f(t)

2
3
4

(t-mT)
u(t)
t

5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

22

e-akT

F(s)
1

F(z)
1

The z-transform
Inverse transform methods

Long division
Linearity
Convolution

Partial fraction expansion

f1(kT)f2(kT)

F1(s)+F2(s)

F1(z)F2(z)

F1(s)F2(s)
Time Shift
Scaling
Final-Value Theorem
Standard signals
Pulse

enTsF(s)

f(kT+nT)

Unit Step

Exponential

znF(z)

General Sinusoid

Eulers equations:

Ch.5 - ZOH and Block Manipulations

Ch.6 - Numerical integration/Zero-pole matching/Hold equivalents

Forward rule
Backward rule

Poles & finite zeros

No delay at output

Trapezoid rule

Prewarp

One sample delay in output

one zero at s= to z=, the
others mapped as previous

Gain (typically)

All zeros at s=
ZOH

Triangle Hold

Ch.7 - Designing Using Transform Techniques

Performance measures

Bode
Ragazzini

=0.01pm

Bode plot z1 to determine

error const. K

Causal restriction

Stability restriction

H(z) must have a zero at

of the same order as
the zero of G(z) at
Ch.10 - Quantization Effects
Worst case error
Multiple round-off
bound

cg occurs at approx n.
Steady-state accuracy

poles/zeros outside the

unit circle must get
cancelled out in D(z)

Steady-state error
bound

Root Sensitivity

Ch.11 - Sampling Rate Selection

Nyquist Practical rate r=resonant peak anti-alias passband

s>2b 20b<s<40b

s>2r

p>b

b=(1.1961+1.8508)n

(0.3 0.8)