𝑛 |→ 𝜎 ≥ 𝜎 ∗

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Mapping the s plane into the z plane
∗ ∗ ∗ ∗ ∗
𝑡  𝑠 ≤ 𝑡 𝑠 →| 𝔑𝔢 { 𝑠 1,2 }|≥|𝔑𝔢 { 𝑠 1,2 }|→|− 𝜉 𝜔 𝑛|≥|−𝜉 𝜔𝑛 |→ 𝜎 ≥ 𝜎

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 Mapping the s plane into the z plane

• Consider three stable poles having the same

imaginary part and different real parts:
𝑠  1=𝜎 1 + 𝑗 𝜔 𝑠  2=𝜎 2 + 𝑗 𝜔 𝑠  3=𝜎 3 + 𝑗𝜔 |  𝜎 1|<|𝜎 2|<|𝜎 3|
• In the z plane:
𝑠1 𝑇 𝑠 𝜎1𝑇 𝑠 𝑗 𝜔 𝑇𝑠 𝑠2 𝑇 𝑠 𝜎2𝑇 𝑠 𝑗 𝜔 𝑇𝑠 𝑠3 𝑇 𝑠 𝜎3 𝑇 𝑠 𝑗 𝜔𝑇 𝑠
 𝑧 1=𝑒 =𝑒 𝑒  𝑧 2=𝑒 =𝑒 𝑒  𝑧 3=𝑒 =𝑒 𝑒

• Phase: ∠  𝑧 1=∠ 𝑧 2=∠ 𝑧 3 =𝜔𝑇 𝑠

• Modulus: |  𝑧 |=𝑒 |  𝑧 |=𝑒1
𝜎1 𝑇 𝑠
2
𝜎2 𝑇 𝑠
|  𝑧 3|=𝑒 𝜎 𝑇
3 𝑠

• But: |  𝜎 |<|𝜎 |<|𝜎 | leads to

1 2 3 |  𝑧 1|>| 𝑧2|>|𝑧 3|
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 Mapping the s plane into the z plane

  Location of poles , and in the s plane and their corresponding location in the z
18
plane
 Worked example
• For the bordered
region in the s
plane given in
the figure,
determine its
corresponding
location in the z
plane.

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 Worked example

SOLUTION

20
Worked example

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 Mapping the s plane into the z plane

• Consider
  the case of a constant damping ratio
line, =const
• Complex conjugated poles:
2
𝑠 1,2=−𝜉 𝜔𝑛 ± 𝑗 𝜔 𝑛 √1−𝜉
 

2
𝑠1=−𝜉 𝜔𝑛 + 𝑗𝜔𝑛 √ 1−𝜉 =−𝜉𝜔𝑛 + 𝑗 𝜔𝑑
 

2
𝜔𝑑 =𝜔 𝑛 √1−𝜉
 

Constant damping ratio line in the s 22

plane
 Mapping the s plane into the z plane

• Pole in the s plane:

2 2
𝑠1=−𝜉 𝜔𝑛 + 𝑗𝜔𝑛 √ 1−𝜉 =−𝜉𝜔𝑛 + 𝑗 𝜔𝑑 𝜔 𝑑 =𝜔 𝑛 √1−𝜉
   

• Discrete-time pole corresponding to s1 is:

  2 𝜋𝜉 𝜔𝑑 𝜔𝑑
  2𝜋 − + 𝑗 2 𝜋
 𝑧=𝑒𝑠 𝑇 𝑠 =𝑒 −𝜉 𝜔𝑛 𝑇 𝑠 + 𝑗 𝜔𝑑 𝑇 𝑠 𝑇 = √1 − 𝜉2 𝜔𝑠 𝜔𝑠
𝑠
𝜔𝑠 𝑧=𝑒
• Modulus and phase:
  2𝜋𝜉 𝜔𝑑
−
√1− 𝜉2 𝜔𝑠   𝑧=2 𝜋 𝜔 𝑑
¿ 𝑧∨¿𝑒 ∠
𝜔𝑠
• What happens to the modulus and phase
once ωd increases?
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 Mapping the s plane into the z plane

• What happens to the modulus and phase once

ωd increases?
  2 𝜋𝜉 𝜔𝑑
−
¿ 𝑧∨¿𝑒 √1 − 𝜉2 𝜔𝑠   decreases exponentially

 ∠ 𝑧=2 𝜋 𝜔 𝑑
𝜔𝑠  increases linearly

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 Mapping the s plane into the z plane
• s plane positions of several poles having the same
damping ratio, thus located on the same damping
ratio line:
 ωd=0 , then and
ωd=0.25ωs, then and
ωd=0.5ωs, then and
ωd=0.75ωs, then and

• z plane location?

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Mapping the s plane into the z plane
 ωd=0 , then and

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Mapping the s plane into the z plane
 ωd=0.25ωs, then and

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Mapping the s plane into the z plane
 ωd=0.5ωs, then and

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Mapping the s plane into the z plane
 ωd=0.75ωs, then and

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Mapping the s plane into the z plane

Constant damping loci with negative imaginary part in the s plane and z plane
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Mapping the s plane into the z plane

 
Constant damping ratio
loci in the z plane for
poles that correspond
to 0≤ω≤.

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