The Pulse Transfer Function

Convolution Summation

k
Z y (t ) Y ( z ) y (kT ) z k
k 0
For the continuous time-system
t t
y (t ) g (t ) x( )d x(t ) g ( )d
0 0

For the discrete-time system

x (t ) x(t ) (t kT ) x(kT ) (t kT )
*

k 0 k 0

For a physical system a response cannot precede the input

y (t ) g (t hT ) x(ht ) 0 t kT
h 0
 The Pulse Transfer Function
Convolution Summation (cont.)
The value of the output y(t) at the sampling instants t=kT are
given by
k k
y (kT ) g (kT hT ) x(hT ) x(kT hT ) g (hT ) Convolution summation
h 0 h 0

y(kT ) x(kT ) * g (kT )

Since we assume that x(t)=0 for t <0

y (kT ) g (kT hT ) x(hT ) x(kT hT ) g (hT )
h 0 h 0

It is noted that if G(s) is a ratio of polynimials in s and if the

degree of the denominator polynomial exceeds that of the
numerator polynomial only by 1 the output y(t) is discontinuous.
 The Pulse Transfer Function
Convolution Summation (cont.)
In analyzing discrete-time control systems it is important to
remember that the system response to the impulse-sampled
signal may not portray the correct time-response behavior of the
actual system unless the transfer function G(s) of the continuous-
time part of the system has at least two more poles than zeros,
so that lim sG(s) 0
s
 The Pulse Transfer Function
Pulse Transfer Function

y (kT ) g (kT hT ) x(hT ) k 0,1,2,
h 0

The z transform of y(kT)

Y ( z ) y (kT ) z k
g (kT hT ) x(hT ) z k
k 0 k 0 h 0

g (mT ) x(hT ) z ( m h )
g (mT ) z m
x(hT ) z h

m 0 h 0 m 0 h 0

G( z) X ( z)
Y ( z)
G( z) Pulse transfer function
X ( z)

to the Kronecker delta input

Y ( z ) G( z )
 The Pulse Transfer Function
Starred Laplace Transform of the Signal involving both
Ordinary and Starred Laplace Transform

Y ( s) G( s) X * ( s) X * (s) X * (s j s k ), k 0,1,2

Y * (s) G(s) X * (s) G(s) X * (s) G* (s) X * (s)
* *

t t
y (t ) L G ( s ) X ( s) g (t ) x ( )d g (t ) x( ) ( kT )d
1 * *

0 0 k 0

t
g (t ) x( ) ( kT )d g (t kT )x(kT )
k 0 0 k 0

-n
Y ( z ) Z y (t ) g (nT kT )x(kT )z g (mT ) x(kT ) z ( k m )
n 0 k 0 m 0 k 0

G( z) X ( z)
Y * ( s) G* ( s) X * ( s)
 The Pulse Transfer Function
General Procedures for Obtaining Pulse Transfer
Functions
G ( z ) Z G( s)
Y ( z)
X ( z)

Y ( s) G( s) X * ( s) Y * ( s) G* ( s) X * ( s)

Y ( s)
G( s)
X ( s)

Y * (s) G(s) X (s) GX (s)

* *

Y ( z) Z Y (s) Z G(s) X (s) Z GX (s) GZ ( z) G( z) X ( z)

 The Pulse Transfer Function
Pulse Transfer Function of Cascaded Elements

U (s) G(s) X * (s), Y (s) H (s)U * (s)

U * (s) G* (s) X * (s), Y * (s) H * (s)U * (s)
Y * (s) H * (s)U * (s) H * (s)G* (s) X * (s)
Y ( z)
Y ( z ) G( z ) H ( z ) X ( z ) G( z ) H ( z )
X ( z)

Y (s) G(s) H (s) X * (s) GH (s) X * (s)

Y * (s) GH (s) X * (s)
*

Y ( z) GH ( z) X ( z)

GH ( z ) Z GH ( s) Note that G( z) H ( z) GH ( z) Z GH (s)

Y ( z)
X ( z)
 The Pulse Transfer Function
Pulse Transfer Function of Closed-Loop Systems

E ( s) R( s) H ( s)C ( s)
C ( s) G( s) E * ( s)
E (s) R(s) H (s)G(s) E * (s)
R* ( s)
E (s) R (s) GH (s) E (s)
* * * *
E ( s)
*

1 GH * ( s)
C * ( s) G* ( s) E * ( s)

G * ( s) R* ( s) G ( z ) R( z ) C ( z) G( z )
C ( s)
* C ( z)
1 GH * ( s) 1 GH ( z ) R( z ) 1 GH ( z )

Refer to Table 3-1

 The Pulse Transfer Function
Table 3-1: Five typical configurations for closed-loop
discrete-time control systems
 The Pulse Transfer Function
Pulse Transfer Function of a Digital Controller
The input to the digital controller is e(k) and the output is m(k)
m(k ) a1m(k 1) a2 m(k 2) an m(k m)
b0e(k ) b1e(k 1) bn e(k n)

The z transform of the equation

M ( z ) a1 z 1M ( z ) a2 z 2 M ( z ) an z n M ( z )
b0 E ( z ) b1 z 1 E ( z ) bn z n E ( z )
(1 a1 z 1 a2 z 2 an z n )M ( z) (b0 b1 z 1 bn z n ) E ( z)
M ( z) b0 b1 z 1 bn z n
GD ( z )
E ( z ) 1 a1 z 1 a2 z 2 an z n
 The Pulse Transfer Function
Closed-loop Pulse Transfer Function of a Digital Control
System

1 e Ts
G p ( s) G( s) C (s) G(s)GD* E * (s) C * (s) G* (s)GD* (s) E * (s)
s
C ( z) G( z )GD ( z) E ( z)
E ( z ) R( z ) C ( z ) C ( z) GD ( z )G ( z )

C ( z ) GD ( z )G( z )R( z ) C ( z ) R( z ) 1 GD ( z )G ( z )
 The Pulse Transfer Function
Pulse Transfer Function of a Digital PID Controller
The PID control action in analog controllers
1
t
de(t )
m(t ) K e(t ) e(t ) Td
Ti 0 dt
Discretization of the equation to obtain the pulse transfer
function
T e(0) e(T ) e(T ) e(2T ) e((k 1)T ) e(kT ) e(kT ) e((k 1)T )
m(kT ) K e(kT )
dT
Ti 2 2 2 T
T k e((h 1)T ) e(hT ) Td
m(kT ) K e(kT ) e(kT ) e((k 1)T )
Ti h 1 2 T
e((h 1)T ) e(hT )
Define f (hT ), f (0) 0
2
k
e((h 1)T ) e(hT ) k

h 1 2
f (hT )
h 1
 The Pulse Transfer Function
Pulse Transfer Function of a Digital PID Controller(cont.)
k e((h 1)T ) e(hT ) k
Z Z f ( hT )
1
1 z 1 F ( z ) f ( 0)
1
1
F ( z)
h 1 2 h 1 1 z

1 z 1 k e((h 1)T ) e(hT ) 1 z 1

F ( z ) Z f (hT ) E( z) Z 2(1 z 1 ) E ( z )
2 h1 2

k
e((h 1)T ) e(hT ) Td
m(kT ) K e(kT )
T
e( kT ) e(( k 1)T )
Ti h 1 2 T

T 1 z 1 Td 1
M ( z ) K 1 1
(1 z ) E ( z )
2Ti 1 z T
T T 1 Td 1
K 1 1
(1 z ) E ( z )
2Ti T i 1 z T
KI
K P 1
K D (1 z 1 ) E ( z )
1
z
GD ( z )
 The Pulse Transfer Function
Obtaining response between consecutive sampling
instants
Laplace transform method
Modified z transform method
State-space method
Laplace Transform Method
R* ( s)
C ( s) G( s) E ( s) G( s)
*

1 GH * ( s)

R* ( s )
c(t ) L C ( s) L G( s)
1 1

1 GH *
( s )