Chapter 2 Solutions

2.1 Derive the discrete-time model of Example 2.1 from the solution of the system differential equation
with initial time kT and final time(k+1)T.

The volumetric fluid balance gives the analog mathematical model

d h h qi
 
dt  C
where  = R C is the fluid time constant for the tank. The solution of this equation is

1 t
h(t )  e (t t0 ) /  h(t 0 )  t e  ( t   ) /  q i (  ) d
C 0

Let qi be constant over each sampling period T, i.e. qi(t) = qi(k) = constant, for t in the interval
[kT, (k+1)T). Then

(i) Let t0 = kT, t = (k + 1)T

(ii) Simplify the integral as follows with  : (k  1)T  

1 ( k 1)T [( k 1)T  ] / 
C kT
e qi (kT )d


C kT

1 ( k 1)T [( k 1)T   ] / 
e d qi (kT )  d : d 
 T,   kT
 e 
1 0  / 
C T
(d ) qi (kT )  
0,   (k  1)T


C
1  e q (kT )
T / 
i

We thus reduce the differential equation to the difference equation


h(k  1)  e T /  h(k )  R 1  e T /  q i (k ) 
2.2 For each of the following equation, determine the order of the equation then test it for
(i) Linearity. (ii) Time-invariance. (iii) Homogeneousness.

(a) y(k+2) = y(k+1) y(k) + u(k)

(b) y(k+3) + 2 y(k) = 0
(c) y(k+4) + y(k-1) = u(k)
(d) y(k+5) = y(k+4) + u(k+1)  u(k)
(e) y(k+2) = y(k) u(k)

The results are summarized below

Problem Order Linear Time-invariant Homogeneous

(a) 2 No Yes No
(b) 3 Yes Yes Yes
(c) 5 Yes Yes No
(d) 5 Yes Yes No
(e) 2 No Yes No

1
2.3 Find the transforms of the following sequences using Definition 2.1
(a) {0, 1, 2, 4, 0, 0,...} (b) {0, 0, 0, 1, 1, 1, 0, 0, 0,...}
(c) {0, 20.5 , 1, 20.5 , 0, 0, 0, ... }


From Definition 2.1, {u0, u1 , u2 , ... , uk , ... } transforms to U (z)  uk zk . Hence:
k 0

(a) Z 0,1,2,4,0,0,...  z 1  2 z 2  4 z 3 (b) Z 0,0,0,1,1,1,0,0,...  z 3  z 4  z 5

(c) Z 0,2 0.5 ,1,2 0.5 ,0,0,...  2 0.5 z 1  z 2  2 0.5 z 3

2.4 Obtain closed forms of the transforms of Problem 2.3 using the table of z-transforms and the time
delay property.

Each sequence can be written in terms of transforms of standard functions

(a) {0, 1, 2, 4,0,0,...} = {0, 1, 2, 4, 8, 16,...}  {0, 0, 0, 0, 8, 16,...}={f(k)}{g(k)}

2 k 1 , k 0 8  2 k 4 , k  4
where f (k )   g(k )  
0, k 0 0, k4

8z z3 8
Z 0,1,2,4,0,0,...  z 1 z
 z 4  3
z2 z  2 z ( z  2)

(b) {0, 0, 0, 1, 1, 1, 0, 0,...} = {0, 0, 0, 1, 1, 1, 1, 1,...}  {0, 0, 0, 0, 0, 0, 1, 1, 1, 1,...}

= {f(k)} {g(k)}

1, k 3 1, k 6
where f (k )   g(k )  
0, k 3 0, k 6

z 3 1
Z 0,0,0,1,1,1,0,0,...  z 3 z
 z 6
z
 5
z 1 z  1 z ( z  1)

(c) {0,2-0.5,1,2-0.5,0,0,...} = {0,2-0.5,1,2-0.5,0,-2-0.5,-1,-2-0.5,0,...}+ {0,0,0,0,2-0.5,1,2-0.5,0,-2-0.5,-1,-2-0.5,0,...}

= {f(k)} + {g(k)}

sin(k 4) , k 0 sin( k  4) , k 4
where f (k )   g(k )  
0, k 0 0, k4

Z 0,20.5 ,1,20.5 ,0,0,0,...  sin( 4) z

 4 sin( 4) z

20.5 z 4  1 
z 2  2 cos( 4) z  1
z

z 2  2 cos( 4) z  1 z 3 z 2  20.5 z  1 

2.5 Prove the linearity and time delay properties of the z-transform from basic principles.

To prove linearity, we must prove homogeneity and additivity using Definition 2.1,

(i) Homogeneity: Z f (k )   Z f (k )

2
 
Z f (0), f (1), f (2),..., f (i),...  f (0)  f (1) z 1  f (2) z  2  ...  f (i) z i  ...   f (i) z i
i 0


Z f (0), f (1), f (2),..., f (i),...  f (0)  f (1) z 1  f (2) z  2  ...  f (i) z i  ...    f (i) z i
i 0

(ii) Additivity Z f (k )  g(k )  Z f (k ) Z g(k )

Z f (k )  g(k )  Z f (0)  g(0), f (1)  g(1), f (2)  g(2),..., f (i)  g(i),...

 f (0)  g (0)   f (1)  g(1) z 1  f (2)  g(2) z  2  ...  f (i )  g (i ) z  i  ...
 
  f (i ) z i   g (i ) z i  Z f (k ) Z g(k )
i 0 i 0

To prove the time delay property, we write the transform of the delayed sequence

Z 0, f (0), f (1), f (2),..., f (i),...  f (0) z 1  f (1) z 2  f (2) z 3  ...  f (i) z i 1  ...

 z 1  f (i ) z  i  z 1 Z f (k )
i 0

2.6 Use the linearity of the z-transform and the transform of the exponential function to obtain the
transforms of the discrete-time functions.
(a) sin(kT) (b) cos(kT)

e jkT  e  jkT
(a) sin( k T ) 
2j
Z sin (kT )  1
2j
 Z e  Z e jkT  jkT

1  z z 
 
2 j  z  e jT z  e  jT 


1  
e jT  e  jT z  
sin (T ) z
 2
2j
 2
z  e
jT
e 
 jT

z  1  z  2cos(T ) z  1

e jkT  e  jkT
(b) cos(kT ) 
2

Z cos(kT )  1  Z e jkT  Z e  jkT 

2
1 z z 
  
2  z  e jT z  e  jT 

1  2 z 2  e jT  e  jT z 
  2

z 2  cos(T ) z
 2
2 z  e 
j T
e  j T

z  1  z  2cos(T ) z  1

2.7 Use the multiplication by exponential property to obtain the transforms of the discrete-time functions.
(a) ekTsin(kT) (b) ekTcos(kT)

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 The multiplication by exponential property with a  k  e T   k
 e  kT gives

Z e  kT f (k )  F (e  T z )

(a) Z e  kT sin (kT )  

sin (T ) e  T z  
sin (T )e  T z
e z 
T 2

 2cos(T ) e  T z  1  z 2  2cos(T )e  T z  e  2 T

Z e  kT cos(kT )  eT 2z   cos(T )e T z 

T 2 T
z 2  cos(T )e  T z
(b) 
e z   2cos(T ) e  
z 1 z  2cos(T )e  T z  e  2 T
2

2.8 Find the inverse transforms of the following functions using Definition 2.1 and, if necessary, long
division
(a) F ( z )  1  3 z 1  4 z 2 (b) F ( z )  5 z 1  4 z 5
z z  0.1
(c) F ( z)  2 (d) F ( z)  2
z  0.3 z  0.02 z  0.04 z  0.25

Use Definition 2.1 to obtain

(a) Z 1  3z 1  4 z 2   {1,3,4,0,0,0,..} (b) Z 5 z 1  4 z 5   {0,5,0,0,0,4,0,0,..}

z 1  0.3 z 2  0.07 z 3  ......

z  0.3 z  0.02 z
2

z  0.3  0.02 z -1
(c)
 0.3  0.02 z -1
0.3  0.09 z -1  0.006 z  2
0.07 z 1  0.006 z  2
z
F ( z)   z 1  0.3z  2  0.07 z  3  ..... {f (k )}  {0,1,0.3,0.07,....}
z  0.3z  0.02
2

z 1  0.14 z 2  0.244 z 3  ......

z  0.04 z  0.25 z  0.1
2

z  0.04  0.25 z -1
(d)
 0.14  0.25 z -1
0.14  0.0056 z -1  0.035 z  2
 0.244 z 1  0.035 z  2
z
F ( z)   z 1  0.14 z  2  0.244 z  3  ....
z  0.04 z  0.25
2

{f (k )}  {0,1,0.14,0.244,....}

2.9 For Problems 2.8.(c), (d), find the inverse transforms of the functions using partial fraction expansion
and table look-up.

4
 F ( z) 1 1  1 1 
(c)  2   10  
z z  0.3 z  0.02  z  0.1 z  0.2   z  0.1 z  0.2 

 z
F ( z )  10 
z 
 z  0.1 z  0.2 
k

 {f (k )}  10  0.1   0.2 
k

F ( z) z  0.1 0.4 0.4 z  1.016
(d)    2
z 2

z z  0.04 z  0.25 z  z  0.04 z  0.25
0.4 z 2  1.016 z
We obtain F ( z )  0.4  and use the identities
z 2  0.04 z  0.25

e  sin( d ) z
Z e k sin(k d ) 
z 2  2e  cos( d ) z  e  2
z[ z  e  cos( d )]
Z e k cos(k d ) 
z 2  2e  cos( d ) z  e  2
e    0. 25  0. 5 cos(  d )  0. 04   d  1. 611rad

0.4 z 2  1.016 z

   
0.4 z 2  0.02 z  1.008 z 0.4 z 2  0.02 z  2.0180.4996 z

z 2  0.04 z  0.25 z 2  0.04 z  0.25 z 2  0.04 z  0.25

{f (k )}  0.4 (k )  0.5 0.4 cos(1.611k )  2.018 sin(1.611k )

k

 0.4 (k )  2.0570.5 sin(1.611k  0.196)

k

 0.4 
2.057  0.42  2.0182 0.196  sin 1  
 2.057 
sin(A+B) = sin(A) cos(B) + cos(A) sin(B)

2.10 Solve the following difference equations

(a) y(k+1)  0.8 y(k) = 0, y(0) = 1
(b) y(k+1)  0.8 y(k) = 1(k), y(0) = 0
(c) y(k+1)  0.8 y(k) = 1(k), y(0) = 1
(d) y(k+2) + 0.7 y(k+1) + 0.06 y(k) = (k), y(0)=0, y(1)=2

(a) y(k+1)  0.8 y(k) = 0, y(0) = 1

z-transform
f (k )  0.8  ,k  0,1,2,...
z
zY ( z )  z  0.8Y ( z )  0  Y ( z ) 
k

z  0.8

(b) y(k+1)  0.8 y(k) = 1(k), y(0) = 0

z-transform
z z
( z  0.8)Y ( z )   Y ( z) 
z 1 ( z  0.8)( z  1)

Y ( z) 1  1 1 
  5 
z ( z  0.8)( z  1)  z  1 z  0.8 

5
  
f (k )  5 1  0.8 ,k  0,1,2,...
k

(c) y(k+1)  0.8 y(k) = 1(k), y(0) = 1

The solution is the sum of the solutions from (a) and (b)


f (k )  5 1  0.8
k
  0.8 ,k  0,1,2,...
k

(d) y(k+2) + 0.7 y(k+1) + 0.06 y(k) = (k), y(0)=0, y(1)=2

z-transform
2z 1
( z 2  0.7 z  0.06)Y ( z )  1  2 z  Y ( z ) 
( z  0.1)( z  0.6)
Y ( z) 2z 1 16.667 16 0.667
   
z z ( z  0.1)( z  0.6) z z  0.1 z  0.6
16 z 0.667 z
Y ( z )  16.667  
z  0.1 z  0.6

y (k )  16.667 (k )  16 0.1  0667 0.6 

k k

2.11 Find the transfer functions corresponding to the difference equations of Problem 2.2 with input u(k)
and output y(k). If no transfer function is defined, explain why.

(a) and (e) are nonlinear and (b) is homogeneous. They have no transfer functions.

(c) y(k+4) + y(k1) = u(k)

z
Z-transform ( z 4  z 1 )Y ( z )  U ( z ) G( z) 
z 1
5

(d) y(k+5) = y(k+4) + u(k+1)  u(k)

z 1 1
z-transform ( z 5  z 4 )Y ( z )  ( z  1)U ( z ) G( z)   4
z z
5 4
z

2.12 Test the linearity with respect to the input of the systems for which you found transfer functions in
2.11.

(c) y(k+4) + y(k1) = u(k)

The transfer function of the system is

z
G( z) 
z 1
5

For inputs u1(k) and u2(k), we have outputs

z
Yi ( z )  G ( z )U i ( z )  5 U i ( z ), i  1,2
z 1

We now as input try the linear combination

6
 u (k )  u1 (k )   u 2 (k )
z z
Y ( z )  G ( z )U ( z )   U1 ( z)   5 U 2 ( z)
z5  1 z 1
 Y1 ( z )   Y2 ( z )

(d) y(k+5) = y(k+4) + u(k+1)  u(k)

Repeat above steps using the transfer function of (d).

2.13 If the rational functions of Problems 2.8.(c), (d), are transfer functions of LTI systems, find the
difference equation governing each system.

z
(c) F ( z) 
z 2  0.3 z  0.02

y(k+2 + 0.3 y(k+1) + 0.02 y(k) = u(k+1)

z  0.1
(d) F ( z) 
z  0.04 z  0.25
2

y(k+2 + 0.04 y(k+1) + 0.25 y(k) = u(k+1)  0.1 u(k)

2.14 We can use z-transforms to find the sum of integers raised to various powers. This is accomplished
by first recognizing that the sum is the solution of the difference equation

f(k) = f(k1) + a(k)

where a(k) is the kth term in the summation. Evaluate the following summations using z-transforms

n n
(a) k
k 1
(b) k
k 1
2

(a) We consider the difference equation

f(k) = f(k1) + k

Z-transform

z z2 1  z z  1 z 
F ( z )  z 1 F ( z )     
z  1 2
z  1 3
2   z  13
z  12 
Inverse z-transform
n
nn  1
k 
k 1 2

(b) We consider the difference equation

f(k) = f(k 1) + k2

7
 z  z  1
F ( z )  z 1 F ( z ) 
z  13
F ( z) 
z 2  z  1


z z 2  4z  1   zz  1  z
z  1 4
3 z  1
4
2 z  1
3
6 z  1
2

n
n3 n2 n 1
 k  2
   nn  12n  1
k 1 3 2 6 6

2.15 Find the impulse response functions for the systems governed by the following difference equations

(a) y(k+1)  0.5 y(k) = u(k)

(b) y(k+2)  0.1 y(k+1) + 0.8 y(k) = u(k)

(a) y(k+1)  0.5 y(k) = u(k)

1 z (0.5) k 1 , k 1
G( z)   z 1 g (k )  
z  0.5 z  0.5 0, k 1
(b) y(k+2)  0.1 y(k+1) + 0.8 y(k) = u(k)
1 z Ae  sin( d ) z
G( z)  2  z 1 2  2
z  0.1z  0.8 z  0.1z  0.8 z  2e  cos( d ) z  e  2

Equating coefficients, we solve for e and d then use the tables and the delay theorem
1.12(0.893) k 1 sin 1.515(k  1) , k 1
g (k )  
0, k 1

2.16 Find the final value for the functions if it exists

z z
(a) F ( z)  (b) F ( z) 
z  1.2 z  0.2
2
z  0.3 z  2
2

z 1 z 1 1
f   
z
(a)     1.25
z  1.2 z  0.2
2
z z 1 z  1z  .2 z 1
0.8

z z
F ( z)   2
z  0.3 z  2 z  2e cos( d ) z  e  2
2 
(b)
z

z  e   j d
z  e   j d

The denominator has complex conjugate poles with magnitude 2 greater than unity.
Therefore the corresponding time sequence is unbounded and the final value theorem does not
apply.

2.17 Find the steady-state response of the systems due to the sinusoidal input u(k) = 0.5 sin(0.4 k)

(a) z (b) z
H ( z)  H ( z) 
z  0 .4 z  0.4 z  0.03
2

8
 Sinusoidal input u (k )  0.5 sin(0.4k )

z 1
(a) H ( z)  
z  0.4 1  0.4 z 1


H e j 0.4   1
1  0.4e  j 0.4
 1.537  0.242

u(k) =0.5  1.537 sin(0.4 k  0.242) = 0.769 sin(0.4k  0.242)

z
(b) H ( z) 
z  0.4 z  0.03
2


H e j 0.4   j 0.4
1
e  0.4  0.03e  j 0.4
 0.714  0.273

u(k) =0.5  0.714 sin(0.4 k  0.273) = 0.357 sin(0.4 k  0.273)

2.18 Find the frequency response of a noncausal system whose impulse response sequence is given by

h(k ), h(k )  h(k  K ), k  ,..., 

Hint: Express the periodic impulse response sequence with period K as

K 1 
h (t )  
*
 h(l  mK ) (t  l  mK )
l  0 m  

Then Laplace transform it.

Laplace transform the sequence then let s = j

K 1 
H * ( s)    h(l  mK )e  ( l  mK ) s

l  0 m  
K 1 
H * ( j )    h(l  mK )e  j ( l  mK )

l  0 m  

2.19 The well known Shannon reconstruction theorem states that:

Any bandlimited signal u(t) with bandwidth s/2 can be exactly reconstructed from its samples at a
rate s = 2/T. The reconstruction is given by

 

sin  s t  kT 
2
u (t )   u (k )  
s
k  
t  kT 
2
Use the convolution theorem to justify the above expression.

9
 By the sampling theorem, the signal can be recovered from its samples using a LPF of bandwidth s.
Multiplication in the frequency domain is equivalent to convolution with the inverse transform, the
sinc function in the time domain. Convolution of the samples and the sinc function yields the
expression.

2.20 Obtain the convolution of the two sequences {1,1,1} and {1,2,3}
(a) Directly (b) Using z-transformation.

Convolution of the two sequences {f(k)}={1, 1, 1} and {g(k)}={1, 2, 3}

(a) Directly y(0) = f(0).g(0)= 11=1

y(1) = f(1).g(0) + f(0).g(1) = 11+12=3
y(2) = f(2).g(0) + f(1).g(1) + f(0).g(2) = 11+12 + 13 = 6
y(3) = f(2).g(1) + f(1).g(2) = 12 + 13 = 5
y(4) = f(2).g(2) = 13 = 3
y(k) = 0, k > 4

(b) Using z-transformation

F(z) = 1 + z-1 + z-2 G(z) = 1 + 2z-1 + 3z-2

Y(z) = F(z).G(z) = 1+ 3z-1 + 6 z-2 + 5z-3 + 3z-4

{y(k)} = {1, 3, 6, 5, 3, 0, 0, ...}

2.21 Obtain the modified z-transforms for the functions of Problems (2.6) and (2.7).

e jkT  e  jkT
For 2.6-(a), sin kT  
2j

jkT
  e  jkT 
Zm sin(kT )  Zm  e 
 2j 
1  e jmT e  jmT  sin m T z  sin(1  m)T 
   
2 j  z  e jT z  e  jT  z 2  2 cosT z  1

e jkT  e  jkT
For 2.6-(b), coskT  
2
jkT  jkT
 
Zm cos(kT )  Zm  e  e 
 2 
1  e jmT e  jmT  cosmT z  cos(1  m)T 
   
2  z  e jT z  e  jT  z 2  2 cosT z  1

For 2.7-(a) ,

10
 jkT  akT
  e  jkT  akT 
Zm e akT sin(kT )  Zm  e 
 2j 
1  e jmT maT e  jmT  maT 
   
2 j  z  e jT  aT z  e  jT  aT 
sin m T z  e  aT sin(1  m)T 
 e  maT
z 2  2e aT cosT z  e  2 aT
For 2.7-(b),

 Z  e  e  jkT  akT 
jkT  akT
Z em
 akT
cos(kT )  m
2

 

1  e jmT  maT e  jmT  maT 

   
2  z  e jT  aT z  e  jT  aT 

cosm T z  e  aT sin (1  m)T 

 e  maT
z 2  2e  aT cosT z  e  2 aT

2.22 Using the modified z-transform, examine the intersample behavior of the functions h(k) of:
(a) Problem 2.15, and (b) 2.16. Use delays of (i) 0.3T, (ii) 0.5T, and (iii) 0.8T.

Solution for 2.15

F z  1 1  1 1 
  
z z  1z  .2 0.8  z  1 z  0.2 

2.15(a)
 1
F ( z , m)  1.25 
0.2m 

 z  1 z  0.2 

 1
F ( z , m)  1.25 
0.2m 
For any value m 
 z  1 z  0.2 

 F ( k , m)  1.25 1  0.2  0.2 
m k 1
, k  1,2,3,.... and zero elsewhere
(i) 0.3T, m = 0.7 (ii) 0.5T, m = 0.5, and (iii) 0.8T, m = 0.2.

z z
F ( z)  
z  0.3z  2  z  0.15  j1.406z  0.15  j1.406
2

2.15(b)
z

z  
2e j1.677 z  2e  j1.677 
F ( z ) 3.5556e  j 3.5556e j
 
z z  2e j1.677 z  2e  j1.677
 
f (k )  0.7111 2 sin 1.6771k 
k

Use the results of problem 2.18 to obtain the answer.

11
 sin m T z  e  aT sin(1  m)T 
Zm e  akT
sin(kT )  e   maT

z 2  2e  aT cosT z  e  2 aT


Zm 0.7111 
2 sin 1.6771k   0.7111 2
k
   m sin 1.6771m z  2 sin1.6771(1  m)
z 2  0.3 z  2
2 2 cos1.6771  0.3

(i) m = 0.7
sin 1.1740 z  2 sin0.5031
F ( z ,0.7)  0.7111 2   0.7

z 2  0.3z  2
 0.7111 2   0.7 0.9223z  0.6819
z 2  0.3 z  2
f ( k ,0.7)  0.7111 2    2 0 .7 k 1
sin1.6771k  1  1.1740, k  1,2,3,.... and zero elsewhere

(ii) m = 0.5 Similarly

F ( z ,0.5)  0.7111 2   0.5 

sin 0.8386 z  2 
z 2  0.3z  2

 0.7111 2   0.5 
0.8844 z  2 
z 2  0.3z  2
f ( k ,0.7)  0.7111 2    2 0 .5 k 1
sin1.6771k  1  0.8386, k  1,2,3,.... and zero elsewhere

(iii) m = 0.2

sin 0.3354z  2 sin 0.0839 

F ( z ,0.2)  0.7111 2   0.2

z 2  0.3z  2
 0.7111 2   0.2 0.3528 z  1.4762
z 2  0.3 z  2
f (k ,0.7)  0.7111 2    2 0 .2 k 1
sin1.6771k  1  0.3354, k  1,2,3,.... and zero elsewhere

Solution for 2.16

2.16(a) H ( z , m) 
0.4m
z  0 .4
(iv) m = 0.7 H ( z ,0.7)  0.4   h(k ,0.7)  0.4 0.7 0.4  k 1 , k  1,2,3,.... and zero elsewhere
0 .7

z  0 .4
(v) m = 0.5 H ( z ,0.5)  0.4   h(k ,0.5)  0.4 0.5 0.4 k 1 , k  1,2,3,.... and zero elsewhere
 0 .5

z  0.4
(iii) m = 0.2 H ( z ,0.2)  0.4   h(k ,0.2)  0.4 0.2 0.4k 1 , k  1,2,3,.... and zero elsewhere
 0 .2

z  0 .4
2.16(b) z 5z 5z
H ( z)  2  
z  0.4 z  0.03 z  0.1 z  0.3

12
   0.1 m  0.3m 
H ( z , m )  5  
 z  0 .1 z  0 .3 

 h(k , m)  5  0.1  0.1
m k 1
  0.3  0.3
m k 1
, k  1,2,3,....
and zero elsewhere
(0.1) and (0.3)m are complex numbers. Thus, the sequence is not defined between sampling points.
m

Obtain H(z, m) for m = 0.7, 0.5, 0.2, as in (a).

2.23 The following open-loop systems are to be digitally feedback controlled. Select a suitable sampling
period for each if the closed-loop system is to be designed for the given specifications
(a) Gol ( s )  1 Time Constant = 0.1 s
s3
(b) Gol ( s )  1 Undamped natural frequency = 5 rad/s, Damping ratio = 0.7
s 2  4s  3

(a) For a time constant = 0.1 s, let T = 0.1/40 = 0.0025 s

(b) For n = 5 rad/s,  = 0.7, we have d = 3.57 rad/s,

2 2
T   0.025s Let T = 25 ms.
 s 70 d

2.24 Repeat problem 2.23 if the systems have sensor delays of : (a) 0.025 s (b) 0.03 s

(a) T = 0.025 s (b) T = 0.03 s. (cannot sample faster than the sensor delay)

Computer Exercises
2.25 Consider the closed-loop system of Problem 2.23(a)

a. Find the impulse response of the closed-loop transfer function and obtain the impulse
response sequence for a sampled system output.
b. Obtain the z-transfer function by z-transforming the impulse response sequence.
c. Using MATLAB, obtain the frequency response plots for the analog system and for
sampling frequencies s = k b, k = 5, 35, 70.
d. Comment on the choices of sampling periods of part (b).

1 10
The closed-loop transfer function is G ( s )  
0.1s  1 s  10
(a) The impulse response is

g (t )  10e 10t
and the impulse response sequence for a sampled system output is g (kT )  10e 10 kT

(b) The z-transform of the impulse response is

10 z
G( z) 
z  e 10T

13