EE480.

3 Digital Control Systems

Part 2. z-transform
Kunio Takaya
Electrical and Computer Engineering
University of Saskatchewan
January 14, 2008
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1
Contents
1 z-Transform 3
2 z-transform of simple functions 3
3 Properties of the z-transform 8
4 Continue to discrete time systems 23
2
1 z-Transform
The denition of the z-Transform is
X(z) =
+

k=
x(k)z
k
.
where, x(k) is a discrete time sequence (sampled data). When x(k)
is dened for k 0, i.e. causal, one sided z-transform is given by
X(z) =
+

k=0
x(k)z
k
.
The variable z is complex, so is X(z).
3
2 z-transform of simple functions
function
(k) =

1 if k = 0
0 otherwise
Z[(k)] =
+

k=0
(k)z
k
= 1
unit step function
u(k) =

1 if k 0
0 if k < 0
Z[u(k)] =
+

k=0
u(k)z
k
= z
0
+ z
1
+ z
2
+ +z
3

4
Since the sum of n terms of a geometric progression is given by the
formula,
n1

k=0
ar
k
= a
1 r
n
1 r
Z[u(k)] = lim
n
1 z
n
1 z
1
=
1
1 z
1
.
This z-trnasform is valid only for jzj < 1, in the region of
convergence in the z-plane.
Decaying exponential function
f(t) = e
at
t 0, sampled with a sampling period T
f(k) = e
aTk
, k 0
5
Z[f(k)] =

k=0
e
aTk
z
k
=

k=0
(e
aT
z
1
)
k
=
1
1 e
aT
z
1
The region of convergence is e
aT
< jzj. If a > 0, the system is
stable and the pole at z = e
aT
< 1 is inside the unit circle. If
a < 0, the system is unstable and the pole at z = e
aT
> 1 is
outside the unit circle.
Damped cosine wave
f(k) = e
aTk
cos Tk, k 0
Z[f(k)] =

k=0
e
aTk
cos Tk z
k
6
=
1
2

k=0
(e
aT+jT
z
1
)
k
+
1
2

k=0
(e
aTjT
z
1
)
k
=
1
2
1
1 e
aT+jT
z
1
+
1
2
1
1 e
aTjT
z
1
=
1 e
aT
cos Tz
1
1 2e
aT
cos Tz
1
+ e
2aT
z
2
=
z
2
e
aT
cos Tz
z
2
2e
aT
cos Tz + e
2aT
The region of convergence is e
aT
< jzj.
Exercise: Find the z-transform of a discrete sequence
f(k) = 2
k
for k 0
7
3 Properties of the z-transform
Shift Operations - One step delay with u(k)
Z[x(k 1)u(k)] =

k=0
x(k 1)z
k
=

k=1
x(k)z
(k+1)
=

k=0
x(k)z
k1
+ x(1)z
0
= z
1

k=0
x(k)z
k
+ x(1)
= z
1
Z[x(k)u(k)] + x(1)
8
Shift Operations - One step delay with u(k 1)
Z[x(k 1)u(k 1)] =

k=1
x(k 1)z
k
=

k=0
x(k)z
(k+1)
= z
1

k=0
x(k)z
k
= z
1
Z[x(k)u(k)]
Shift Operations - m step delay with u(k)
Z[x(k m)u(k)] =

k=0
x(k m)z
k
9
=

k=m
x(k)z
(k+m)
=

k=0
x(k)z
km
+
1

k=m
x(k)z
km
= z
m

k=0
x(k)z
k
+
m

k=1
x(k)z
km
= z
m
Z[x(k)u(k)] +
m

k=1
x(k)z
km
Shift Operations - m step delay with u(k m)
Z[x(k m)u(k m)] =

k=m
x(k m)z
k
=

k=0
x(k)z
(k+m)
10
= z
m
Z[x(k)u(k)]
Shift Operations - m step time advance with u(k + m)
Z[x(k + m)u(k + m)] =

k=m
x(k + m)z
k
=

k=0
x(k)z
(km)
= z
+m
Z[x(k)u(k)]
Initial Value theorem
lim
z
X(z) = lim
z
+

k=0
x(k)z
k
= x(0)
Final Value theorem
Z[x(k + 1)u(k)] Z[x(k)u(k)]
11
= zX(z) zx(0) X(z)
=

k=0
x(k + 1)z
k

k=0
x(k)z
k
zX(z) X(z) = zx(0) +

k=0
x(k + 1)z
k

k=0
x(k)z
k
lim
z1
(z 1)X(z) = x(0) +

k=0
x(k + 1)

k=0
x(k)
= x()
Derivative
dX(z)
dz
=
d
dz

k=0
x(k)z
k
=

k=0
x(k)
d
dz
z
k
12
=

k=0
x(k)kz
k1
= z
1
Z[kx(k)]
Z[kx(k)] = z
dX(z)
dz
Example:
Z[ku(k)] = z
d
dz
1
1 z
1
= z
z
2
(1 z
1
)
2
=
z
1
(1 z
1
)
2
=
z
(z 1)
2
Convolution
13
Consider multiplying G(z) and X(z).
G(z)X(z)
=

k=0
g(k)z
k

k=0
x(k)z
k
= [g(0) + g(1)z
1
+ g(2)z
2
+ g(3)z
3
+ ]
[x(0) + x(1)z
1
+ x(2)z
2
+ x(3)z
3
+ ]
= g(0)x(0) + [g(0)x(1) + g(1)x(0)]z
1
+ [g(0)x(2) + g(1)x(1) + g(2)x(0)]z
2
+ [g(0)x(3) + g(1)x(2) + g(2)x(1) + g(32)x(0)]z
3
+
n

k=0
g(k)x(n k) z
n
+
=

n=0
n

k=0
g(k)x(n k) z
n
14
= Z[
n

k=0
g(k)x(n k)] = Z[
n

k=0
x(k)g(n k)]
G(z)
Impulse Response
Input Sequence
X(z)
Output Sequence
Y(z)=G(z)X(z)
Figure: Convolution and Transfer Function
When an input sequence x(k) is applied to a system having an
impulse response g(k), the response y(k) of the system is given the
convolution sum.
y(k) =
k

n=0
x(n)g(k n)
The equivalent expression in the z-transform is Y (z) = G(z)X(z).
15
Inverse z-Transform
Partial Fraction Method
The z-transform of an exponential sequence x(k) = a
k
is given by
X(z) =
1
1 az
1
=
z
z a
.
Any sequence that starts with a non-zero value at k = 0 usually
has the same order in the numerator and denominator of the
z-transform. To nd the inverse z-transform, one must take partial
fraction expansion on
X(z)
z
instead of X(z) itself.
X

(z) =
X(z)
z
=
B(z)
(z a
1
)
k
(z a
2
)(z a
3
)
=
c
11
(z a
1
)
k
+
c
12
(z a
1
)
k1
+ +
c
1k
(z a
1
)
16
+
c
2
(z a
2
)
+
c
3
(z a
3
)
+
Where, unknown coecients are given by
c
i
= (z a
i
) X

(z)j
z=a
i
c
1n
=
1
(n 1)!
d
n1
dz
n1
(z a
1
)
k
X

(z)

z=a
1
After partial fraction expansion, nd the expanded form of X(z) by
multiplying X

(z) by z, then nd the inverse z-transform

term-by-term by table look-up.
Example
E(z) =
1
(z 1)(z 2)
E(z)
z
=
1
2
1
z

1
z 1
+
1
2
1
z 2
17
E(z) =
1
2

z
z 1
+
1
2
z
z 2
e(k) = (
1
2
(k) 1
k
+
1
2
2
k
)u(k)
Exercise: Find the inverse z-transform of
Y (z) =
1
(1 z
1
)(1 2z
1
)
Use of MATLAB for partial fraction expansion
>> [r,p,k]=residue([1],[1, -3, 2, 0])
r =
0.5000
-1.0000
0.5000
p =
2
1
18
0
k =
[]
Dierence Equation
y(k) + a
1
y(k 1) + a
2
y(k 2) + + a
k
y(0)
= b
0
u(k) + b
1
u(k 1) + + b
k
u(0)
Where, y(k) is output sequence, and u(k) is input sequence. In
control systems, b
0
is often 0, as input u(k) does not immediately
aect output y(k). Take the z-transform of this dierence equation
considering u(k) = 0 and y(k) = 0 for k < 0.
Z f[y(k) + a
1
y(k 1) + a
2
y(k 2) + + a
k
y(0)]u(k)g
= Z f[b
0
u(k) + b
1
u(k 1) + + b
k
u(0))]u(k)g
19
Since Z[y(k i)] = z
i
Y (z) and Z[u(k i)] = z
i
U(z),
Y (z) + a
1
z
1
Y (z) + a
2
z
2
Y (z) + + a
k
z
k
Y (z)
= b
0
U(z) + b
1
z
1
U(z) + b
2
z
2
U(z) + + b
k
z
k
U(z)
This leads to a transfer function of the dierence equation.
G(z) =
Y (z)
U(z)
=
b
0
+ b
1
z
1
+ b
2
z
2
+ + b
k
z
k
1 + a
1
z
1
+ a
2
z
2
+ + a
k
z
k
The output Y (z) for a given input U(z) is given by
Y (z) = G(z)U(z) =
b
0
+ b
1
z
1
+ b
2
z
2
+ + b
k
z
k
1 + a
1
z
1
+ a
2
z
2
+ + a
k
z
k
U(z)
Example
A dierence equation,
m(k) = e(k) e(k 1) m(k 1)
20
is driven by an input sequence
e(k) =

1, k 0 even
0, k 0 odd
Using the z-Transform,
M(z) =
z 1
z + 1
E(z)
E(z) =
1
1 z
2
=
z
2
z
2
1
Thus, the solution in the z-Transform is
M(z) =
z
2
z
2
+ 2z + 1
=
z
2
(z + 1)
2
= 1 2z
1
+ 3z
2
4z
3
+
21
Assignment No. 2
Solve following problems related to the z-transform fundamentals
in the textbook pp. 78-79.
1. 2-1
2. 2-2 (a)(b)
3. 2-3 (c)
4. 2-4
5. 2-8 (a)(e) Do only the partial fraction expansion method.
22
4 Continue to discrete time systems
23