Outline

Response due to sinusoidal input.

Frequency response of DT systems.
Properties of the frequency response of
DT Systems .
MATLAB commands.
Sampling theorem and the selection of the
sampling period.

Frequency Response
of Discrete-Time Systems
M. Sami Fadali
Professor of Electrical Engineering
UNR

Impulse Sampled Representation

of DT Waveform

Sinusoidal SS Response
1. SS Response of an LTI DT system to a
sampled sinusoidal input: sinusoid of
the same frequency as the input with
frequency dependent phase shift and
magnitude scaling.
2. Scale factor and phase shift define a
complex function of frequency: the
frequency response.
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Laplace transform

Define transfer function for sampled inputs

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Verification Without
Impulse Sampling

Frequency Response

Substitute

z-transform

Frequency response

Example:

System z-transfer function

Response due to Sinusoid

Partial Fraction Coefficient

System Output:

Poles inside the unit circle for sufficiently large

Partial fraction coefficient

Partial Fraction Expansion (divide by )

Inverse z-transform

Steady-state Output

Response to Sampled Sinusoid

Real part = response due to a sampled cosine input

Imaginary part = response for a sampled sine input
Sampled cosine response

Similar sampled sine response with sine replacing

cosine.

Sinusoid of the same frequency scaled and

phase shifted (resp.) by the magnitude and
angle
Frequency response function obtained
earlier using impulse sampling.
Use complex arithmetic to determine the
steady-state response due to a sampled
sinusoid without z-transformation.

Example

Properties of the Frequency

Response of DT Systems

Find the steady-state response of the system

1. DC Gain.
2. Periodic nature of
frequency response.
3. Symmetry.

due to the sampled sinusoid

Solution: For large with
.

cos 0.2
1
.
0.1

cos 0.2

6.4 cos 0.2

10

0.5
1
.

0.1

0.5

0.614
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DC Gain

Periodic Nature

1. DC Gain: The DC gain is equal to

Frequency response is a periodic function of

rad/s.
frequency with period
Proof:

Proof

Complex exponential: periodic with period

rad/s.
single-valued function of its argument.
It also is periodic and has the same repetition
frequency.
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Observations

Symmetry
For transfer functions with real coefficients
1. Magnitude of TF is an even function of frequency.
2. Phase of TF is an odd function of frequency.
Proof: For negative frequencies, the transfer
function is
For real coefficients
Combine the last two equations

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a)We only need

for frequencies
from DC to
.
b)Obtain frequency response for
by
symmetry.
is
c)Frequency response
periodically repeated for
.
d)Negligible frequency response amplitudes
for
no overlap of
repeated frequency response cycles.
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Observations
e) Sampling with no overlap periodic repetition
of the frequency response of a continuous time
system.
f) Frequency responses of physical systems are
not bandlimited overlapping of the repeated
frequency response cycles (folding).
= the folding frequency.
g)
h) Folding results in distortion of the frequency
response and should be minimized by proper
choice of the sampling frequency
or
filtering.

Frequency Response
of a Digital System.

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Spectrum of Sampled Waveform

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MATLAB Commands
Calculate & plot frequency response of DT system

Spectrum of sampled waveform

= periodic function of with period
is a real valued function
1) Magnitude = even function of frequency
2) Phase = odd function of frequency

Sampling period T = 0.2 s

>> z=tf('z',0.2)% Define operator z
>> g= 0.1*(z0.01)/(z0.05) % Transfer function
>> z1= 0.1+j*0.1
>> f_resp = evalfr(g,z1) % Evaluate at z=z1
>> H = freqresp(g,w) % Evaluate at freq. grid w
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Frequency Response Plots

MATLAB Plots

>> bode( g)
>> nichols( g)
w = frequency grid, use w not wT as in evalfr
>> [Magnitude, Phase, w] = bode(g)
% Bode data
>> [Real, Imag] = nyquist(g, w)
% Nyquist data Output: multidimensional array
>> mag=reshape(Magnitude,1, length(w));
>> plot(w, mag)
>>plot(w, Magnitude(:) )

Several Plots on One Page

>> subplot(2, 3, 4) % rows, columns, order
i) creates a 2-row, 3-column grid
ii) draw axes at the first position of the second row
(the first three plots are in the first row)
Next, plot command uses axes
>> bode(g) % Bode plot in location (2,3,4)

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The Sampling Theorem

The Sampling Theorem

Theorem 2.4 The band-limited signal

F
can be reconstructed from the discrete-time
waveform

Two different waveforms with

identical samples.

if and only if
Use an ideal low pass filter of bandwidth
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Proof

Ideal LPF

Unit impulse train and its Fourier transform

F

For a band-limited signal, the amplitude

and phase in the frequency range 0 to
can be recovered by an ideal low-pass
filter.

Impulse sampling: multiply waveform

by
Spectrum of product: convolution of two spectra.
F

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Finite Bandwidth Approximation

Finite Bandwidth
Idealization associated with infinite duration.
Finite duration implies infinite bandwidth.
Why?
Band limiting: equivalent to multiplication by a
pulse in the frequency domain.
Convolution Theorem: multiplication in the
frequency domain convolution of the inverse
Fourier transforms.
Inverse transform of a band-limited function =
convolution of the original time function with the
sinc function, a function of infinite duration.
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Time-limiting: pulse function of infinite duration .

Frequency Convolution: time multiplication is
equivalent to convolution of Fourier transforms.
Spectrum of time-limited function = convolution of its
spectrum with a sinc function (infinite BW).
Spectrum of a time limited function: infinite BW.
Measurements over a finite time period: infinite BW.
Treat physical signals as band-limited: negligible
spectral components beyond "effective bandwidth.
Choose a suitable sampling rate using the sampling
theorem.
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Choice of Sampling Rate

Limitations
1. Sampling frequency upper bounded = sensor
delay.
Example: oxygen sensors used in automotive
air/fuel ratio control have a sensor delay of about 20
ms.
2. Computational time needed to update the control
(less restrictive with the availability of faster
microprocessors).
3. Sampling fast enough to provide a good
representation of the analog physical variables.

Lower bound specified in sampling

theorem.
Rule of thumb: choose

Constant

depends on the application.

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Linear System

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Second Order System

Output spectrum=frequency response input spectrum

Input is not known a priori base our choice of

sampling frequency on the frequency response.
First order system

K = DC gain,

BW of the system is approximated by

Choose sampling frequency

= system bandwidth

Choose sampling frequency (assume

)
Step response of a second order system includes
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Example 2.24

Example 2.23

Design a closed-loop control system

Design Specs.:

For a signal of bandwidth 10 rad/s, select a

suitable sampling frequency and find the
corresponding sampling period.
Solution:
Choose sampling frequency
rad/s.
The corresponding sampling period

Steady-state error
Damping ratio
Undamped natural frequency
Select a suitable sampling period for the system
if the system has a sensor delay of

(a) 0.005 s
(b) 0.02 s.

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Solution

Sampling period
(a)

Sensor delay=0.005 s
Choose

(b)

s.
s > sensor delay.

Sensor delay=0.02 s
Choose

s = sensor delay.
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