Digital Control Systems

Lecture-10
System Time-Response Characteristics

Dr. Mountasser Mohamed Ramadan

email: [email protected]
 Lecture Outline

• Introduction.
• System Time Response.
• System Characteristics.
• Revision of :
Relations between s-plane and z-plane.
Conformal Mapping between s-plane to z-plane.
Mapping regions of the s-plane onto the z-plane.
• Steady-State Accuracy.
2
 Introduction
• The time response of a discrete-time linear
system is the solution of the difference equation
governing the system.
• For the linear time-invariant (LTI) case, the
response due to the initial conditions and the
response due to the input can be obtained
separately and then added to obtain the overall
response of the system.

• The response due to the input, or the forced

response, is the convolution summation of its
input and its response to a unit impulse.
3
 System Time Response.
• In this lecture the time response
of discrete-time system is
introduced via examples
 Example-1
• Find the unit step response for the first order
system given in the following figure, (𝑇 = 0.1𝑠)

• Solution:
𝐸(𝑠) = 𝑅(𝑠) − 𝐺 𝑠 𝐸 ∗ 𝑠

𝐶 𝑠 = 𝐺 𝑠 𝐸∗ 𝑠
 Example-1
𝐸(𝑠) = 𝑅(𝑠) − 𝐺 𝑠 𝐸 ∗ 𝑠
• And by taking the starred transform
𝐸 ∗ (𝑠) = 𝑅 ∗ (𝑠) − 𝐺 ∗ 𝑠 𝐸 ∗ 𝑠
• Then
𝐺(𝑠) ∗ (𝑠)
𝐶 𝑠 = 𝑅
1 + 𝐺∗ 𝑠
• Which yield an expression for the continuous output.
• The sampled output is, then,
∗
∗
𝐺 (𝑠) ∗
𝐶 𝑠 = ∗
𝑅 (𝑠)
1+𝐺 𝑠
𝐺 𝑧
𝐶 𝑧 = 𝑅(𝑧)
1 + 𝐺(𝑧)
 Example-1
• Where 𝐺(𝑧) is defined as:
1 − 𝑒 −𝑇𝑠 4 𝑧−1 4
𝐺 𝑧 =𝓏 = 𝓏
𝑠 𝑠+2 𝑧 𝑠 𝑠+2
𝑧−1 2 1 − 𝑒 −2𝑇 𝑧 0.3625
= −2𝑇
=
𝑧 𝑧−1 𝑧−𝑒 𝑧 − 0.8187
• Thus the closed-loop transfer function T(z) is given by
𝐺 𝑧 0.3625
T 𝑧 = =
1+𝐺(𝑧) 𝑧−0.4562
• Since 𝑅 𝑧 = 𝒵 1 𝑠 = 𝑧 𝑧 − 1 ,
 Example-1
• Where 𝐺(𝑧) is defined as:
0.3625𝑧 0.667𝑧 −0.667𝑧
𝐶 𝑧 = = +
𝑧 − 1 𝑧 − 0.4562 𝑧−1 𝑧 − 0.4562
• The inverse of z-transform of this function yields the
system time response at the sampling instants. Thus
𝑐 𝑘𝑇 = 0.667 1 − 0.4562 𝑘
• If we remove the sampler and the zero-order hold,
and solve the unit step response of the resulting
analog system.
 Example-1
• If we remove the sampler and the zero-order hold,
and solve the unit step response of the resulting
analog system.
• The closed loop transfer function 𝑇𝑎(𝑠) is given by
𝐺𝑝 (𝑠) 4
𝑇𝑎 𝑠 = =
1 + 𝐺𝑝 (𝑠) 𝑠 + 6
4 0.667 −0.667
𝐶𝑎 𝑠 = = +
𝑠(𝑠 + 6) 𝑠 𝑠+6
𝑐𝑎 𝑡 = 0.667 1 − 𝑒 −6𝑡
 Example-1
• This responses in the two cases are listed in the shown table
 Example-2
• Given the discrete-time system
𝑦 𝑘 + 1 − 0.5𝑦 𝑘 = 𝑢 𝑘

• Find the impulse response of the system.

Solution
• Taking z-transform
𝑧𝑌 𝑧 − 0.5𝑌 𝑧 = 𝑈 𝑧

𝑌(𝑧) 1
=
11
𝑈(𝑧) 𝑧 − 0.5
 Example-2
• Since U(z)=1
1
𝑌(𝑧) =
𝑧 − 0.5

• Taking Inverse z-Transform

𝑦 𝑘 = −2𝛿 𝑘 + (0.5)𝑘−1 , 𝑘≥0

12
 Example-3
• Given the discrete time system
𝑦 𝑘+1 −𝑦 𝑘 =𝑢 𝑘+1
• find the system transfer function and its response to a
sampled unit step.
Solution
• The transfer function corresponding to the difference
equation is

𝑧𝑌 𝑧 − 𝑌 𝑧 = 𝑧𝑈 𝑧

𝑌(𝑧) 𝑧
=
13 𝑈(𝑧) 𝑧 − 1
 Example-3
𝑧
𝑌(𝑧) = 𝑈(𝑧)
𝑧−1
𝑧
• Since U z =
𝑧−1
𝑧 𝑧
𝑌(𝑧) = ×
𝑧−1 𝑧−1
• Taking Inverse z-Transform (time advance Property)

𝑧
𝑌(𝑧) = 𝑧
(𝑧 − 1)2

𝑦 𝑘 = 𝑘 + 1 𝑢(𝑘 + 1), 𝑘≥1

14
 Example-4
• Find the unit step response for the second order
system given in the following figure, (𝑇 = 1𝑠)

• Solution:
𝐸(𝑠) = 𝑅(𝑠) − 𝐺 𝑠 𝐸 ∗ 𝑠

𝐶 𝑠 = 𝐺 𝑠 𝐸∗ 𝑠
 Example-4
𝐸(𝑠) = 𝑅(𝑠) − 𝐺 𝑠 𝐸 ∗ 𝑠
• And by taking the starred transform
𝐸 ∗ (𝑠) = 𝑅 ∗ (𝑠) − 𝐺 ∗ 𝑠 𝐸 ∗ 𝑠
• Then
𝐺(𝑠) ∗ (𝑠)
𝐶 𝑠 = 𝑅
1 + 𝐺∗ 𝑠
• Which yield an expression for the continuous output.
• The sampled output is, then,
∗
∗
𝐺 (𝑠) ∗
𝐶 𝑠 = ∗
𝑅 (𝑠)
1+𝐺 𝑠
𝐺 𝑧
𝐶 𝑧 = 𝑅(𝑧)
1 + 𝐺(𝑧)
 Example-4
• Where 𝐺(𝑧) is defined as:
1 − 𝑒 −𝑇𝑠 1 𝑧−1 1
𝐺 𝑧 =𝓏 = 𝓏 2
𝑠 𝑠 𝑠+1 𝑧 𝑠 𝑠+1
𝑧−1 𝑧 1 − 1 + 𝑒 −1 𝑧 + 1 − 𝑒 −1 − 𝑒 −1 2 1 − 𝑒 −2𝑇 𝑧
=
𝑧 𝑧 − 1 2 𝑧 − 𝑒 −1 𝑧 − 1 𝑧 − 𝑒 −2𝑇
0.368𝑧 + 0.264
= 2
𝑧 − 𝑧 + 0.368
• Thus the closed-loop transfer function T(z) is given by
𝐺 𝑧 2 1−𝑒 −2𝑇 𝑧 0.368𝑧+0.264
T 𝑧 = = =
1+𝐺(𝑧) 𝑧−1 𝑧−𝑒 −2𝑇 𝑧 2 −𝑧+0.632
• Since 𝑅 𝑧 = 𝒵 1 𝑠 = 𝑧 𝑧 − 1 ,
 Example-4
𝑧 0.368𝑧 + 0.264
𝐶 𝑧 =
𝑧 − 1 𝑧 2 − 𝑧 + 0. 632
= 0.368𝑧 −1 + 1.00𝑧 −2 + 1.4𝑧 −3 + 1.4𝑧 −4
+ 1.15𝑧 −5 + ⋯

• Where 𝐺(𝑧) is defined as:

𝑧 0.368𝑧 + 0.264
𝐶 𝑧 =
𝑧 − 1 𝑧 2 − 𝑧 + 0. 632
= 0.368𝑧 −1 + 1.00𝑧 −2 + 1.4𝑧 −3 + 1.4𝑧 −4 + 1.15𝑧 −5 + ⋯
 Home Work
• Find the impulse, step and ramp response
functions for the systems governed by the
following difference equations.

1. 𝑦 𝑘 + 1 − 0.5𝑦 𝑘 = 𝑢 𝑘
2. 𝑦 𝑘 + 2 − .01𝑦 𝑘 + 1 + 0.8𝑦 𝑘 = 𝑢(𝑘)

19
 System Characteristics Equation

• Consider a single loop sampled data system of the

type shown in figure

• For this system

𝑚
𝐺 𝑧 𝑅(𝑧) 𝐾 𝑖=1 𝑧 − 𝑧𝑖
𝐶 𝑧 = = 𝑛
𝑅(𝑧)
1 + 𝐺𝐻(𝑧) 𝑗=1 𝑧 − 𝑝𝑗
 System Characteristics Equation
• Using the partial-fraction expansion, 𝐶(𝑧) can be express as

𝑘1 𝑧 𝑘𝑛 𝑧
𝐶 𝑧 = + ⋯+ + 𝐶𝑅 (𝑧)
𝑧 − 𝑝1 𝑧 − 𝑝𝑛
• Where 𝐶𝑅(𝑧) contains the terms of 𝐶(𝑧) with originate in
the poles of 𝑅(𝑧).
• The first n terms of this equation are the natural response
term of 𝐶(𝑧).
• If the system is stable, these term s are called the transient
response.
 System Characteristics Equation
• The inverse z-transform of the 𝑖𝑡ℎ term yields

−1
𝑘𝑖 𝑧
𝓏 = 𝑘𝑖 𝑝𝑖 𝑘
𝑧 − 𝑝𝑖
• It is seen that these terms determine the nature, or character,
of the system natural response.
• Since 𝑝𝑖 originate in the roots of the equation
1 + 𝐺𝐻 𝑧 = 0
• This equation is then the system characteristic equation.
• If the transfer function cannot be written, the roots of the
characteristic equation are the poles of C(z) that independent
of the input function.
 Revision of Relation between Laplace
Transform and Z-Transform
• Given the impulse train representation of a discrete-time signal
𝑢∗ 𝑡 = 𝑢𝑜 𝛿 𝑡 + 𝑢1 𝛿 𝑡 − 𝑇 + 𝑢2 𝛿 𝑡 − 2𝑇 + ⋯ + 𝑢𝑘 𝛿 𝑡 − 𝑘𝑇
𝑢(𝑡) 𝑢∗ (𝑡)
∞

𝑢∗ 𝑡 = 𝑢𝑘 𝛿 𝑡 − 𝑘𝑇
𝑘=0 𝑢(𝑡) 𝑢∗ (𝑡)

𝑈(𝑠) 𝑈 ∗ (𝑠)

• The Laplace Transform of above equation is

𝑈 ∗ 𝑠 = 𝑢𝑜 + 𝑢1 𝑒 −𝑠𝑇 + 𝑢2 𝑒 −2𝑠𝑇 + ⋯ + 𝑢𝑘 𝑒 −𝑘𝑠𝑇
∞

𝑈∗ 𝑠 = 𝑢𝑘 𝑒 −𝑘𝑠𝑇
𝑘=0
• Let z be defined by
23
𝑧 = 𝑒 𝑠𝑇
Revision of Conformal Mapping between s-
plane to z-plane
𝑧 = 𝑒 𝑠𝑇

• Where 𝑠 = 𝜎 + 𝑗𝜔. Then 𝑧 in polar coordinates is

given by
𝑧 = 𝑒 (𝜎+𝑗𝜔)𝑇

𝑧 = 𝑒 𝜎𝑇 𝑒 𝑗𝜔𝑇
• Therefore,

𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇
24
Revision of Conformal Mapping between s-plane to z-
plane
• We will discuss following cases to map given points on s-plane
to z-plane.
– Case-1: Real pole in s-plane (𝑠 = 𝜎)

– Case-2: Imaginary Pole in s-plane (𝑠 = 𝑗𝜔)

– Case-3: Complex Poles (𝑠 = 𝜎 + 𝑗𝜔)

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
25
Revision of Conformal Mapping between s-
plane to z-plane
• Case-1: Real pole in s-plane (𝑠 = 𝜎)

• We know

𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇

• Therefore

𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 0
26
Revision of Conformal Mapping between s-
plane to z-plane
Case-1: Real pole in s-plane (𝑠 = 𝜎) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇
When 𝑠 = 0
𝑧 = 𝑒 0𝑇 = 1
∠𝑧 = 0𝑇 = 0

𝑠=0

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
27
Revision of Conformal Mapping between s-
plane to z-plane
Case-1: Real pole in s-plane (𝑠 = 𝜎) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇
When 𝑠 = −∞
𝑧 = 𝑒 −∞𝑇 = 0
∠𝑧 = 0

0
−∞

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
28
Revision of Conformal Mapping between s-
plane to z-plane
Case-1: Real pole in s-plane (𝑠 = 𝜎) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇
Consider 𝑠 = −𝑎
𝑧 = 𝑒 −𝑎𝑇
∠𝑧 = 0

0 1
−𝑎

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
29
Revision of Conformal Mapping between s-
plane to z-plane
• Case-2: Imaginary pole in s-plane (𝑠 = ±𝑗𝜔)

• We know

𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇

• Therefore
𝑧 =1 ∠𝑧 = ±𝜔𝑇

30
 Revision of Conformal Mapping between s-plane to z-
plane
Case-2: Imaginary pole in s-plane (𝑠 = ±𝑗𝜔) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇

Consider 𝑠 = 𝑗𝜔
𝑧 = 𝑒 0𝑇 = 1
∠𝑧 = 𝜔𝑇

𝑠 = 𝑗𝜔
𝜔𝑇
−1 1

−1

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
31
Revision of Conformal Mapping between s-plane to z-
plane
Case-2: Imaginary pole in s-plane (𝑠 = ±𝑗𝜔) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇

When 𝑠 = −𝑗𝜔

𝑧 = 𝑒 0𝑇 = 1
∠𝑧 = −𝜔𝑇

−1 −𝜔𝑇 1

𝑠 = −𝑗𝜔
−1

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
32
Revision of Conformal Mapping between s-plane to z-
plane
Case-2: Imaginary pole in s-plane (𝑠 = ±𝑗𝜔) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇
𝜔
When 𝑠 = ±𝑗
𝑇
𝑧 = 𝑒 0𝑇 = 1
∠𝑧 = ±𝜋 𝝎𝑻 = 𝝅

𝜔 1
𝑗
𝑇
𝜋
−1 1

𝜔
−𝑗 −1
𝑇

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
33
Revision of Conformal Mapping between s-plane to z-
plane
• Anything in the Alias/Overlay region in the S-Plane will be
overlaid on the Z-Plane along with the contents of the strip
𝜋
between ±𝑗 .
𝑇

34
Revision of Conformal Mapping between s-plane to z-
plane
• In order to avoid aliasing, there must be nothing in this region, i.e. there
must be no signals present with radian frequencies higher than w = p/T,
or cyclic frequencies higher than f = 1/2T.
• Stated another way, the sampling frequency must be at least twice the
highest frequency present (Nyquist rate).

35
Revision of Conformal Mapping between s-plane to z-
plane

Case-3: Complex pole in s-plane (𝑠 = 𝜎 ± 𝑗𝜔) 𝑧 = 𝑒 𝜎𝑇 ∠𝑧 = 𝜔𝑇

𝑧 = 𝑒 𝜎𝑇
∠𝑧 = ±𝜔𝑇

−1 1

−1

𝑠 − 𝑝𝑙𝑎𝑛𝑒 𝑧 − 𝑝𝑙𝑎𝑛𝑒
36
Revision of Mapping regions of the s-
plane onto the z-plane

37
Revision of Mapping regions of the s-
plane onto the z-plane

38
Revision of Mapping regions of the s-
plane onto the z-plane

39
40
41
 Example
• Calculate the time constant for the first order
system given in the following figure, (𝑇 = 0.1𝑠)

• Solution:
• The closed-loop transfer function T(z) is given by
𝐺 𝑧 0.3625
T 𝑧 = =
1+𝐺(𝑧) 𝑧−0.4562

• Hence the closed-loop characteristic equation is

𝑧 − 0.4562 = 0
42
 Example
𝑧 − 0.4562 = 0
• The closed-loop pole at
𝑧 = 0.4562
• Corresponds to an s-plane pole 𝑠1 on the negative
real axis that satisfies
𝑧1 = 0.4562 = 𝑒 𝑠1 𝑇 = 𝑒 0.1𝑠1
• Hence
ln 0.4562 1
𝑠1 = = −7.848 = −
0.1 𝜏
• Then the time constant
1
𝜏= = 0.127 𝑠
7.848
Revision of Mapping the s-plane onto the z-plane
• For the second order system
𝜔𝑛2
𝐺 𝑠 = 2
𝑠 + 2𝜁𝜔𝑛 𝑠 + 𝜔𝑛2
• Which has the poles
𝑠1,2 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
• The equivalent z-plan poles occur at
𝑧 = 𝑒 𝑠𝑇 = 𝑒 −𝜁𝜔𝑛 𝑇 ∠ ± 𝜔𝑛 𝑇 1 − 𝜁 2 = 𝑟∠ ± 𝜃
𝑠1,2
• Hence
𝑒 −𝜁𝜔𝑛 𝑇 = 𝑟
• Or
𝜁𝜔𝑛 𝑇 = − ln 𝑟
• also
𝜔𝑛 𝑇 1 − 𝜁 2 = 𝜃
Revision of Mapping the s-plane onto the z-plane
• Taking the ratio of the last to equations,
𝜁𝜔𝑛 𝑇 = − ln 𝑟 𝜔𝑛 𝑇 1 − 𝜁 2 = 𝜃
• we obtain
𝜁 − ln 𝑟
=
1 − 𝜁2 𝜃
• Solving this equation for 𝜁 yields
− ln 𝑟
𝜁=
𝑙𝑛2 𝑟 + 𝜃 2
• We then find 𝜔𝑛 to be
1
𝜔𝑛 = 𝑙𝑛2 𝑟 + 𝜃 2
𝑇
Revision of Mapping the s-plane onto the z-plane

− ln 𝑟 1
𝜁= 𝜔𝑛 = 𝑙𝑛2 𝑟 + 𝜃 2
𝑙𝑛2 𝑟+𝜃 2 𝑇

• The time constant, 𝜏, of the poles is then given by

1 −𝑇
𝜏= =
𝜁𝜔𝑛 ln 𝑟
• This equation can also be expressed as
𝑟 = 𝑒 −𝑇 𝜏
 Example
• Calculate the time constant for the second order
system given in the following figure, (𝑇 = 1𝑠)

• Solution:
• The closed-loop transfer function T(z) is given by
𝐺 𝑧 0.368𝑧+0.264
T 𝑧 = =
1+𝐺(𝑧) 𝑧 2 −𝑧+0.632
• Thus the system characteristic equation is
𝑧 2 − 𝑧 + 0.632 = 𝑧 − 0.5 − 𝑗0.618 𝑧 − 0.5 + 𝑗0.618 = 0
 Example
• The poles are then complex and occur at
𝑧 = 0.5 ± 𝑗0.618 = 0.795∠ ± 51.0𝑜 = 0.795∠ ± 0.89 rad
• Since
𝑧 = 𝑒 𝜎𝑇 ∠ ± 𝜔𝑇 = 𝑟∠ ± 𝜔𝑇 = 0.795∠ ± 0.89
• Then
− ln(0.795)
𝜁= = 0.25
𝑙𝑛2 (0795) + (0.89)2
1
𝜔𝑛 = 𝑙𝑛2 0.795 + 0.89 2 = 0.9191
1
−1
𝜏= = 4.36 𝑠
ln(0.795)
 Steady State Error
• Consider the unity feedback block diagram shown
in following figure.

• The error ratio can be calculated as

𝐸(𝑧) 1
=
𝑅(𝑧) 1 + 𝐺(𝑧)
• Applying the final value theorem yields the
steady-state error.
𝑧−1
49 𝑒 ∞ = lim 𝐸 𝑧
𝑧→1 𝑧
 Steady state Error
• As with analog systems, an error constant is
associated with each input (e.g., Position Error
constant and Velocity Error Constant)

• Type number can be defined for any system from

which the nature of the error constant can be
inferred.

• The type number of the system is the number of

unity poles in the system z-transfer function.
50
 Position Error Constant 𝐾𝑝
• Error of the system is given as
𝑅(𝑧)
𝐸(𝑧) =
1 + 𝐺(𝑧)
• Where 𝑧
𝑅 𝑧 =
𝑧−1
• Therefore, the steady state error due to step input is
given as
𝑧−1 1 𝑧
𝑒 ∞ = lim
𝑧→1 𝑧 1+𝐺(𝑧) 𝑧−1

1
𝑒 ∞ = lim
𝑧→1 1 + 𝐺(𝑧)
51
 Position Error Constant 𝐾𝑝
1
𝑒 ∞ = lim
𝑧→1 1 + 𝐺(𝑧)

• Position error constant 𝐾𝑝 (𝐾𝑑𝑐 ) is given as

𝐾𝑝 = lim 𝐺(𝑧)
𝑧→1

• Steady state error can be calculated as

1
𝑒 ∞ =
1 + 𝐾𝑝
52
 Velocity Error Constant 𝐾𝑣
• Error of the system is given as
𝑅(𝑧)
𝐸(𝑧) =
1 + 𝐺(𝑧)
• Where 𝑇𝑧
𝑅 𝑧 = 2
𝑧−1
• Therefore, the steady state error due to step input
is given as
𝑧−1 1 𝑇𝑧
𝑒 ∞ = lim 2
𝑧→1 𝑧 1 + 𝐺(𝑧) 𝑧 − 1

𝑇
𝑒 ∞ = lim
53
𝑧→1 𝑧 − 1 [1 + 𝐺 𝑧 ]
 Velocity Error Constant 𝐾𝑣
𝑇
𝑒 ∞ = lim
𝑧→1 𝑧 − 1 [1 + 𝐺 𝑧 ]

• 𝐾𝑣 (𝐾𝑑𝑐) is given as

1
𝐾𝑣 = lim 𝑧 − 1 𝐺 𝑧
𝑇 𝑧→1
• Steady state error due to sampled ramp input is
given as
1
𝑒 ∞ =
54 𝐾𝑣
 Example-5
• Find the steady-state position error for the digital
position control system with unity feedback and
with the transfer functions
𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐺𝑍𝐴𝑆 𝑧 = , 𝐺𝑝 𝑧 = ,0 < 𝑎, 𝑏, 𝑐 < 1
(𝑧 − 1)(𝑧 − 𝑏) 𝑧−𝑐
1. For a sampled unit step input.
2. For a sampled unit ramp input
Solution
• 𝐾𝑝 and 𝐾𝑣 are given as
1
𝐾𝑝 = lim 𝐺(𝑧) 𝐾𝑣 = lim 𝑧 − 1 𝐺 𝑧
𝑧→1 𝑇 𝑧→1
55
 Example-5
𝐾𝑝 = lim 𝐺(𝑧) 1
𝑧→1 𝐾𝑣 = lim 𝑧 − 1 𝐺 𝑧
𝑇 𝑧→1
• 𝐾𝑝 can be further evaluated as
𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐾𝑝 = lim
𝑧→1 (𝑧 − 1)(𝑧 − 𝑏) 𝑧−𝑐
𝐾(1 + 𝑎) 𝐾𝑐 (1 − 𝑏)
𝐾𝑝 = =∞
(1 − 1)(1 − 𝑏) 1 − 𝑐

• Corresponding steady state error is

1
𝑒 ∞ = =0
1 + 𝐾𝑝
56
 Example-5
𝐾𝑝 = lim 𝐺(𝑧) 1
𝑧→1 𝐾𝑣 = lim 𝑧 − 1 𝐺 𝑧
𝑇 𝑧→1
• 𝐾𝑣 is evaluated as
1 𝐾(𝑧 + 𝑎) 𝐾𝑐 (𝑧 − 𝑏)
𝐾𝑣 = lim 𝑧 − 1
𝑇 𝑧→1 (𝑧 − 1)(𝑧 − 𝑏) 𝑧 − 𝑐

1 𝐾(1 + 𝑎) 𝐾𝑐 (1 − 𝑏) 𝐾𝐾𝑐 (1 + 𝑎)
𝐾𝑣 = =
𝑇 (1 − 𝑏) 1−𝑐 𝑇(1 − 𝑐)

• Corresponding steady state error is

1 𝑇(1 − 𝑐)
𝑒 ∞ = =
𝐾𝑣 𝐾𝐾𝑐 (1 + 𝑎)
57