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3.6. Pulse Transfer Function
 The TF of a sampled-data system is
called the Pulse Transfer Function
 Consider the continuous system of
Fig.3.9 (a).
 By sampling the input as shown in Fig.
3.9b, an output that is still a continuous
signal is obtained.
 Now, we assume that the output is to be
obtained only at the sampling instants.
 This is shown in Fig. 3.9 (c) in which the
output is sampled by a sampler
synchronized with the input, called a
phantom sampler.
Fig. 3.9 Sampled-data systems: a. continuous; b.
sampled input; c. sampled input and output
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3. DISCRETE SYSTEMS
3.6.1. Derivation of the Pulse Transfer Function
 From Eq. (3.1), the sampled input to the system of Fig. 3.9 (c) is given as a sum of impulses
by

𝑟∗ 𝑡 = 𝑟 𝑛𝑇 𝛿 𝑡 − 𝑛𝑇 (3.25)

 Recalling that the impulse response of a system,𝐺(𝑠), is 𝑔(𝑡), the time output of 𝐺(𝑠)
denoted by 𝑐 𝑡 can be written as the sum of impulse responses generated by the input of
Eq. (3.25), as

𝑐 𝑡 = 𝑟 𝑛𝑇 𝑔 𝑡 − 𝑛𝑇 (3.26)

 From Eq. (3.6),

𝐶 𝑧 = 𝑐 𝑘𝑇 𝑧 (3.27)

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3. DISCRETE SYSTEMS
3.6.1. Derivation of the Pulse Transfer Function
 Letting 𝑡 = 𝑘𝑇 in Eq. (3.26), we get

𝑐 𝑘𝑇 = 𝑟 𝑛𝑇 𝑔 𝑘𝑇 − 𝑛𝑇 (3.28)

 Substituting Eq. (3.28) into Eq. (3.27), we obtain

𝐶 𝑧 = 𝑟 𝑛𝑇 𝑔[ 𝑘 − 𝑛 𝑇] 𝑧 (3.29)

 Letting 𝑚 = 𝑘 − 𝑛 in Eq. (3.29), gives

𝐶 𝑧 = 𝑟 𝑛𝑇 𝑔 𝑚𝑇 𝑧 ( ) = 𝑔 𝑚𝑇 𝑧 𝑟 𝑛𝑇 𝑧 (3.30)

where the lower limit,𝑚 + 𝑛, was changed to 𝑚 since 𝑔(𝑡) = 0 for 𝑡 < 0, then 𝑛 = 0 in the
first sum's lower limit.

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3. DISCRETE SYSTEMS
3.6.1. Derivation of the Pulse Transfer Function
 By definition of the z-transform, Eq. (3.30) becomes

𝐶 𝑧 = 𝑔 𝑚𝑇 𝑧 𝑟 𝑛𝑇 𝑧 = 𝐺 𝑧 𝑅(𝑧) (3.31)

Comments
Eq. (3.31) shows that the transform of the sampled output is the product of the
transforms of the sampled input and the pulse transfer function of the system.
Remember that despite the output of the system being a continuous function,
we had to assume a sampled output (phantom sampler) so as to realize the
compact result of Eq. (3.31).
A common way to find the pulse transfer function, 𝐺 𝑧 , is to start with G(s),
find 𝑔(𝑡), and then use Table 3.1 to find 𝐺(𝑧).
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3. DISCRETE SYSTEMS
3.6.Pulse Transfer Function
Example 3.3: Converting 𝐆 𝐬 in Cascade with z.o.h. to 𝐆(𝐳)
Given a z.o.h in cascade with 𝐺 𝑠 = (𝑠 + 2)/(𝑠 + 1) or

1−𝑒 (𝑠 + 2)
𝐺 𝑠 = (3.32)
𝑠 (𝑠 + 1)
find the sampled-data transfer function,𝐺(𝑧), if the sampling time, 𝑇, is 0.5
second.
Solution
Equation (3.32) is a common occurrence in digital control systems where a
transfer function is in cascade with a zero-order hold. In this case, 𝐺 𝑠 =
(𝑠 + 2)/(𝑠 + 1)is in cascade with a zero-order hold, (1 − 𝑒 )/𝑠.

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3. DISCRETE SYSTEMS
3.6.Pulse Transfer Function
Example 3.3. Soln’ Cont’
 For this type of problem, we can formulate a general solution by moving the 𝑠
in the denominator of the zero-order hold to the transfer function 𝐺 𝑠 ),
yielding
𝐺 𝑠
𝐺 𝑠 = (1 − 𝑒 ) (3.33)
𝑠
from which
𝐺 𝑠 𝑧−1 𝐺 𝑠
𝐺 𝑧 = 1−𝑧 𝑧 = 𝑧 (3.34)
𝑠 𝑧 𝑠
 Thus, begin the solution by finding the impulse response (inverse Laplace
transform) of 𝐺 𝑠 /𝑠. Hence,

𝐺 𝑠 𝑠+2 𝐴 𝐵 2 1
𝐺 𝑠 = = = + = − (3.35)
𝑠 𝑠 𝑠+1 𝑠 𝑠+1 𝑠 𝑠+1
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3. DISCRETE SYSTEMS
3.6.Pulse Transfer Function: Example 3.3. Soln’ Cont’
 Taking the inverse Laplace transform, we get
𝑔 𝑡 =2−𝑒 (3.36)
from which
𝑔 𝑘𝑇 = 2 − 𝑒 (3.37)
 Using Table 3.1, we get
2𝑧 𝑧
𝐺 𝑧 == − (3.38)
𝑧−1 𝑧−𝑒
 Substituting 𝑇 = 0.5 yields

𝐺 𝑠 2𝑧 𝑧 𝑧 − 0.213𝑧
𝐺 𝑧 =𝑧 = − = (3.39)
𝑠 𝑧−1 𝑧 − 0.607 (𝑧 − 1) 𝑧 − 0.607
 From Eq. (3.34),
𝑧−1 𝑧 − 0.213
𝐺 𝑧 = 𝐺 𝑧 = (3.40)
𝑧 𝑧 − 0.607
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3. DISCRETE SYSTEMS
3.6.2. Block Diagram Reduction
 The objective here is to determine the closed-loop pulse transfer function of
an arrangement of subsystems incorporating a computer in the loop.
 This requires that we know how to manipulate block diagrams for sampled-
data systems, with its transfer function clearly remembered to avoid making
mistakes.
 For instance,𝑧 𝐺 𝑠 𝐺 𝑠 ≠ 𝐺 𝑧 𝐺 𝑧 . In the subsequent discussion, the
notation 𝐺 𝐺 𝑠 is used to denote a single function 𝐺 𝑠 𝐺 𝑠 after
evaluating the product.
 Thus,𝑧 𝐺 𝑠 𝐺 𝑠 = 𝐺 𝐺 𝑧 ≠ 𝐺 𝑧 𝐺 𝑧 .

 Figure 3.10 shows sampled-data systems under column 𝑠 and their z-

transforms under 𝑧.
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3.6.2. Block Diagram Reduction

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3. DISCRETE SYSTEMS
3.6.2. Block Diagram Reduction
 Fig. 3.10 (a) is that of the standard system we derived earlier, whose pulse
transfer function is
𝐺 𝑧 = (3.41)
and which forms the basis for the other entries.

 In Fig. 3.10 (b), since there is no sampler between 𝐺 𝑠 and 𝐺 𝑠 , it is

treated as single function 𝐺 𝑠 𝐺 𝑠 , which is simply denoted as 𝐺 𝐺 𝑠
existing between the two samplers and yielding a single transfer function.
 The transformed output is 𝐶 𝑧 = 𝑅 𝑧 𝐺 𝐺 𝑧 . Hence, the pulse transfer
function is
𝐶 𝑧
𝑧 𝐺 𝐺 𝑠 =𝐺 𝐺 𝑧 = (3.42)
𝑅 𝑧
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3. DISCRETE SYSTEMS
3.6.2. Block Diagram Reduction

 Fig. 3.10 (c) shows a cascade of two subsystems of the type depicted in Fig.
3.10 (a) and we see that the z-transform is the product of the two z-
transforms, or 𝐺 (𝑧)𝐺 𝑧 .

 The transform of the output 𝐶 𝑧 = 𝑅 𝑧 𝐺 𝑧 𝐺 (𝑧).

 Lastly, Fig. 3.10 (d) presents a case in which the continuous signal
entering the sampler is 𝑅 𝑠 𝐺 𝑠 .

 This model resembles that of Fig.3.10 (a) where 𝑅 𝑠 and 𝐺 𝑠 are

replaced respectively by 𝑅 𝑠 𝐺 𝑠 and 𝐺 𝑠 .

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3. DISCRETE SYSTEMS
3.6.2. Block Diagram Reduction
 The z-transform of the input to 𝐺 𝑠 is

z { 𝑅 𝑠 𝐺 𝑠 } = z { 𝑅𝐺 𝑠 } =𝑅𝐺 𝑧 .

 The pulse transfer function for the system 𝐺 𝑠 is 𝐺 𝑧 .

 Therefore, the output 𝐶 𝑧 = 𝑅 𝐺 (𝑧)𝐺 𝑧 .

 The basic forms of Fig.310, can be applied in finding the z-transform of

feedback control systems and determination of the overall closed-loop
pulse transfer functions as shown next.

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3. DISCRETE SYSTEMS
3.6.3 Closed-loop Pulse Transfer Function
 Consider the error sampled system shown in Fig. 3.11.
 Since there is no sampler between 𝐺 𝑠 and 𝐻 𝑠 in the closed-loop system
shown in Fig. 3.11, the arrangement is similar to that shown in Fig. 3.10 (b).
The closed-loop pulse transfer function can be written as
𝐶 𝐺 𝑧
𝑧 = (3.43)
𝑅 1 + 𝐺𝐻 𝑧

where 𝐺𝐻 𝑧 = 𝑧 𝐺𝐻 𝑠 .

Fig. 3.11 Closed-loop error sampled system

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3. DISCRETE SYSTEMS
3.6.3 Closed-loop Pulse Transfer Function
 Consider the error and output sampled system shown in Fig. 3.12, with a sampler
between 𝐺 𝑠 and 𝐻 𝑠 , which is similar to Fig. 3.10 (c). In this case, the closed-
loop pulse transfer function is now written as

𝑧 = (3.44)
( )

Fig. 3.12 Closed-loop error and output sampled system

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3.6.3 Closed-loop Pulse Transfer Function
Example 3.4: Pulse Transfer Function of a Feedback System
Find the z-transform of the system shown in Fig. 3.13.

Fig. 3.13
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3. DISCRETE SYSTEMS
3.6.3 Closed-loop Pulse Transfer Function
Example 3.4: Pulse Transfer Function of a Feedback System
Solution
 The objective of this problem is to illustrate the steps in block diagram
reduction of a sampled-data system.
 One of the operations to be always performed is that of placing a phantom
sampler at the output of any subsystem with a sampled input, provided the
nature of the signal transmitted to any other subsystem remains the same.
 Thus, for instance, in Fig. 3.14 (a), the phantom sampler 𝑆 can be added.
Another operation that can be carried out is the addition of phantom
samplers 𝑆 and 𝑆 at the input to the summing junction whose output is
sampled.
The reason for this is that provided all samplers are synchronized, the
sampled sum is equivalent to the sum of the sampled inputs.
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3.6.3 Closed-loop Pulse Transfer Function
Example 3.4:Solution
 Next, move sampler 𝑆 and
𝐺(𝑠) to the right past the
pickoff point, as shown in Fig.
3.14(b) in order to yield a
sampler at the input of
𝐺(𝑠)𝐻(𝑠) that matches Fig.
3.10(b).
(a)
 Also, 𝐺(𝑠) with sampler 𝑆 at
the input and sampler 𝑆 at
the output matches Fig.
3.10(a).
 The closed-loop system now
has a sampled input and a
sampled output. (b)
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3. DISCRETE SYSTEMS
3.6.3 Closed-loop Pulse Transfer Function: Example 3.4:Solution Cont’
 𝐺(𝑠)𝐻(𝑠) with samplers 𝑆 and 𝑆 becomes 𝐺𝐻(𝑧), and 𝐺(𝑠) with samplers 𝑆 and 𝑆
becomes𝐺(𝑧), as shown in Fig. 3.14(c).
 Converting 𝑅∗ (𝑠) to 𝑅(𝑧) and 𝐶 ∗ (𝑠) to 𝐶(𝑧), gives the system represented fully in the z-domain.
 The equations developed for continuous time systems (with Laplace transform transfer
functions) can be used for sampled-data transfer functions by only changing the variables
from 𝑠 to 𝑧.
 Hence, using the feedback formula, the first block of Fig. 3.14(d) is realized.
 Finally, multiplying the cascaded sampled-data systems, we obtain the final result shown in
Fig. 3.14(e).

(c) (d) (e)

Fig. 3.14 Steps in block diagram reduction of a sampled-data system
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