Discrete Time Systems and
the z-Transform
UEMH3103 Digital Control Theory
Outline
Introduction
Discrete time systems.
Transform methods.
Properties of the z-transform.
Solution of difference equations.
The inverse z-transform.
Simulation diagrams and flow graphs.
State variables.
Transfer function.
Introduction
signal is generally applied to something that conveys information
signals conveys information about the state or behavior of a physical system
communicating information between humans or between humans and machines
signals can be represented in many ways
in all cases, the information is contained in some pattern of variations
Introduction
signals are represented mathematically as functions of one or more independent
variables
for example, a speech signal is represented mathematically as a function of time
the mathematical representation of a signal may be either continuous or discrete
continuous-time signals are often referred to as analog signals
discrete- represented as
sequences of numbers
Introduction
discrete-time signals are represented mathematically as sequences of numbers
a sequence of numbers x, in which the nth number in the sequence is denoted
x[n], where n is an integer
sequences can often arise from periodic sampling of an analog signal x(t). In
that case, the numeric value of the nth number in the sequence is equal to the
value of the analog signal, x(t), at time nT.
the quantity T is the sampling period
Introduction
although the abscissa is drawn as a continuous line,
x[n
it is not correct to think of x[n] as being zero when n is not an integer;
x[n] is non-integer values of n.
Introduction
Segment of a continuous-time speech signal x(t )
Sequence of samples x[n]= x(nT ) obtained from the signal in part (a) with T =125
Introduction
some basic sequences.
the sequences shown play important roles in the
analysis and representation of discrete-time signals
and systems
Discrete-Time Systems
discrete-time
that maps an input sequence with values x[n] into an output sequence with
values y[n]
Discrete-Time Systems
Linear vs Non-Linear
A linear system is a mathematical model of a system based on the use of a linear
operator.
Linear systems typically exhibit features and properties that are much simpler than the
general, nonlinear case.
A nonlinear system, in contrast to a linear system, is a system which does not satisfy the
superposition principle meaning that the output of a nonlinear system is not directly
proportional to the input.
Discrete-Time Systems
Time-Invariant vs Time-Varying
A time-invariant (TI) system is one whose output does not depend explicitly on time.
Roughly speaking, characteristics its output depend explicitly upon time.
Linear Time-Invariant (LTI) Investigates the response of a linear and time-
invariant system to an arbitrary input signal.
Z-Transform
z-transform converts a time domain signal, which is a sequence of real or
complex numbers, into a complex frequency domain representation
It can be considered as a discrete-time equivalent of the Laplace transform.
Properties of z-Transform
Addition and Subtraction : the z-transform of a sum of number sequences is
equal to the sum of the z-transforms of the number sequences
Properties of z-Transform
Multiplication by constant : The z-transform of a number sequence multiplied
by a constant is equal to the constant multiplied by the z-transform of the
number sequence.
Properties of z-Transform
Real Translation : Let n be a positive integer, and let E(z) be the z-transform of
e(k)
Properties of z-Transform
Complex Translation : Given that the z-transform of e(k) is E(z)
Properties of z-Transform
Initial Value : Given that the z-transform of e(k) is E(z)
Properties of z-Transform
Final Value : Given that the z-transform of e(k) is E(z)
z-Transform Table
z-Transform Table
z-Transform
Given e(k) = 1 for all k, Find E(z)
z-Transform
Inverse z-Transform
Power Series: The power series method for finding the inverse z-transform of a
funtion E(z) which is expressed in z involves dividing denominator of E(z) into the
numerator such that a power series of the form below is obtained.
Inverse z-Transform
Example:
Partial Fraction Expansion
A function E(z) can be expanded in partial fractions and then tables of known z-
transform pairs can be used to determine the inverse z-transform.
Example : Find the inverse z-transform of the function using partial fraction
method:
Partial Fraction Expansion
Partial Fraction Expansion
Partial Fraction Expansion
Simulation Diagram
So far LTI was represented by using either difference equation or a transfer
function. The third representation which is commonly used is simulation diagram
or block diagram.
Simulation Diagram
Example:
Flow Graph
A somewhat different but equivalent graphical representation of a difference
equation is the signal flow graph. The basic element of flow graph are the
branches and nodes.
Flow Graphs
Example:
State Variables
For a LTI discrete-time system with input E(z), output M(z) and transfer function
G(z) can be represented as
State Variables
A more modern approach would be using state variables method. In this
method, the system is modelled as :
State Variables
General form of state-space equations for linear systems is
The matrices in the equations are
State Variables
Example: It is desired to find a state-variable model of the system described by
the difference equation
Let
State Variables
From these equations
This can be expressed in matrix form :
State Variables
Deriving state variables from z-transform equation
From real translation property
State Variables
Example: Derive the corresponding state function for the following
State Variables and Flow Graph
From previous example
Other State Variable Formulation
For a given system, there are no unique state variable formulation.
For certain analysis or design procedures, certain formulations present
advantages with respect to calculations.
Using similarity transformations, any number of different state models can be
derived, given one state model using linear transformation
Other State Variable Formulation
These equations can be expressed as
Other State Variable Formulation
Example : Given state-variable model is
Choosing a linear-transformation matrix
Other State Variable Formulation
The inverse of P is given by
Other State Variable Formulation
Other State Variable Formulation
The new state equation would be
Other State Variable Formulation
Note that
Simulation Diagram
using State
Variables
Transfer Functions
approach for obtaining the system transfer function from the state equation is to
take the z-transform of the state equation and eliminate X(z).
Consider the state equation
Transfer Functions
Transfer Functions
