CHAPTER 4

Open-loop Discrete-time Systems

Outline
•The relationship between E(z) and E*(s)
•Pulse transfer function and example
•dc gain
•More configurations of open-loop sampled-data
systems
•Open-loop systems containing digital filters
Closed-loop sampled-data systems
Derivation procedure and illustrative examples
1
The relationship between E(z) and E*(s)
The z-transform of the number sequence {e(k)} is defined as

E ( z )  Z {e( k )}   e(k ) z k
k 0

The starred transform for the time function e(t), say e(t) is the
input to an ideal sampler, is written as

e(t) e*(t) E ( s )   e(nT )e nTs
*

n 0

Is there any similarity between these two transforms? In

fact, if we assume the number sequence {e(k)} is obtained
from sampling a time function e(t), and let z=eTs, then the
starred transform becomes the z-transform. Hence,
E ( z)  E * ( s)
eTs  z
2
The relationship between E(z) and E*(s)
(cont’d)
Recall that
1
E * (s)  
at poles
residues of E ( )
1  e T ( s   )
of E(  )

Substituting eTs=z into the above equation, we get

1
E ( z )   residues of E ( ) 1 T
at poles 1  z e
of E(  )

Thus we can use this expression to calculate E(z) from E(s).

3
Pulse transfer function
Consider the open-loop E(s) E*(s)
1  e  Ts Plant C(s)

sampled-data system in T s Gp(s)

Figure 1, where Figure 1
G(s)
1  e Ts
G( s)  G p ( s)
s
E(s) E*(s) C(s)
Hence the system can be G(s)
T
shown as Figure 2. Figure 2

In general, the ZOH is not shown explicitly but included in the

combination with the plant TF. From Figure 2,
C ( s)  G( s) E * ( s)
which means C(s) is continuous.
4
Pulse transfer function
The sampled-data system in the E(s) E*(s) C(s)
figure shows that while the input G(s)
T
is sampled, the output C(s) is still
a continuous signal. However, we are satisfied with finding the
output at the sampling instants, then the pulse transfer function
comes into play. Of course, we assume that the output is
conceptually sampled in synchronisation with the input. Since
C ( s)  G( s) E * ( s)
taking the starred transform gives
C * ( s )  G ( s ) E * ( s ) *  G * ( s ) E * ( s )
Based on the relationship between the starred transform and
the z-transform, we have G(z) is called the pulse
C ( z)  G( z) E ( z ) transfer function.
5
Pulse transfer function (cont’d)
E(s) E*(s) C(s)
G(s)
T

For the open-loop sampled-data system in the figure, from

C ( s)  G( s) E * ( s)

we have obtained
C ( z)  G( z ) E ( z)
where the pulse TF G(z) is the TF between the sampled input
and the output at the sampling instants. Therefore, the pulse TF
gives no information on the nature of the output c(t) between
sampling instants.
6
Pulse transfer function (cont’d)
We now summarise the derivation of A(z) from A(s), where
A(s) is a general function that can be expressed as
A( s )  B( s ) F * ( s )
where B(s) is a function of s and F*(s) is a function of eTs.
A(z) is obtained as
A( z )  B ( z ) F ( z )

where
B ( z )  Z B ( s ), F ( z )  F * ( s ) eTs  z

The important point in the derivation is F*(s) being a function

of eTs, i.e., s appears only in the form eTs.
7
Example - pulse transfer function
Example. Convert the following function A(s) to A(z).
1  e Ts
A( s ) 
s( s  1)
We rewrite A(s) to 1
A( s )   1  e Ts 
s( s  1)

Then A(z) is obtained as

 1 
  1  z 
1
A( z )  Z 
 s( s  1) 

The z-transform of 1/s(s+1) in the above equation can be

achieved in couple of ways:
1. Take the inverse Laplace transform of 1/s(s+1) to find the
time function and then take the z-transform of the time
function sampled.
1
2. Use E ( z )   residues of E (  )
1 z e to find the z-transform.
1 T
at poles 8
of E(  )
Example - pulse transfer function
(cont’d)
We only present the method 2 here, that is, use
1
E( z)  
at poles
residues of E ( )
1  z 1e T
of E(  )

 1 
to find Z .
 s( s  1) 

 1   1 1  1 1  1 1
Z   1 T     1 T   1

 s( s  1)     1 1  z e   0   1  z e    1 1  z 1  z 1e T

Thus A(z) is
 1   1 1
  1  z     1  z 1 
1 
A( z )  Z  1
 1 T 
 s( s  1)  1 z 1 z e 
1  e T

z  e T

9
dc gain
The dc gain of a system is referred to as the steady-state gain
for a constant input.
E(s) E*(s) C(s)
For the open-loop sampled-data G(s)
T
system in the figure, from the
final value theorem, for a unit step input, the dc gain of the
system is z
dc gain  lim( z  1)C ( z )  lim( z  1)G ( z )  lim G ( z )
z 1 z 1 z  1 z 1
Since the gain of the sampler/ZOH is unity, the dc gain of the
system in the figure is also given by
dc gain  lim sC ( s )  lim G p ( s )
s 0 s 0

where Gp(s) is the plant TF. In summary, for a unit step input,
the dc gain of the system in the figure is
dc gain  lim G ( z )  lim G p ( s )
z 1 s 0 10
More configurations of open-loop
sampled-data systems
E(s) E*(s) A(s) A*(s) C(s)
G1(s) G2(s) Figure 1
T T

For the system in Figure 1,

C ( s )  G2 ( s ) A * ( s )  C ( z )  G2 ( z ) A( z ) and A( s )  G1 ( s ) E * ( s )  A( z )  G1 ( z ) E ( z )
so
C ( z )  G1 ( z )G2 ( z ) E ( z )

E(s) E*(s) C(s)

G1(s) G2(s) Figure 2
T

For the system in Figure 2,

C ( s )  G1 ( s )G2 ( s ) E * ( s )  C ( z )  G1G2 ( z ) E ( z )

where
G1G2 ( z )  Z G1 ( s )G2 ( s ) Note that G1G2 ( z )  G1 ( z )G2 ( z )
11
More configurations of open-loop
sampled-data systems (cont’d)
E(s) A(s) A*(s) C(s)
G1(s) G2(s) Figure 3

T
For the system in Figure 3,
C ( s )  G2 ( s ) A * ( s )  C ( z )  G2 ( z ) A( z ) and A( s )  G1 ( s ) E ( s )  A( z )  G1 E ( z )

so
C ( z )  G2 ( z )G1 E ( z )

For this system, a TF cannot be written.

In general, if the input to a sampled-data system is applied
directly to a continuous-time part of the system before being
sampled, the z-transform of the system output cannot be
expressed as a function of the z-transform of the input signal.
12
 Open-loop systems containing digital
filters Digital
filter Plant
E(s) M (s )
M (z ) C(s)
A/D D(z) D/A Gp(s)

The open-loop sampled-data system shown in the above

figure contains a digital filter represented by a TF D(z). The
D/A converter has the characteristics of a ZOH, i.e.,
1  e Ts
M ( s)  M * ( s)
s
Thus
1  e Ts 1  e Ts
C ( s)  G p ( s) M ( s)  G p ( s) M * ( s)  C ( s)  G p ( s) D( z ) z eTs E * ( s)
s s
 1  e Ts 
 C ( z )  Z G p ( s )  D( z ) E ( z )  G ( z ) D( z ) E ( z )
 s 
13
Open-loop systems containing digital
filters (cont’d)
It is clear from the derivation in the previous slide that the
combination of the A/D, digital filter, and D/A is accurately
modeled by the combination of an ideal sampler, D(z), and
ZOH.
Digital
Plant
filter
E(s) M (z ) M (s ) C(s)
A/D D(z) D/A Gp(s)

is equivalent to
Plant
E(s) E(z) M (z ) M (s ) C(s)
1  e Ts
D(z) Gp(s)
T s

G(s)
14
We have derived the output function C(z) of open-loop sampled-
data systems of different configurations. A quick summary:
E(s) E*(s) A(s) A*(s) C(s)
G1(s) G2(s)
T T
C ( z )  G1 ( z )G2 ( z ) E ( z )

E(s) E*(s) C(s)

G1(s) G2(s)
T

C ( z )  G1G2 ( z ) E ( z )

E(s) A(s) A*(s) C(s)

G1(s) G2(s)
T
C ( z )  G2 ( z )G1 E ( z )

15
output function C(z) of open-loop sampled-data systems of
different configurations. A quick summary:

Plant
E(s) E(z) M (z ) M (s ) C(s)
1  e Ts
D(z) Gp(s)
T s

G(s)

C ( z )  G ( z ) D( z ) E ( z )

16
Closed-loop sampled-data systems
We now derive the output function of closed-loop sampled-data
systems. Consider the following simple closed-loop sampled-
data system.

The closed-loop TF of the system is

Y ( z) G( z )

R( z ) 1  G ( z )

So the output function of the system is

G( z)
Y ( z)  R( z )
1  G( z)
17
Closed-loop sampled-data systems
(cont’d)
Consider the closed-loop sampled-data system in the figure.
First we write R(s) E(s) E*(s) C(s)
G(s)
*
C ( s)  G( s) E ( s) + T
-
E ( s )  R( s )  H ( s )C ( s )
H(s)
 E ( s)  R( s)  G ( s) H ( s) E * ( s )
Taking the starred transform yields
R * (s)
E * ( s )  R * ( s )  GH * ( s ) E * ( s )  E * ( s ) 
1  GH * ( s )
which leads to G( s) R * ( s)
C ( s) 
1  GH * ( s )

The sampled output is then

G * ( s) R * ( s) G ( z ) R( z )
C * (s)   C ( z) 
1  GH * ( s ) 1  GH ( z )
18
Closed-loop sampled-data systems
(cont’d)
Consider the closed-loop sampled-data system in the figure.
First we write R(s) E(s) C(s)
G(s)
C ( s)  G( s) E ( s) +
-
E ( s )  R ( s )  H ( s )C * ( s )
H(s)
 C ( s )  G ( s ) R( s )  G ( s ) H ( s )C * ( s ) T

Taking the starred transform yields

C * ( s )  GR * ( s )  GH * ( s )C * ( s )

Solving for C*(s), we get

GR * ( s ) GR( z )
C * ( s)   C( z) 
1  GH * ( s ) 1  GH ( z )

For this system, no TF can be derived. Why? - The input

reaches the plant without being sampled. 19
Derivation procedure
The determination of the output function for closed-loop
sampled-data systems is difficult because a TF for the ideal
sampler does not exist. We now present a procedure for finding
the output function for systems in more complex structure.
1. Construct the original signal-flow graph, in which the system is
opened at each sampler and the effect of the sampler(s) is
included.
2. Assign a variable to each sampler input, then the sampler output is
this variable starred.
3. Considering each sampler output to be a source node (input),
express the sampler inputs and the system output in terms of each
sampler output and the system input.
4. Take the starred transform of these equations and solve for the
output function. 20
Example - derivation procedure
We now present an example to illustrate the derivation
procedure for finding the output function of closed-loop
sampled-data systems.
R(s) E(s) E*(s) C(s)
G(s)
+ T
-
H(s)

1. Construct the original R 1 E1 E1* G C

signal-flow graph.
2. Assign a variable to each -H
sampler input, then the
sampler output is this
variable starred.
21
Example - derivation procedure
(cont’d)
3. Considering each sampler output to be a
source node (input), express the sampler
inputs and the system output in terms of
each sampler output and the system
input.
E1  R  GHE1* , C  GE1*
4. Take the starred transform of these equations and solve by any
convenient method.
E1*  R * GH * E1* , C*  G * E1*
G*R*
 C* 
1  GH *
or equivalently,
G( z ) R( z )
C( z) 
1  GH ( z )
22
More examples
Example 1. Find the
output function of the
digital control system
in the figure.
We have known that
Digital
Plant
filter C(s)
E(s) M (z ) M (s )
A/D D(z) D/A Gp(s)

is equivalent to
Plant
E(s) E(z) M (z ) M (s ) C(s)
1  e Ts
D(z) Gp(s)
T s

G(s) 23
More examples (cont’d)
The given system can be modeled by the following system:

First, construct the original

signal-flow graph:
Next, write system equations: E  R  GHD * E*, C  GD * E *

Then, take the starred transform of these equations:

E *  R * GH * D * E *, C*  G * D * E *

Finally, solve for C*(s): C* 

G*D*R*
 C( z) 
D ( z )G ( z )
R( z )
1  GH * D * 1  D( z )GH ( z )
24
More examples (cont’d)
Example 2. Find the output function of the closed-loop
sampled-data system in the figure.
First, construct the original
signal-flow graph:

Next, write system equations: E  R  G E , E  G E  G HE

1 2
*
2 2 1
*
1 2
*
2 , C  G2 E 2*

Then, take the starred transform of these equations:

E1*  R * G2* E 2* , E 2*  G1* E1*  G2 H * E 2* , C*  G2* E 2*
G1*G2* R * G1 ( z )G2 ( z ) R( z )
Finally, solve for C*(s): C*  * *
1  G1 G2  G2 H *
 C( z) 
1  G1 ( z )G2 ( z )  G2 H ( z )
25
More examples (cont’d)
Example 3. Find the output
function of the closed-loop
sampled-data system in the
figure.
First, construct the original
signal-flow graph:
Next, write system equations:
R GG
E1  R  C , C  R  C  G2 (G1 E1*  C )  C   1 2 E1*
2  G2 2  G2
(1  G2 ) R G1G2 *
and E1  R  C   E1
2  G2 2  G2

Then, take the starred

transform:C*   R  *  G G 1 2
 * E1* ,
 (1  G2 ) R   G1G2 
E1*    *   * E1*
 2  G2   2  G2   2  G2   2  G2  26
More examples (cont’d)
Finally, solve for C*(s):
 G1G2 
  *
 R  2  G  (1  G2 ) R 
C*    *   2 
  *
 2  G 2   G G  2  G
1   1 2  *  2 
 2  G2 

and equivalently,  G1G2 

 ( z )
 R  2  G  (1  G2 ) R 
C ( z )   ( z )   2 
 ( z )
 2  G 2   G G  2  G
1   1 2 ( z )  2 
 2  G2 
Note that no TF can be
derived for this system,
since the input R(s)
reaches G2(s) without
being sampled.
27
Existing block diagram
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SWITCH LIGHTS

DP SWITCH AIR CONDITIONS

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ELE 4DCT – Digital Control Theory