Digital Control Systems

Chapter 2: Analysis of Domain - Z

Instructor: Dr. Ahmad Al-Balasie

First Semester - 2022/2023

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 Section objectives

• To present
– definitions of the z transform,
– basic theorems associated with the z
transform,
– methods for finding the inverse z
transform.
• Discussed how to solved the difference equations
by using the z transform method.

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Discrete time system and z - transform
• It is common to think and write in time domain quantities, but this is not the
best thing to do in creating the mathematical description of the system we
are dealing with.

• Continuous systems - using Laplace or s- transform to create the

mathematical description of the system will simplified the process. While
when we dealing with discrete systems, the z- transform will be used to
simplify the process.
• The z transform is a mathematical tool commonly used for the analysis and
synthesis of discrete-time control systems.

• The z transform in discrete-time systems play a similar role as the Laplace

transform in continuous-time systems

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Discrete time system and z - transform
• Discrete system: a system which is described by set of
difference equation (not a differential equation as
continuous system). This set of equations characterizes
the dynamics of the system.

• In this course we will deal with LTI systems only.

• Z-transform is used for analysis and design of such a

system (this is analogous to Laplace transform which is
used for LTI continuous system)
• In a linear discrete-time control system, a linear
difference equation characterizes the dynamics of the
system.
• To determine the system's response to a given input,
such a difference equation must be solved.
• z transformation transforms linear time - invariant
difference equations into algebraic equations in z.)

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Discrete-Time Signals.
• Discrete-time signals arise if the system involves a sampling
operation of continuous-time signals.

• The sampled signal is e(0), e(T), e(2T),..., T = sampling period.

• Such a sequence of values arising from the sampling operation is

usually written as e(kT).
• If the system involves an iterative process carried out by a digital
computer, the signal involved is a number sequence e(0), e(1),
e(2)....

• The sequence of numbers is usually written as e(k), k indicates the

order in which the number occurs in the sequence, for example,
e(0), e(1), e(2).... Although e(k) is a number sequence, it can be
considered as a sampled signal of e(t) when the sampling period T
is 1 sec.

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z transform
• The z transform of a time function e(t), where t is nonnegative, or of a
sequence of values e(kT) where k takes zero or positive integers and T is
the sampling period, is defined by the following equation:


= (2.1)
E(z) = [e(t)] = [e(kT)] =  e(kT
k )z k

0

• For a sequence of numbers e(k), the z transform is defined by:



 e(k )z k (2. 2)
E(z) = [e(k)] = k
0
• The z transform defined by Equation (2.1) or (2.2) is referred to as the one-
sided z transform
• The symbol Z o r denotes "the z transform of."

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Representation of a discrete signal
Example: a discrete signal e(k) is sampled at and it is described by the following
series

k e(k) t (seconds)
0 1 0
1 3 0.2
2 -2 0.4
3 0 0.6
4 1 0.8

MECHATRONICS SYSTEM DESIGN - CHAPTER 1 8

Example 2 : Find E(z) for e(t)=1+t using T=0.5 sec

e(kT)= 1+kT

k
First: E(z) = [e(kT)] = k e(kT )z
0

t (sec) k e(k)
0 0 1
0.5 1 1.5
1 2 2
1.5 3 2.5
2 4 3

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 z TRANSFORMS OF
ELEMENTARY FUNCTIONS

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 Save this series
+……

+…… 1

• Also to convert any function in time domain to

difference domain substitute kT instead of t in 2
𝑥−𝑥
the main function
2
𝑥
2 3
𝑥 −𝑥

MECHATRONICS SYSTEM DESIGN - CHAPTER 1 11

Unit-Step Function
• Let us find the z transform of the unit-step function
0t
1(t)
e(t)  
 0, t
• In sampling a unit-step function
0 we assume that this function is continuous
from the right; that is, 1(0) = 1. Then, referring to Equation (2. 1), we have

 
1z k   z k
E(z) = [1(t)] = k00 k
It is noted that 1(k) as defined
= 1 + z-1 + z-2 + z-3 + … by
1, k  0,1,
1 e(k )  
  2,.....
0, k0
z 1 is commonly called a unit-step
sequence.
z
1 z 1 12
Unit-Ramp Function
• Consider the unit-ramp function
0t
t,
e(t)  t0
0,
• Notice that e(kT) = kT, k = 0,1,2,...

•Figure 2-8 - sampled unit ramp

signal.
•The magnitudes of the sampled
values are proporti- onal to the
sampling period T

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 • z transform of the unit-ramp function:
  
E(z) =[t]= [e(kT)]=  e(kT )z k  kTz k
  kz k
k 0 k k
0
T 0
 T (z 1  2z 2  3z 3 ....)
1 1 2
=T z (1
z 12z  3z ....)

T
(1 z1 )2
Remember:
Tz 1 2x  3x 2 +4x 3 +….

(z 1)2
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Polynomial Function ak.

• Obtain the z transform of e(k) as defined by

e(k )   ak , k  0,1,2,.....
 0, k0

a = constant

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 Polynomial Function ak (ctnd)

• Referring to the definition of the z transform

given by Equation (2. 13), we obtain
 
k k k

E(z) = [a k ] = k 0e(kT)z  k a z
= 0 1 + az-1 + a2z-2 + a3z-3 + …
1
 1 az
1

 z
z
a 16
Exponential Function
• Find the z transform of
e at , 0t
x(t)  
 0, t0

• Since x(kT) = k = 0, 1, 2, ……
• weehave
-akT
,
 

X(z) = [e -at  x(kT )z 

k
 e akT k
z
k 0 k
0

= 1 + e-aTz-1 + e-2aTz-2 + e-3aTz-3 + …

]= 1 z
  z  e aT
1 e aT z 1

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EXERCISE 2 (example 2-2)

• Obtain the z transform of

1
X (s)
 s(s 
1)
Hint
Whenever a function in s is given, one approach for
finding the corresponding z transform is to convert
X(s) into x(t) and then find the z transform of x(t).
Another approach is to expand X(s) into partial
fractions and use a z transform table to find the z
transforms of the expanded terms.

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Solution
The inverse Laplace transform of X(s) is
x(t) = 1 – e-t, 0 ≤ t
Hence,
1 1
X(z) = [1 – e-t] = 
T 1
1z 1
1e z
(1 eT )z  1

(1 z 1 )(1 eT
z1 )
(1 eT )z

(z 1)(z  eT )

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z Transformation Table

• Just as in working with the Laplace

transformation, a table of z transforms of
commonly encountered functions is
very useful for solving problems in the
field of discrete-time systems. Table 2-1
and table 2.1(ctnd) is such a table.

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