EE480.

3 Digital Control Systems

Part 4. Sample and Hold, Step Invariant
z-Transform
Kunio Takaya
Electrical and Computer Engineering
University of Saskatchewan
January 25, 2008
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Contents
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Sampling and Hold
We study how to express a mixed system consisting of analog and
digital blocks.
Digital (discrete time) systems take discrete-time input E

(s)
sampled by a Sampler.
Analog (continuous time) systems may take continuous-time
input

E(s) reconstructed by a Hold.
1 - e
s
-Ts
E(s)
E*(s)
E(s)
T
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Sampled Data by a Pulse Train
Dene an analog sampling pulse train,

T
(t) =

n=0
(t nT) = (t) + (t T) +
With
T
(t), sampled data e

(t) of the signal e(t) is

e

(t) = e(t)
T
(t)
= e(t)(t) + e(t)(t T) + e(t)(t 2T) +
= e(0)(t) + e(T)(t T) + e(2T)(t 2T) +
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Writing in the Laplace transform
Since Lf(t nT)g = e
nTs
, the Laplace transform of e

(t) is
E

(s) =

n=0
e(nT)e
nTs
=

n=0
e(nT)z
n

z=e
Ts
.
E

(s) takes a similar form to the z-transform.

The hold circuit (a latch in D/A converter) holds output for a
sampling interval T. The output of a ZOH (zero order hold)

E(s)
is expressed by

E(s) =
1 e
Ts
s
E

(s).
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Obtaining the Starred Transform
E

(s) =

at poles of E()

residues of E()
1
1 e
T(s)

Example
Determine E

(s) of
E(s) =
1
(s + 1)(s + 2)
First write the mathematical term to evaluate the residues,
E()
1
1 e
T(s)
=
1
( + 1)( + 2)(1 e
T(s)
)
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Then, apply the formula to evaluate E

.
E

(s) =

at poles of E()

residues of E()
1
1 e
T(s)

=
1
( + 2)(1 e
T(s)
)

=1
+
1
( + 1)(1 e
T(s)
)

=2
=
1
1 e
T(s+1)

1
1 e
T(s+2)
=
e
sT
(e
2T
+ e
T
)
(1 e
T(s+1)
)(1 e
T(s+2)
)
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Impulse Invariant z-transform
One sampling time delay of T in the Laplace transform is e
Ts
.
One sampling time delay of T in the z-transform is z
1
.
One sample time delay T One step delay
e
Ts
z
1
The z-transform derived by the starred transform is referred to as
Impulse Invariant z-transform, i.e.
Impulse Invariant z-transform of e(t) is
E(z) = E

(s)j
e
Ts
=z
1
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Case of Double Poles
Using the formula to calculate the residue of a m-multiple pole at
s = a, or s + a = 0,
residue
at s=a
=
1
(m1)!
d
m1
d
m1
( + a)
m
E()
1
1 e
T(s)
f
1
s
2
g

=
1
(2 1)!
d
d
1
(1 e
T(s)
)

=0
=
(e
Ts
e
T
T)
(1 e
T(s)
)
2

=0
=
e
Ts
T
(1 e
Ts
)
2

Tz
1
(1 z
1
)
2
=
Tz
(z 1)
2
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Exercise: Assuming a signal e(t) is sampled with a sampling
time interval T, nd the impulse invariant z-transform of
E(s) =
1
s(s + 1)
Use
E

(s) =

at poles of E()

residues of E()
1
1 e
T(s)

and e
sT
= z
1
.
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Properties of E

(s)
E

(s) is periodic.
E

(s + jm
s
) =

n=0
e(nT)e
nT(s+jm
s
)
= E

(s)
because,
e
nT(jm
s
)
= e
nm(jT
s
)
= e
nm(jT2/T)
= 1
where,
s
=
2
T
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Properties of E

(s)
E

(s) =
1
T

E(s + jn
s
)
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Frequency Aliasing of E

(s)
If the spectrum of E(s) is not band-limited within

s
2
, sampling
will distort the spectrum of E

(s).
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Starred Transform of G(s)E

(s)
When C(s) = G(s)E

(s),
C

(s) = [G(s)E

(s)]

= G

(s)E

(s)
The starred transform of a starred and a unstarred is the
combination of individually starred.
Proof
C

(s) =
1
T

C(s + jn
s
)
=
1
T

G(s + jn
s
)E

(s + jn
s
)
= E

(s)
1
T

G(s + jn
s
)
= E

(s)G

(s) = G

(s)E

(s)
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ZOH (zero order hold)
The hold circuit (a latch in D/A converter) holds output for a
sampling interval T. The output

E(s) is

E(s) =
1 e
Ts
s
E

(s).
1 - e
s
-Ts
E(s)
E*(s)
E(s)
T
G(s)
T
Step Invariant z-Transform (transfer function)
Y(s)
Y*(s)
Y (s) =
1 e
Ts
s
G(s)E

(s).
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Step Invariant z-transform
Y

(s) =

1 e
Ts
s
G(s)

(s)
=

(1 e
Ts
)
G(s)
s

(s)
=

L((t) (t T))
G(s)
s

(s)
=

((t) (t T))
G(s)
s

(s)
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Step Invariant z-transform
Y

(s) = L

((t) (t T))

G(s)
s

(s)
= (1 e
Ts
)

G(s)
s

(s)
Y

(s)
E

(s)
= (1 e
Ts
)

G(s)
s

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Step Invariant z-transform
Converting into the z-transform,
G
s
(z) =
Y (z)
E(z)
= (1 z
1
)

G(s)
s

(z)
= (1 z
1
)Z

G(s)
s

This G
s
(z) is called step invariant z-transform of G(s).
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Example
Impulse invariant z-transform of
1
s + a
is
z
z e
aT
.
Step invariant z-transform is
(1 z
1
)Z

1
s(s + a)

=
1 e
aT
a
1
z e
aT
.
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Exercise: Assuming a signal e(t) is sampled with a sampling
time interval T, nd the impulse invariant z-transform of
E(s) =
1
(s + 1)(s + 2)
Exercise: Find the step invariant z-transform of the above
Laplace transform.
Use
E

(s) =

at poles of E()

residues of E()
1
1 e
T(s)

and e
sT
= z
1
.
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