Problems 49

Resources
Chen, C.-T., 1989. System and Signal Analysis. Saunders, New York.
Feuer, A., Goodwin, G.C., 1996. Sampling in Digital Signal Processing and Control.
Birkhauser, Boston.
Franklin, G.F., Powell, J.D., Workman, M.L., 1998. Digital Control of Dynamic Systems.
Addison-Wesley, Menlo Park, CA.
Goldberg, S., 1986. Introduction to Difference Equalions. Dover, Mineola, NY.
Jacquot, R.G., 1981. Modem Digitai Control Systems. Marcel Dekker, New York.
Kuo, B.C., 1992. Digital Control Systems. Saunders, Fl Worth, TX.
Mickens, R.E., 1987. Difference Equations. Van Nostrand Reinhold, New York.
Oppenheim, A.V., Willsky, A.S., Nawab, S.H., 1997. Signals and Systems. Prentice Hall,
Englewood Cliffs, NJ.

PROBLEMS
2.1 Derive the discrete-time model of Example 2.1 from the solution of the
system differential equation with initial time ftI and final time (f + 1)f.

2.2 For each of the following equations, determine the order of the equation
and then test it for (i) Iinearity, (ii) time invariance, and (iii) homogeneity.
(a) y& + 2): y(k + l) y(k) + u(k)
O) y(* + 3) + 2y(b:a
(c) y(k + 4) + y(k * t): u(k)
(d) y(e + 5) : y(k + 4) + u(k + 1) - u(k)
(e) y(k +2)-y(k) u(k)
2.3 Find the transforms of the following sequences using Definition 2.1.
(a) {0, 1,2,4,0, 0, ...}
o) {0, 0, 0, l, l, 1, 0, 0, 0, ...}
(c) {0, 2-o't, l, z-o5, o,o, o, ...}
2.4 Obtain closed forms of the transforms of Problem 2.3 using the table ofl
z-transforms and the time delay property.
2.5 Prove the linearity and time delay properties of the z-transform from basic
principles.

2.6 Use the linearity of the z-transform and the transform of the exponential
function to obtain the transforms of the discrete-time functions.
(a) sin(ftc..,7")
(b) cos(kr..,D

2.7 Use the multiplication by exponential property to obtain the transforms of

the discrete-time functions.
(a\ e-*krsin(ko7)
b\ e okrcos(kwT)
50 CHAPTER 2 Discrete-Time Systems

2,8 Find the inverse transforms of the following functions lsirg Definition 2.1
and, if necessary, long division.
(a) F(z)-1*32-rt4z-2
(b) f(z) -52-t *42-5
r'(z) :
(c) z
7z+0.32+0.02
(d) z-0.1
F(z):
zz +0.042+0.25

2.9 For Problems 2.8(c) and (d), find the inverse transforms of the functions
using partial fraction expansion and table lookup.

2.10 Solve the following difference equations.

(a) y(k + 1) - 0.8 y(fr) :0, y(0) 1 :
:
(b) y(k + 1) - 0.8 y(/c) 1(k), y(0) :0
:
(c) y(ft + 1) - 0.8 y(ft) l(k),y(0): 1
:
(d) y(r + 2) + 0.7 y(k + 1) + 0.06 y(k) 6{k), y(0) : 0, y(t):2
2.1, Find the transfer functions corresponding to the difference equations of
Problem 2.2 with input a(/r) and output y(k). If no transfer function is
defined, explain why.
2.12 Test the linearity with respect to the input of the systems .for which you
found transfer functions in Problem 2.11.

2.13 If the rational functions of Problems 2.8(c) and (d) are transfer functions
of LTI systems, find the difference equation governing each system.

2.14 We can use z-transforms to find the sum of integers raised to various
powers. This is accomplished by first recognizing that the sum is the solu-
tion of the difference equation

f(k\: f(k - t) + a(k)

where a(k) is the kth term in the summation. Evaluate the following sum.
mations using z-transforms.
n
(a) Ir
k:l
n
o) k=1
tk2
2.15 Given the discrete-time system

Y(k+2)-Y(k):2u(k)
 Problems 51

find the impulse response of the system g(t):

(a) From the difference equation
(b) Using z-transformation
2.16 The following identity provides a recursion for the cosine function:

cos(kx) = 2cos((t - l)x)cos((ft -2)x), ft integer

To verify its validiry, letf(k):cos(kx) and rewrite the expression as a

difference equation. Show that the solution of the difference equation is
indeed

f(k): cos(kx)

2.17 Repeat Problem 2.L6 for the identity

sin(kr):2sin((ft - l)r)cos('r) - sin((k *2)x), k integer

2.18 Find the impulse response functions for the systems govemed by the fol-
lowing difference equations.
(a) y(e + 1) - 0.5 y(k): u(k)
(b) y(ft + 2) -0.1 y(& + 1) + 0.8 y(fr) : p1p)
2.19 Find the final value for the functions if it exists.

(a) r(z):=---:-
zz - l.2z*0.2
O) r(z):---:-
zz * O.3z*2
2.20 Find the steady-state response of the systems resulting from the sinusoidal
input tt(k):0.5 sin(0.4 &).
z
h\ H(z\ - z- 0'4
(b) I1(z) :
-----1-
7z *0.42+0.03
2.21 Find the frequency response of a noncausal system whose impulse
response sequerce is given by

{u(k), u(k)-u(k+K), k- -@,..., @}

Htnt: T\e impulse response sequence is periodic with period K and can be
expressed as
r(-l co

u*(t)- fl=O m:-*

I uQ+mK)6(t-l*mK)
52 CHAPTER 2 Discrete-Time Systems

2.22 The well-known Shannon reconstruction theorem states that any band-lim-
ited signal u(l) wi*r bandwidth w"lZ can be exactly reconstructed from its
samples at a rate ar:2trlT. The reconstruction is given by

sin u*wt)
u(t): I
2
(t - kr)

Use the convolution theorem to justify the preceding expression.

1)7 Obtain the convolution of the two sequences { 1, 1, I } and U,2, 31.
(a) Directly
(b) Using z-transformation
2.24 Obtain the modified z-transforms for the functions of Problems Q.6) and (2.7).
,)< Using the modified z-transform, examine the intersample behavior of the func-
tions /r(k) of hoblem 2.18. Use delays of (1) 03f, {2)0.57, and (3) 0.87.
Attempt to obtain the modified z-transform for Problem 2.19 and explain
why it is not defined.
2.26 The following open-loop systems are to be digitally feedback-controlled.
Select a suitable sampling period for each if the closed-loop system is to
be designed for the given specifications.
I
(a) G,r(s) : -:-; Time constant : 0. I s
.t -i- J

O) G,r(s) : 1
Undamped natural frequency :5 rad/s, damping
s2 + 4s + 3
ratio : 0.7

2.27 Repeat Problem 2.26 it the systems have the following sensor delays.
(a) 0.025 s
(b) 0.03

COMPUTER EXERCISES
2.28 Consider the closed-loop system of Problem 2.26(a).
(a) Find the impulse response of the closed-loop transfer function, and
obtain the impulse response sequence for a sampled system output.
O) Obtain the z-transfer function by z-transforming the impulse response
sequenc9.
(c) Using MATLAB, obtain the frequency response plots for sampling
frequencies u": kto6, k: 5,35,70.
(d) Comment on the choices of sampling periods of part (c).
 Computer Exercises 53

2.29 Repeat Problem 2.28 for the second-order closed-loop system of Problem
:
2.26(b) with plots for sampling frequencies u, ku4, k 5, 35, 70. -
2.30 Use MATLAB with a sampling period of 1 s and a delay of 0.5 s to verify
:
the results of Problem 2.2A for cu 5 rad/s and a 2 s-1 . -
2.31 The following difference equalion describes the evolution of the expected
price of a commodity)

p"(k * 1) : (1 - ip,(k) + tp(k\

wherc p"(k) is the expected price after k quarters, p(k) is the actual price
after k quarters, and "y is a constant.
-
(a) Simulate the system with 7 0.5 and a fixed actual price of one unit,
and plot the actual and expected prices. Discuss the accuracy of the
model prediction.
(b) Repeat part (a) for an exponentially decaying pricep(k): (0.4)r.
(c) Discuss the predictions of the model referring to your simulation
results.

sGujarate,
D.N., 1988. Basic Econometrics. McGraw-Hill, NY, p. 547