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Suppose that we have a continuous function f(t) whose values are known only at discrete instants of time, say f(T), f(2T), , f(kT). Now, if we want to integrate f(t) for one period, it can be done as follows:
k T
( k )T 1
f (t )dt
k T
( k )T 1
(t ) d t
---------- (1)
where, pn(t) is a polynomial of order n that approximates f(t) i.e. pn(t) is of the form,
p n (t ) = a 0 + a1t + ... + a n t n
----------- (2)
Now, higher the order of the polynomial, better is the accuracy. But, higher the order, greater is the number of co-efficients to be found and consecutively higher is the number of points on f(t) that is to be known. Different p n(t) gives different discretization methods. Integration:
k T
The process of integration given by, under the curve f(t) as shown below:
( k )T 1
f (t )dt
An approximation to this can be arrived at by using the polynomial approximation outlined above. Following are some methods that are generally used in practice.
Zero order approximations: Taking a zero order polynomial to approximate f(t), we have from (2) above,
f (t ) p 0 (t ) = a 0
Now, a 0 can be any of the following: 1. p 0 (t ) = a 0 = f [( k 1)T ] 2. p 0 (t ) = a 0 = f [( k )T ] (Forward Rectangular Approximation) (Backward Rectangular Approximation)
The above two have been obtained from the known value at (k-1) th and kth instants respectively. Equivalently, the approximations can be represented as follows. As seen in the diagrams, there is an error associated with the approximation.
First order approximation: To minimize the error, we can go in for a higher order polynomial approximation. Taking a straight-line approximation (i.e. an approximation of the form a 0 + a1t ), we have a diagram as shown below:
As shown in the diagram above, the error is less compared to the zero-order approximation. This approximation is called trapezoidal or bilinear approximation in mathematics. Relationship between s and z under bilinear approximation: The process of integration can be represented as follows in s domain: I(s)
1 s
O(s)
O(z)
The approximation for the integration process using the bilinear transformation can be written mathematically (from Trapezoidal Approximation diagram) as,
O[ kT ] O[( k 1)T ] + T {I [( k 1)T ] + I [ kT ]} 2
i.e. O[ k ] O[ k 1] +
T ( I [ k 1] + I [k ]) 2
i.e. the required substitution to convert s domain transfer function to z domain is,
s 2(1 z 1 ) T (1 + z 1 )
Now, whenever we require a discrete domain equivalent of an s domain transfer function, this relation can be used.