Tutorial EE323 Semester 2

z -plane analysis

Exer ise 1 :

a) Determine the equivalent z-plane lo ation if the pole of the ontinuous system are 1 j and the sampling
time is Ts = 0.1 s.
b) Find the gain K su h that the ontinuous system
Yc (s) 1 Yd (z) K
Gc (s) = = and the dis rete system Gd (z) = =
Rc (s) (s s1 )(s s2 ) Rd (z) (z z1 )(z z2 )

have the same nal value when the input is a step.

) What is the inuen e on the settling time of the dis rete system if the sampling time Ts is in reased ?
Explain your response with the help of a sket h.

Exer ise 2 :
Find the position of the poles of a se ond order dis rete system in order to have a 5% overshoot and a 5%
settling time equal to 3 s for a sampling time Ts = 0.2.

Exer ise 3 :
Apply Jury riterion to determine if the systems with the following transfer fun tion are stable, marginally
stable or unstable.
z+2 2
T1 (z) = T2 (z) =
z3 + 0.75z 2 0.25z 0.1875 16z 3 16z 2 z + 1

Exer ise 4 :

s+1
a) Find the range of Ts for whi h the output of the sampled system on Figure 1 with G1 (s) = ,
s
1 esTs 1
G2 (s) = , H(s) = 2 to onverge to a nite value when the input is a unit step.
s s+1
b) Give the value of y().

r e(t) u(t) u (t) y(t) y (t)

+- G1 (s) b b
G2 (s) b b

H(s)

Figure 1

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Tutorial EE323 Semester 2

Answers

Exer ise 1 :

a) Denoting by s1/2 = 1 j the poles in the s-plane , the poles in the z-plane are of the form z1/2 = es1/2 Ts .
Then we have
z1/2 = eTs ejTs = 0.9003 + j0.0903.
b) From the nal value theorem for ontinuous system with Rc (s) = 1/s :
1
yc () = lim sGc (s)Rc (s) = lim Gc (s) =
s0 s0 s1 s2

From the nal value theorem for dis rete system with Rd (z) = 1
1z 1 :

K
yd [] = lim (1 z 1 )Gd (z)Rd (z) = lim Gd (z) =
z1 z1 (1 z1 )(1 z2 )

Thus, yc () = yd [] if
(1 z1 )(1 z2 )
K=
s1 s2
Remark : this is alled pole-zero mat hing dis retization method (see next hapter about dis retization)
) The settling time of the dis rete system is the same sin e the roots z1/2 of the dis rete system are hosen to
have the same behavior as the ontinuous-time system independently from the sampling time (see Figure
2). However if the sampling time is too large then this does not work anymore.

0.6 0.6

0.5 0.5

0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0
0 5 10 15 0 5 10 15

(a) Ts = 0.2 (b) Ts = 0.5

0.6 0.6

0.5 0.5

0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0
0 5 10 15 0 5 10 15

( ) Ts = 1 (d) Ts = 2

Figure 2

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Tutorial EE323 Semester 2

Exer ise 2 :
Again the relation between the poles of the ontinuous-time (s = n jd ) and dis rete time system
(z = rej ) is z = esTs so
z = rej = en Ts ejd Ts
and r = en Ts and = d Ts .
ts95% = 3 so r = e3Ts /ts95% = eTs = 0.8187
ln(OS)
OS = 5% so = q = 0.69
2 + ln2 (OS)
3
n = = 1.4491
ts95%
p
d = n 1 2 = 1.0487
= d Ts = 0.2097
z = rej

Exer ise 3 :
For P1 (z) = z 3 + 0.75z 2 0.25z 0.1875, one has
P1 (1) = 1 + 0.75 0.25 0.1875 > 0
P1 (1) = 1 + 0.75 + 0.25 0.1875 < 0 so (1)3 P (1) > 0
|0.1875| < 1
z0 z1 z2 z3
0.1875 0.25 0.75 1
1 0.75 0.25 0.1875
0.9648 0.7031 0.1094
     
0.1875 1  0.1875 0.75  0.1875 0.25
  = 0.9648   = 0.7031   = 0.1094
 1 0.1875  1 0.25  1 0.75 

From the table we have |b0 | = 0.9648 > |b2 | = 0.1094 so the system with the hara teristi equation P1 (z) = 0
is stable from the Jury riterion. Note that P1 (z) = (z 0.5)(z + 0.5)(z + 0.75).

For P2 (z) = 16z 3 16z 2 z + 1, one has

P2 (1) = 16 16 1 + 1 = 0 (1 is a root of P2 so the system is at best marginally stable)
P2 (1) = 16 16 + 1 + 1 > 0
| 1| < 16
z0 z1 z2 z3
1 1 16 16
16 16 1 1
255 255 0
     
 1 16  1 16  1 1 
16 1  = 255 16 1  = 255 16 16 = 0
     

From the table we have |b0 | = 255 > |b2 | = 0 so the system with the hara teristi equation P2 (z) = 0 is stable
from the Jury riterion. Note that P2 (z) = (z 1)(z 0.25)(z + 0.25)

Exer ise 4 :
From the blo k diagram we have
Y (s) = G2 (s)U (s) U (s) = G1 (s)E(s) E(s) = R(s) H(s)Y (s)

Combining these equations we have

U (s) = G1 (s)R(s) G1 (s)H(s)G2 (s)U (s)

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Tutorial EE323 Semester 2

and taking the starred Lapla e transform

U (s) = [G1 R] (s) [G1 HG2 ] (s)U (s)

so nally
G2 (s)[G1 R] (s)
Y (s) = .
1 + [G1 HG2 ] (s)
We need to ompute G2 (s), [G1 R] (s) and [G1 HG2 ] (s) or the equivalent in the z notation G2s (z), [G1 R]s (z)
and [G1 HG2 ]s (z).
s + 1 1 esTs 1 2Ts z 1
   
1
[G1 HG2 ]s (z) = Z 2 = 2(1 z 1 )Z 2 =
s s s+1 s 1 z 1

Ts z 1 1 (1 Ts )z 1
   
1s+1 1 1 1
[G1 R]s (z) = Z =Z + 2 = + 2
=
s s s s 1z 1 1
(1 z ) (1 z 1 )2

1 esTs 1
     
1 1 1 1
G2s (z) = Z = (1 z 1 )Z = (1 z 1 )
s s+1 s s+1 1 z 1 1 eTs z 1
Ts 1
(1 e )z
=
1 eTs z 1
Substituting the previous transfer fun tion into Ys (z) we get
(1 eTs )z(z (1 Ts ))
Ys (z) = .
(z eTs )(z 1)(z (1 2Ts ))

so for stability we need 1 < 1 2Ts < 1 so

0 < Ts < 1.
This result is veried by simulation on Figure 3. Note that we are not he king the stability of the system
transfer but the onvergen e of the output to a nite value that is why we an have a pole in 1 that omes from
the step.
(1 (1 Ts )) 1
y() = ys [] = lim (1 z 1 )Ys (z) = =
z1 (1 (1 2Ts )) 2

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0.5 0.7

0.45
0.6
0.4

0.35 0.5

0.3
0.4
0.25
0.3
0.2

0.15 0.2

0.1
0.1
0.05

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

(a) Ts = 0.1 (b) Ts = 0.9

0.8 1

0.9
0.7
0.8
0.6
0.7
0.5
0.6

0.4 0.5

0.4
0.3
0.3
0.2
0.2
0.1
0.1

0 0
0 5 10 15 20 25 30 0 5 10 15 20 25 30

( ) Ts = 1 (d) Ts = 1.01

Figure 3