Discrete-Time System Representation

Lecture 4
Discrete-Time System Representation
• Deriving the Pulse Transfer Function

• Obtaining the output and the Response of Digital Systems
Dr Samieh Abu Saad Digital Control

Reconstructing Original Signals from Sampled Signals
 Sampling Theorem
If s, defined as 2/T is greater than 21, where 1 is the
highest-frequency component present in the continuous-time
signal x(t), then the signal x(t) can be reconstructed
completely from the sampled signal x*(t).
– The frequency spectrum:

1 k 
X ( j  )   X ( j   j s k )
*
T k 
1 1 1
   X ( j (   s ))  X ( j )  X ( j (   s ))  
T T T
2
 Folding
– The phenomenon of the overlap in the frequency spectra.
– The folding frequency (Nyquist frequency): N
1 
N  s 
2 T
– In practice, signals in control systems have high-frequency

components, and some folding effect will almost always exist.
3
 Aliasing
– The phenomenon that the frequency component ns 2 shows
up at frequency 2 when the signal x(t) is sampled.
– To avoid aliasing, we must either choose the sampling frequency
high enough or use a prefilter ahead of the sampler to reshape
the frequency spectrum of the signal before the signal is
sampled.
4
Impulse Sampling and Data Hold
 Impulse Sampling
– A fictitious sampler
– The output of the sampler is a train of impulses.

x (t )   x(kT ) (t  kT )
*
k 0
x* (t )  x(0) (t )  x(T ) (t  T )    x(kT ) (t  kT )  
5
Impulse Sampling and Data Hold; cont…
 Impulse Sampling (cont.)
– Let’s define a train of unit impulses:

 T (t )    (t  kT )
k 0
– The sampler may be considered a modulator with

• The modulating signal: the input x(t)
• The carrier : the train of unit impulses T(t)
6
• Impulse Sampling (cont.)
– The Laplace transform of x*(t)
X *(s)  L x*(t)  x( 0 )L δ(t)  x(T)L δ(t  T)  x( 2T)L δ(t  2T)  
 x( 0 )  x(T)eTs  x( 2T)e 2Ts  

  x(kT)e kTs
k 0
1
e z Ts
s  ln z
T
– If we  1or  
X * ( sdefine
)  X  ln z    x(kT )z  k  X ( z )
*
s  (1 / T ) ln z
T  k 0
X * (s)  X ( z)
s  (1 / T ) ln z
– Hence we may write
7
 Data-Hold Circuits
– Data-hold: a process of generating a continuous-time signal h(t)
from a discrete-time sequence x(kT).
– A hold circuit approximately reproduces the signal applied to the
sampler.
h(kT   )  an n  an 1 n 1    a1  a0 where 0    T

Note that signal h(kT) must equal x(kT):
h(kT )  x(kT )
h(kT   )  an n  an 1 n 1    a1  x(kT ) n-th order hold
– The simplest data-hold:   )  x(kT

h(kTzero-order ) (n=0)
hold
8
 Zero-Order Hold
h(kT  t )  x(kT ), for 0  t  T
9
 Zero-Order Hold (cont.)
A real sampler and zero-
order hold
h1 (t )  x(0) u (t )  u (t  T )  x(T ) u (t  T )  u (t  2T )
 x(2T ) u (t  2T )  u (t  3T )  
  x(kT ) u (t  kT )  u (t  ( k  1)T )

k 0
e  kTs
Since
L  u (t  kT ) 
s

e  kTs  e  ( k 1)Ts 1  e Ts 
L  h1 (t )  H1 ( s)   x(kT )   x(kT )e  kTs
k 0 s s k 0
10
Mathematical model: an impulse
sampler and transfer function of ZOH
L  h2 (t )  H 2 ( s )
1  e Ts 
H 2 (s) 
s
 x (
k 0
kT ) e  kTs
From the figure H 2 ( s )  Gh 0 ( s ) X * ( s )


Since X ( s )   x(kT )e  kTs
*
k 0
1 e Ts 1  e Ts
H 2 ( s)  X * (s) Gh 0 ( s ) 
s s
11
This shows that the transfer function of the ZOH can be
represented by the Gho term; the z transfer function of systems
include ZOH can be derived by multiplying it by the term Gho
1  e Ts
G ( s)  X (s)
s
G ( s)
X ( z )   X ( s )  (1  z )  1
s
12
Obtaining z Transform of Functions in s Plane
 Partial Fraction Decomposition Method

cont…
 Example1: Find the z transform of ZOH G(s)

cont…
 Example-2 Find the z transform of ZOH G(s)

Dr
DrSamieh Abu Saad
Samieh Abu Saad Digital Control
cont…
 Convolution Integral Method
The convolution integral can be used to obtain X(z) from X(s) where:
X(z)=ZX(s)|=[residueofat pole of X(s)]

Assume that X(s) simple poles sjand multiple poles si then the
Corresponding residues Kj and Ki are respectively defined as follows
X(z)=ZX(s)|=+

cont…
 Convolution Integral Method, Example
Obtain X(z) by use of convolution integral of X(s) where:
Answer:
 Examples: a) Obtain X(z) by use of X(s) using two different methods:

𝑠 +3 (2) X ( s )= 𝑠
(1) X( s )= 2
( 𝑠 +1 ) ( 𝑠+ 2 ) ( 𝑠+1) ( 𝑠+2 )
b) Obtain the response of the system to a unit step, where:
1− 0.5 𝑧 − 1
G ( s )=
( 1 −0.3 𝑧 −1 ) ( 1+0.7 𝑧 −1 )
The Pulse Transfer Function
 Convolution Summation
k 
Z  y (t )  Y ( z )   y (kT ) z  k
k 0
– For the continuous time-system
t t
y (t )   g (t   ) x( )d   x(t   ) g ( )d
0 0
– For the discrete-time

 system 
x (t )   x(t ) (t  kT )   x(kT ) (t  kT )
*
k 0 k 0

– For a physical
 g (t a nT
y (t ) system
n 0
response
) x(ht ) cannot
0  t precede
 kT the input
17
The Pulse Transfer Function; cont…
 Convolution Summation (cont.)
– The value of the output y(t) at the sampling instants t=kT are given
by
Convolution summation
k k
y (kT )   g (kT  nT ) x( nT )   x( kT  nT ) g (nT )
n 0 n 0
y (kT )  x(kT ) * g (kT )
 k
– Since we assume that x(t)=0 for t <0
y (kT )   g (kT  nT ) x( nT )   x(kT  nT ) g (nT )
n 0 n 0
18
 Pulse Transfer Function

y (kT )   g (kT  nT ) x(nT ) k  0,1,2,
n 0
– The z transform of y(kT)
  
Y ( z )   y (kT ) z    g (kT  nT ) x(nT ) z k
k
k 0 k 0 n 0
   
   g (mT ) x(nT ) z ( m  n )
  g ( mT ) z m
 x(nT ) z n
m 0 n 0 m 0 n0
 G( z) X ( z)
Y ( z)
G( z)  The pulse transfer function
X ( z)
Response to the Kronecker delta input

Y ( z)  G( z)
19
 Starred Laplace Transform of the Signal involving both
Ordinary and Starred Laplace Transform
Y (s)  G( s) X * ( s)
 
Y * ( s )  G ( s) X * ( s )   G ( s) X * ( s)  G * ( s) X * ( s)
* *
 
t t 
y (t )  L G ( s ) X ( s )   g (t   ) x ( ) d   g (t   ) x( ) (  kT )d
1 * *
0 0 k 0
 t 
   g (t   ) x( ) (  kT )d   g (t  kT )x(kT )
k 0 0 k 0

  -n  
Y ( z )  Z  y (t )    g (nT  kT )x(kT )z   g (mT ) x(kT ) z ( k  m )
n 0  k 0  m 0 k 0
 G( z) X ( z)
Y * ( s)  G * ( s) X * ( s)
20
 General Procedures for Obtaining Pulse Transfer
Functions
Y ( z)
 G ( z )  Z  G ( s )
X ( z)
Y ( s)  G( s) X * ( s) Y * ( s)  G * (s) X * (s) Y ( z)  G( z) X ( z)
Y (s)
 G (s)
X ( s)
Y (s)  G (s) X ( s) Y * ( s )   G ( s) X ( s )   GX ( s )
* *
Y ( z )  Z Y ( s )  Z  G ( s ) X ( s )  Z  GX ( s)  GZ ( z )  G ( z ) X ( z )
21
 Pulse Transfer Function of Cascaded Elements
U ( s)  G (s) X * (s) U * (s)  G * ( s) X * ( s) U ( z)  G( z) X ( z)

Y ( s )  H ( s )U * ( s ) Y * ( s)  H * ( s)U * ( s)  H * ( s)G * ( s ) X * ( s )
Y ( z)
Y ( z)  G( z) H ( z) X ( z) X ( z)
 G( z)H ( z)
Y * ( s )   GH ( s ) X * ( s)
*
Y ( s )  G ( s ) H ( s ) X * ( s )  GH ( s ) X * ( s)
Y ( z)
Y ( z )  GH ( z ) X ( z )  GH ( z )  Z  GH ( s)
X ( z)
22
 Example: Obtain the pulse transfer functions of the
systems shown in the figures below
(a)
(b)

 Pulse Transfer Function of Closed-Loop Systems
E ( s)  R ( s )  H ( s)C ( s)
C ( s)  G ( s) E * ( s)
 C * ( s)  G * ( s) E * ( s)
E ( s )  R( s )  H ( s)G ( s) E * ( s) E * ( s )  R * ( s)  GH * ( s ) E * ( s )
R *
( s)
 E (s) 
*
1  GH * ( s )
G * ( s) R* ( s) C ( z) G( z)
C ( s) 
*
C ( z) 
G ( z ) R ( z ) 
1  GH ( s )
*
1  GH ( z ) R( z ) 1  GH ( z )
24
 Table 3-1: Five typical configurations for closed-loop
discrete-time control systems
25
 Pulse Transfer Function of a Closed-loop Digital Control
System
1  e Ts C ( s)  G ( s )GD* E * ( s) C * ( s )  G * ( s )GD* ( s ) E * ( s )

G p ( s)  G ( s)
s
C ( z )  G ( z )GD ( z ) E ( z ) E ( z )  R( z )  C ( z )
C ( z )  GD ( z )G ( z ) R ( z )  C ( z )
C ( z) GD ( z )G ( z )

R( z ) 1  GD ( z )G ( z )
26
 Example: Obtain the pulse TF and outputs of the systems below:

 Example: For the system below, obtain the output sequence c(kT) when
it is subjected to unit step input and sampling period T=1 sec.
1  e Ts K 
G(Z )     1 
 z 1
K 
 s2 
 s s  
KTz 1 Kz 1

 1 z 1
 
1 z1 2
 1  z 1
C ( z) G( z) Kz 1 Kz 1
   C ( z )  R( z )
R( z ) 1  G ( z ) 1   K  1 z 1 1   K  1 z 1
1
R( z )  unit step 
1  z 1
1 Kz 1 1 1
 C ( z)   
1  z 1 1   K  1 z 1 1  z 1 1   K  1 z 1
use inverse z transform of C ( z )  c( kT )  1  K   1
k

 Pulse Transfer Function of a Digital PID Controller
– The PID control action in analog controllers
 1
t
de(t ) 
m(t )  K e(t )   e(t )  Td 
 Ti 0 dt 
– The pulse transfer function for digital PID control is:

M ( z) KI
GD ( z )   Kp   k D 1  z 
1
E( z) 1 z 1
29
 Example: Obtain the pulse TF and outputs of the systems below:

Discrete-Time System Representation

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Lecture 4

Discrete-Time System Representation

• Deriving the Pulse Transfer Function

Dr Samieh Abu Saad Digital Control

– The frequency spectrum:

– In practice, signals in control systems have high-frequency

x* (t )  x(0) (t )  x(T ) (t  T )    x(kT ) (t  kT )  

– The sampler may be considered a modulator with

h(kT   )  an n  an 1 n 1    a1  a0 where 0    T

– The simplest data-hold:   )  x(kT

h(kT  t )  x(kT ), for 0  t  T

From the figure H 2 ( s )  Gh 0 ( s ) X * ( s )

 Partial Fraction Decomposition Method

Dr Samieh Abu Saad Digital Control

X(z)=ZX(s)|=[residueofat pole of X(s)]

Dr Samieh Abu Saad Digital Control

 Examples: a) Obtain X(z) by use of X(s) using two different methods:

b) Obtain the response of the system to a unit step, where:

– For the discrete-time

y (kT )  x(kT ) * g (kT )

Response to the Kronecker delta input

U ( s)  G (s) X * (s) U * (s)  G * ( s) X * ( s) U ( z)  G( z) X ( z)

Dr Samieh Abu Saad Digital Control

1  e Ts C ( s)  G ( s )GD* E * ( s) C * ( s )  G * ( s )GD* ( s ) E * ( s )

Dr Samieh Abu Saad Digital Control

Dr Samieh Abu Saad Digital Control

– The pulse transfer function for digital PID control is:

Dr Samieh Abu Saad Digital Control

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