Exercise 1

Find f(kT) if
 Solution 11

Begin by dividing F(z) by z and performing a partial-fraction expansion.

𝐹(𝑧) (𝑧 + 1)(𝑧 + 2) 𝐴 𝐵 𝐶
= = + +
𝑧 (𝑧 − 0.5)(𝑧 − 0.7)(𝑧 − 0.9) 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9
Multiplying by (𝑧 − 0.5)(𝑧 − 0.7)(𝑧 − 0.9)

𝑧 + 1 𝑧 + 2 = 𝐴(𝑧 − 0.7)(𝑧 − 0.9)+B (𝑧 − 0.5)(𝑧 − 0.9)+C (𝑧 − 0.5)(𝑧 − 0.7)

For z = 0.5 1.5 2.5 = 𝐴 −0.2 𝑧 − 0.4 ⇒ 𝐴 = 46.875
For z = 0.7 1.7 2.7 = 𝐵 0.2 0.2 ⇒ 𝐵 = −114.75
For z = 0.9 1.9 2.9 = 𝐶 0.4 0.2 ⇒ 𝐶 = 68.875
Next, multiply through by z.
𝐹(𝑧) 46.875 114.75 68.875 z z z
= − + ⇒ 𝐹 𝑧 = 46.875 − 114.75 + 68.875
𝑧 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9
Using Table, we find the inverse z-transform of each partial fraction. the value of the time function at the sampling instants is:

𝑓 ∗ 𝑘𝑇 = 46.875(0.5)𝑘 −114.75(0.7)𝑘 +68.875(0.9)𝑘

 Exercise 2

Find G(z) for G(s) = 8/(s + 4) in cascade with a zero order sample
and hold. The sampling period is 0.25 second.
 Solution 21
1 − 𝑒 −𝑇𝑠 1 − 𝑒 −𝑇𝑠 8
The transfer function 𝐺(𝑠) in cascade with a zero-order hold is given by: 𝐺 𝑠 = 𝐺0 (𝑠) =
𝑠 𝑠 𝑠+4
by moving the s in the denominator of the zero-order hold to 𝐺0 𝑠 , yielding 𝑧 = 𝑒 𝑠𝑇
𝑧
Multiply by 𝑧

𝐺0 𝑠 𝐺0 𝑠 𝑧 − 1 𝐺0 𝑠
𝐺 𝑠 = (1 − 𝑒 −𝑇𝑠 ) from which 𝐺 𝑧 = 1 − 𝑧 −1 𝑍 = 𝑍
𝑠 𝑠 𝑧 𝑠
𝐺0 𝑠
Thus, begin the solution by finding the impulse response (inverse Laplace transform) of . Hence,
𝑠

𝐺0 𝑠 8 𝐴 𝐵 2 2
𝐺1 𝑠 = = = + = −
𝑠 𝑠(𝑠 + 4) 𝑠 (𝑠 + 4) 𝑠 (𝑠 + 4)

Taking the inverse Laplace transform, we get 𝑔1 𝑡 = 2 𝑢(𝑡) − 2𝑒 −4𝑡 from which 𝑔1 𝑘𝑇 = 2 𝑢(𝑘𝑇) − 2𝑒 −4𝑘𝑇
2𝑧 2𝑧
Using Table, we find 𝐺1 𝑧 = −
𝑧 − 1 𝑧 − 𝑒 −4𝑇
𝐺0 𝑠 2𝑧 2𝑧 1.264 𝑧
Substituting T = 0.25 yields 𝐺1 𝑧 = 𝑍 𝑠
= − =
𝑧 − 1 𝑧 − 0.3679 (𝑧 − 1)(𝑧 − 0.3679)

𝑧−1 1.264
⇒ 𝐺 𝑧 = 𝐺1 𝑧 =
𝑧 𝑧 − 0.3679
 Exercise 3

Given 𝑇(𝑧) = 𝑁(𝑧)/𝐷(𝑧), where 𝐷 𝑧 = 𝑧 3 − 𝑧 2 − 0.5 𝑧 + 0.3,

use the Routh-Hurwitz criterion to find the number of z-plane poles of
T(z) inside, outside, and on the unit circle. Is the system stable?
 𝑤𝑒 ℎ𝑎𝑣𝑒 𝐷 𝑧 = 𝑧 3 − 𝑧 2 − 0.5 𝑧 + 0.3 Solution 31
Using the bilinear transformation and substitute into 𝐷 𝑧 = 0 𝑤𝑒 𝑜𝑏𝑡𝑎𝑖𝑛
3 2
𝑠+1 𝑠+1 𝑠+1
− − 0.5 + 0.3 = 0
𝑠−1 𝑠−1 𝑠−1
3 2 2 3
𝑠+1 − 𝑠−1 𝑠+1 − 0.5 𝑠 − 1 𝑠 + 1 + 0.3 𝑠 − 1 =0

(𝑠 3 + 3𝑠 2 + 3𝑠 + 1) − (𝑠 3 + 𝑠 2 − 𝑠 − 1) − 0.5(𝑠 3 − 𝑠 2 − 𝑠 + 1) + 0.3(𝑠 3 − 3𝑠 2 + 3𝑠 − 1) = 0

−0.2 𝑠 3 + 1.6𝑠 2 + 5.4𝑠 + 1.2 = 0

The Routh table

𝑠3 -0.2 5.4 The Routh table shows one root in the right-half plane and two roots in
𝑠2 1.6 1.2 the left-half-plane. Hence, T(z) has one pole outside the unit
𝑠1 5.55 0 circle, no poles on the unit circle, and two poles inside the unit circle.
The system is unstable because of the pole outside the unit circle.
𝑠0 1.2
 Exercise 4

For the system of Figure where H(z) = 1 and

1. sketch the root locus of the open-loop system.

2. determine the range of gain, K, for stability from the root locus plot.
3. find the value of gain, K, to yield a damping ratio of 0.5.
 Solution 41 Root Locus

Limit of stability
1. Treat the system as if z were s, and sketch the root locus. The result is shown in K=1.64
Figure

Unit circle
2. search along the unit circle for 180°. Identification of the gain,
𝜉 = 0.5
K, at this point yields the range of gain for stability. 0< K<1.64

Pole for 𝜉=0.5

K=0.31
 Solution 42

Matlab

3. From the Root Locus

plot the value of gain, K,
to yield a damping ratio
of 0.5 is K= 0.31.
 Exercise 5
A lead compensator 𝐺𝑐 𝑠 is designed for a
unity feedback system whose plant is

The design specifications were as follows:

percent overshoot = 20%, peak time 0.1 second,
and Kv = 40. In order to meet the requirements,
the design yielded K = 1440 and a lead
compensator,

If the system is to be computer controlled, find the digital controller,

𝐺𝑐 𝑧 for a sampling period of T = 0.001 second.
 Solution 5

The analog lead compensator

Using the Tustin transformation. With T=0.001 second yields.

2 𝑧−1
+ 25.3 2 𝑧 − 1 + 25.3 𝑇 𝑧 + 1 2 𝑧 − 1 + 25.3 (0.001) 𝑧 + 1
𝑇 𝑧+1
𝐺 𝑧 = 2.38 = 2.38 = 2.38
2(𝑧 − 1) 2 𝑧 − 1 + 60.2 𝑇 𝑧 + 1 2 𝑧 − 1 + 60.2 (0.001) 𝑧 + 1
+ 60.2
𝑇(𝑧 + 1)

2.0253 𝑧 − 1.9747 𝑧 − 0975

= 2.38 ⇒ 𝐺(𝑧) = 2.34
2.0602 𝑧 − 1.9398 𝑧 − 0.9416
 Exercise 6

Find the equivalent sampled impulse response sequence and the

equivalent z-transfer function for the cascade of the two analog
systems with sampled input

1.If the systems are directly connected.

2. If the systems are separated by a sampler.

 Solution
1. In the absence of samplers between the systems, the overall transfer function is

The impulse response of the cascade is

and the sampled impulse response is

Thus, the z-domain transfer function is

2. If the analog systems are separated by a sampler, then each has a z-domain transfer function, and the transfer
functions are given by

The overall transfer function for the cascade is

The partial fraction expansion of the transfer function is

Inverse z-transforming gives the impulse response sequence