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E1541 Discrete-Time Control Systems

Introduction to z-Transform
Lec.#04
Prof. Dr. Walaa Gabr
Associate Prof. Dr. Omar Salim
Department of Electrical Engineering
Benha Faculty of Engineering
Benha University

Oct. 2023

Course Syllabus:-
1. Introduction
2. Spectrum analysis of sampling process
3. Signal reconstruction
4. Difference equation
5. The z-transform
6. Impulse transfer function
7. Mapping between s-plan and z-plan
8. Transient and steady state response analysis
9. Design based on root-locus
10.Design based on frequency response
11.Analytical design
2 12.Controllability & observability tests

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Lecture Agenda:-
 Introduction to z Transform
 Laplace Transform Recall
 z Transform
 Properties of z Transform
 Examples
 References

Difference equations versus differential equations

 Differential equations describe continuous systems. With these
equations, rates of change are defined in terms of other values in the
system.

 Difference equations are analogous to this where old values are used to
calculate new values. The order of an equation is how many time step
back you are looking at or the highest power derivative involved is.

 Difference equations have an implicit time step in them. We keep track

of variables with integer subscripts and the difference between
consecutive subscripts is a time step.
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Introduction to z Transform
 Laplace transform allows to transform a differential equation, and its
corresponding initial and final value problems, into a space in which the
equation can be solved by ordinary algebra.
 The role of the z transform in discrete-time systems is similar to that of the
Laplace transform in continuous-time systems.
 The Z-transform is simply a power series representation of a discrete-time
sequence.
 The sequence x(0); x(1); x(2); x(3), Z-transform simply multiplies each
coefficient in the sequence by a power of z corresponding to its index.

𝑋 𝑧 = 𝑥 (0) + 𝑥(1)𝑧 −1 + 𝑥(2)𝑧 −2 + 𝑥(3)𝑧 −3

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Laplace Transform Recall

 Complex Variable:
Since any complex number has a real and imaginary parts which are both
constant. If the real and imaginary parts are variables a complex number is called
complex variable.
In Laplace transform the complex variable is called s.
s =  + j
 Laplace transformation: 
{f (t )} = F (s ) =  f (t )e −st dt
 Where: 0

f(t)= time domain function f(t)=0 for t<0

=Laplace transform operator., s= Complex variable.
Initial and final
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value theorem:
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z-transform
 The z -transform of the sequence x in the previous equation is

{x (k )} = X (z ) =  k =− x (k )z − k


 Where z can be interpreted as being either a time-position marker or a

complex variable, and the script Z is the z-transform operator.

 If the former interpretation is employed, the number multiplying the

marker z–k is identified as being the kth element of the x sequence, i.e.,
x(k).
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z-transform
 The Laplace transform E*(s) of a samples function e*(t) is given below

e (t ) =  e (kT ) (t − kT )
*

k =0

E (s ) =  e (kT )e − kTs
*

k =0



 Substitute z=esT into E*(s): E (z ) = e (kT )z − k
k =0

E (z ) = [e * (t )] =  k =0 e (kT )z − k

 Definition of z-transform:
a power series in z-1 where z is a complex variable.
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The z-Transform in polar form

 x (k )z
Im
−k
X (z ) =
z = e −j 
k =−

 Re

X (e j
)=  x (k )e
k =−
− j k

Relationship to Fourier Transform

Note that expressing the complex variable z in polar form reveals the
relationship to the Fourier transform:

X (re j
)=  x (k )(re
k =−
j  −k
) , or

X (re j
)=  x (k )r
k =−
−k
e − j  k , and if r = 1,

X (e j
) = X ( ) =  x (k )e
k =−
− j k

which is the Fourier transform of x(k).

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Properties of z-transform

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Without the need of having the

inverse z-transform

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Theorem Name Theorem Name

 n −1
Definition F ( z ) = Z [ f (t )] =  f (kT ) z − k Time Shift 2 Z [ f (t + kT )] = z k [ F ( z ) −  f (kT ) z −k ]
k =0 k =0

Linearity Z [k1 f1 (t ) + k 2 f 2 (t )] = k1 F1 ( z ) + k 2 F2 ( z ) Differentiation Z [ f (t ) − f (t − 1)] = (1 − z −1 ) F ( z )

Z   f ( )d  =
t F ( z)
Multiply by e-at Z [e − at f (t )] = F ( ze aT ) Integration  0−  1 − z −1

𝑧
Multiply by ak 𝑍[𝑎 𝑘 𝑓(𝑘)] = 𝐹( )
𝑎 Final Value f () = lim (1 − z −1 ) F ( z )
z →1

Time Shift 1 Z [ f (t − kT )] = z − k F ( z ) Initial Value f (0) = lim F ( z )

z →

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Example
 Unit step Function

1(t ) → t  0
x (t ) = 
0 → t  0

X ( z ) = Z [1(t )] =  1z −k

k =0
−1 −2 −3 −k
X (z ) = z 0
+z +z +z + ...... + z
−1 −2 −3
X (z ) = 1 + z +z +z + ......
1
= 1 + x + x 2 + x 3 + ......
1 z (1 − x )
X (z ) = −1
=
1− z z −1
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Example
 Unit ramp Function
t → t  0
x (t ) = 
0 → t  0
x ( kT ) = kT , k = 0,1, 2, 3,...

X ( z ) = Z [ x ( kT )] =  kTz −k

k =0
−1 −2 −3 −k
X ( z ) = T [0 + z + 2z + 3z + ...... + kz ]
−1 −1 −2 −3
X ( z ) = Tz [1 + 2z + 3z + 4z + ......]
Tz −1 Tz
X (z ) = −1 2
= 1
= 1 + 2x 1 + 3x 2 + 4x 3 + ......
(1 − z ) ( z − 1) 2 (1 − x ) 2
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Example
 Polynomial Function

a k → k  0
x (k ) = 
0 → k  0
a = cons tan t
 
X ( z ) = Z [ x ( k )] =  x ( k ) z −k
= ak z −k

k =0 k =0
−1 −2 −3
X ( z ) = 1 + az + a 2z + a 3z + ......
1 z
X (z ) = −1
=
(1 − az ) (z − a )

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Example
 Exponential Function
e − at → t  0
x (k ) = 
0 → t  0
x ( kT ) = e − akT ; k = 1, 2, 3,........
a = Const .
 
X ( z ) = Z [ x ( k )] =  x ( k )z
k =0
−k
= e
k =0
− akT
z −k

− aT −1 −2 aT −2 −3aT −3
X (z ) = 1 + e z +e z +e z + ......
1 z
X (z ) = − aT −1
=
(1 − e z ) ( z − e − aT )
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e jwt = coswt + j sinwt

Example e − jwt = coswt − j sinwt
 Sinusoidal Function
1
sin(wt ) → t  0 coswt = (e jwt + e − jwt )
x (k ) =  2
0 → t  0
1 jwt
sin(wt ) =
1
[e jwt − e − jwt ] s inwt = (e − e − jwt )
2j 2j
 
1
X ( z ) = Z [ x ( kT )] =  x ( kT
k =0
)z −k
= 2j
k =0
[e jwkT
− e − jwkT ]z −k

1 1 1
X (z ) = [ −1
− ]
2 j (1 − e jwT z ) (1 − e − jwT z −1
)
1 (e jwT − e − jwT ) z −1
X (z ) = [ ]
2 j 1 − (e jwT + e − jwT )z −1 + z −2
)
z −1 sinwT
X (z ) =
1 − 2 z −1 coswT + z −2

z sinwT
27 X (z ) =
z 2 − 2 z coswT + 1

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Partial table of z- and s-transforms

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MATLAB Example
% symbols n ,T, a, w, z
syms n T w z a;
% function f=k^n
f=n^4;
% obtain the z-transform of function f
ztrans(f)
ans =
z*(z^3+11*z^2+11*z+1)/(z-1)^5
% function h=sinwt, t=kT
h=sin(w*n*T);
% obtain the z-transform of function h in variable z
ztrans(h,z)
ans =
z*sin(w*T)/(z^2-2*z*cos(w*T)+1)
% function g=a^k
g= a^n ;
% obtain and Simplify the z-transform of function g in variable z
simplify(ztrans(g,z))
ans =
29 -z/(-z+a)

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MATLAB Example (Cont’d)

% function L=coswt, t=kT
L=cos(w*n*T);
% obtain the z-transform of function L in variable z
ztrans(L,z)
ans =
(z-cos(w*T))*z/(z^2-2*z*cos(w*T)+1)
% function M=exp(-at), t=kT
M=exp(-a*n*T);
% obtain and Simplify the z-transform of function M in variable z
simplify(ztrans(M,z))
ans =
z*exp(a*T)/(z*exp(a*T)-1)
% function U=Coswt* exp(-at), t=kT
U=exp(-a*n*T)*cos(w*n*T);
% obtain and Simplify the z-transform of function U in variable z
simplify(ztrans(U,z))
ans =
(z-cos(w*T)*exp(-a*T))*z/(z^2-2*z*cos(w*T)*exp(-a*T)+exp(-2*a*T))

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MATLAB Example (cont’d)

% function U=Coswt* exp(-at), t=kT
U=exp(-a*n*T)*cos(w*n*T);
% obtain and Simplify the z-transform of function U in variable z
simplify(ztrans(U,z))
ans =
(z-cos(w*T)*exp(-a*T))*z/(z^2-2*z*cos(w*T)*exp(-a*T)+exp(-2*a*T))
% function y= t exp(-at), t=kT
y=n*T*exp(-a*n*T),
% obtain and Simplify the z-transform of function y in variable z
simplify(ztrans(y,z))
ans =
T*z*exp(-a*T)/(z-exp(-a*T))^2
% function p= sinwt coswt, t=kT
p=sin(w*n*T)*cos(w*n*T);
% obtain and Simplify the z-transform of function p in variable z
simplify(ztrans(p,z))
ans =
z*cos(w*T)*sin(w*T)/(1+z^2-4*z*cos(w*T)^2+2*z)
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References
Text Books:
 Katsuhiko Ogata, ‘Discrete-Time Control Systems,’ 2nd edition, 1994.
st
 Digital control engineering, Analysis and design, M. Sam Fadali, 1 Edition 2009
 Ed. Richard C. Dorf, Boca Raton: CRC Press LLC, 2000

Lecture Notes:
 Associate Professor Walaa Gabr, Ph.D. Lecture Notes 2015 and 2016.
 Omar Salim, Ph.D. Lecture notes for SYS674 Oakland University 2010.

Software Packages:
 MATLAB Simulink, for Mathworks.

Web Sites:
 http://im0.p.lodz.pl/~jbanasiak/Sem/aims.pdf
 http://lmah.univ-lehavre.fr/~alaoui/publications.html

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