Higher Institute of Engineering, El Shorouk
Biomedical and Systems Engineering Department
BIS 462 - BIS 473
System Engineering
Lecture 4
Dr. Mostafa Elhussien
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Z-Plane Analysis of Discrete Time Control System
IMPULSE SAMPLING AND DATA HOLD
• Discrete-time control systems may operate partly in discrete time and partly in
continuous time.
• Thus, in such control systems some signals appear as discrete-time functions
(often in the form of a sequence of numbers or a numerical code) and other
signals as continuous-time functions.
• In analyzing discrete-time control systems, the z transform theory plays an
important role.
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Z-Plane Analysis of Discrete Time Control System
• Impulse Sampling
• We shall consider a fictitious sampler commonly called an
impulse sampler.
• The output of this sampler is considered to be a train of impulses
that begins with t = 0, with the sampling period equal to T and
the strength of each impulse equal to the sampled value of the
continuous-time signal at the corresponding sampling instant.
• A pictorial diagram of the impulse sampler is shown in Figure.
[We assume x(t) = 0 for t < 0.]
• (Since, mathematically, an impulse is defined as having an
infinite amplitude with zero width, it is graphically represented
by an arrow with an amplitude representing the strength of
impulse.)
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Z-Plane Analysis of Discrete Time Control System
• Impulse Sampling
• The impulse-sampled output is a sequence of
impulses, with the strength of each impulse
equal to the magnitude of x(t) at the
corresponding instant of time.
• We shall use the notation x*(t) to represent
the impulse-sampled output.
• The sampled signal x*(t), a train of impulses,
can thus be represented by the infinite
summation
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Z-Plane Analysis of Discrete Time Control System
• Data-hold is a process of generating a continuous-time signal h(t) from a
discrete-time sequence x(kT).
• A hold circuit converts the sampled signal into a continuous-time signal, which
approximately reproduces the signal applied to the sampler.
• If the data-hold circuit is an nth-order polynomial extrapolator, it is called an nth-
order hold. Thus, if n = 1, it is called a first-order hold.
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Z-Plane Analysis of Discrete Time Control System
• The simplest data-hold is obtained when n= 0
• Such a data-hold is called a zero-order hold, or
clamper, or staircase generator.
• The output of the zero-order hold is a staircase
function. Where the circuit holds the amplitude of the
sample from one sampling instant to the next.
• The input signal x(t) is sampled at discrete instants
and the sampled signal is passed through the zero-
order hold.
• The zero-order hold circuit smoothes the sampled
signal to produce the signal h(t), which is constant
from the last sampled value until the next sample is
available.
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Z-Plane Analysis of Discrete Time Control System
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Z-Plane Analysis of Discrete Time Control System
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Z-Plane Analysis of Discrete Time Control System
1 − 𝑒 −𝑇𝑆 1
𝐺 𝑆 =
𝑆 𝑆+1
1
𝐺 𝑍 = 1− 𝑍 −1 ∗ 𝑍𝑇𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚
𝑆 𝑆+1
𝐴 = 1 𝐵 = −1
𝐺 𝑍 = 1 − 𝑍 −1 ∗ 𝑍𝑇𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 +
𝑆 𝑆+1
𝐺 𝑍 = 1 − 𝑍 −1 ∗ 𝑍𝑇𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 1 − 𝑒 −𝑡
𝑍−1 𝑍 𝑍
𝐺 𝑍 = ∗ −
𝑍 𝑍 − 1 𝑍 − 𝑒 −𝑇
1 − 𝑒 −𝑇
𝐺 𝑍 =
𝑍 − 𝑒 −𝑇
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Pulse Transfer Function
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Pulse Transfer Function
Transfer Function of Cascaded Elements
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Pulse Transfer Function
Transfer Function of Cascaded Elements
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Pulse Transfer Function
Transfer Function of Cascaded Elements
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Pulse Transfer Function
Transfer Function of Cascaded Elements
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Pulse Transfer Function
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Pulse Transfer Function
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Pulse Transfer Function
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Pulse Transfer Function
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Pulse Transfer Function
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