Chap 22
Chap 22
Chap 22
Exercises 22.2
1.
Order Linear/Non-linear
(a) first linear inhomogeneous
(b) second non-linear -
(c) second linear inhomogeneous
(d) second non-linear -
(e) first non-linear -
Exercises 22.3
1. (a) p[k + 1] − 3p[k + 2] = p[k − 1]
s[k − 1] − s[k + 1]
(e) y[k − 2] − y[k] =
2
Exercises 22.4
1.
x[n] + x[n − 1] + x[n − 2]
a[n] =
3
The block diagram is given in the Solutions to Exercises 22.4 in the textbook.
2. The block diagram is given in the Solutions to Exercises 22.4 in the textbook.
Exercises 22.5
ds
1. v = , s = v dt.
dt
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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 183
2.
x[n − 1]
T Ki
T
×
e[n] x[n]
×
−1 Kd
e[n − 1] T
−e[n − 1]
T ×
m[n]
×
e[n]
Kp
Exercises 22.6
1.
x[n + 2] = 2 + x[n] − x[n + 1]
x[3] = 2+5−0
= 7
x[4] = 2 + 0 − 7
= −5
x[5] = 14
2.
4 9 63
z[2] = , z[3] = =
7 4/7 4
16 64
z[4] = =
63/4 63
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3. (a)
2x[2] = 5x[1] = 10
x[2] = 5
2x[3] = 4 + 5x[2]
= 29
x[3] = 29/2
(b)
(c)
4.
(a) 3, 5, 7, 9, 11. (b) 5, 7, 2, 9, −3. (c) 1, 1, 1, 1, 1.
Exercises 22.7
1. (a)
1 1 1
Z{f [k]} = + 3 + 4 ...
z2 z z
1
= (1 + z −1 + z −2 . . .)
z2
1 1 1
= · =
z 2 1 − z −1 z(z − 1)
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(b)
4 4
Z{f [k]} = + 7 ...
z6 z
4
= (1 + z −1 + z −2 . . .)
z6
4 1
= ·
z 6 1 − z −1
4
=
z (z − 1)
5
(c)
3 6 9
Z{f [k]} = 0 + + 2 + 3 ...
z z z
3 2 3
= 1 + + 2 ...
z z z
−2
3 1
= 1−
z z
3z
=
(z − 1)2
(d)
e−1 e−2
Z{f [k]} = 1+ + 2
z z
= 1 + (ez)−1 + (ez)−2 . . .
ez
=
ez − 1
(e)
2 3
Z{f [k]} = 1+ + 2
z z
z 2 + 2z + 3
=
z2
(f)
Z{f [k]} = 3
(g)
2z
Z{f [k]} =
z−1
2. (a)
z(z − cos 3)
Z{cos 3k} =
z2 − 2z cos 3 + 1
(b)
z
Z{ek } =
z−e
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(c)
z 2 − ze−2 cos 1
Z{e−2k cos k} =
z2 − 2ze−2 cos 1 + e−4
(d)
ze4 sin 2
Z{e4k sin 2k} =
z 2 − 2ze4 cos 2 + e8
(e)
z
Z{4k } =
z−4
(f)
z
Z{(−3)k } =
z+3
(g)
kπ z
Z sin =
2 z2 + 1
(h)
kπ z2
Z cos = 2
2 z +1
3. (a) (−4)k
2z z
(b) =
2z − 1 z− 1
2
k
1
which is the z transform of .
2
3z z
(c) = 1
3z + 1 z+ 3
k
1
which is the z transform of − .
3
(d) e3k
π
(e) sin k
2
4. a)
1 1 1 1
ez = 1 + + + ···
z 2!z 2 3!z 3
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1 1
0! + + + ···
1! 2!
Hence
1 1
Z = ez
k!
Exercises 22.10
1. (a)
3z 7z(z + 1)
+
z−4 (z − 1)3
(b)
3ze−1 sin 4 z
−1 −2
−
z2 − 2ze cos 4 + e (z − 1)2
2. (a)
(b)
(c)
f [k] = sin(2kT )
z sin 2T
F (z) =
z − 2z cos 2T + 1
2
(d)
f [k] = u[k − 4]
= 0, 0, 0, 0, 1, 1, 1, . . .
z 1
= z −4 = 3
z−1 z (z − 1)
(e)
f [k] = e3kT
z
F (z) =
z − e3T
3.
(k − 3)u[k − 3] = 0, 0, 0, 0, 1, 2, 3, . . .
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0 0 0 1 2 3
F (z) = 0 + + 2 + 3 + 4 + 5 + 6 ···
z z z z z z
−2
1 1
= 1−
z4 z
1 z2
=
z 4 (z − 1)2
1 1
= ·
z 2 (z − 1)2
4. (a)
hence
Z(zeaT )−k f (kT ) = F (zeaT )
as required.
∞
Z{f [k + i]} = f [k + i]z −k
k=0
∞
= z i
f [k + i]z −(k+i)
k=0
∞
= zi f [k]z −k
k=i
∞
−k f [1] f [i − 1]
= z i
f [k]z − z f [0] + i
+ ··· +
z z i−1
k=0
= z i F (z) − z i f [0] + z i−1 f [1] + · · · + zf [i − 1]
as required.
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∞
Z{f [k − i]u[k − i]} = f [k − i]u[k − i]z −k
k=0
∞
= f [k − i]z −k
k=i
∞
= z −i f [k − i]z −(k−i)
k=i
∞
= z −i f [k]z −k
k=0
−i
= z F (z)
as required.
z
6. (a) If f [k] = k, F (z) = .
(z − 1)2
Hence, by the complex translation theorem
eb z
Z{e−bk f [k]} =
(eb z − 1)2
eb z
=
e2b z 2 − 2eb z + 1
z sin 1
(b) If f [k] = sin k, F (z) = .
z2 − 2z cos 1 + 1
as required.
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8.
z
If f [k] = 2k , F (z) = .
z−2
or, equivalently,
f [k] = 4k+1
(b)
z 2 + 2z
F (z) =
3z 2 − 4z − 7
Comparing numerators
z + 2 = A(z + 1) + B(3z − 7)
put z = −1
−1 + 2 = B(−3 − 7)
1 = −10B
1
B = −
10
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7
put z =
3
7 7
+2 = A +1
3 3
13 10
= A
3 3
13
A =
10
So we have
F (z) 13 1
= −
z 10(3z − 7) 10(z + 1)
13z z
F (z) = −
10(3z − 7) 10(z + 1)
13z z
F (z) = 7 − 10(z + 1)
30(z − 3 )
Inverting,
k
13 7 (−1)k
f [k] = −
30 3 10
(c)
z+1
F (z) =
(z − 3)z 2
This is best solved using the second shift theorem. First we write
(z + 1)
F (z) = z −2
z−3
−2 z 1
= z · + z −2 ·
z−3 z−3
−2 z −3 z
= z · +z ·
z−3 z−3
Using the second shift theorem gives
(d)
2z 3 + z
F (z) =
(z − 3)2 (z − 1)
F (z) 2z 2 + 1
=
z (z − 3)2 (z − 1)
A B C
= + +
(z − 3)2 z−3 z−1
A(z − 1) + B(z − 3)(z − 1) + C(z − 3)2
=
(z − 3)2 (z − 1)
Comparing numerators
2z 2 + 1 = A(z − 1) + B(z − 3)(z − 1) + C(z − 3)2
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2z 2 + 1 = Az − A + B(z 2 − 4z + 3) + C(z 2 − 6z + 9)
2z 2 + 1 = Az − A + Bz 2 − 4Bz + 3B + Cz 2 − 6Cz + 9C
2z 2 + 1 = (B + C)z 2 + (A − 4B − 6C)z + 3B + 9C − A
Comparing z 2 coefficients
2=B+C − (1)
Comparing z coefficients
0 = A − 4B − 6C − (2)
Comparing constant coefficients
1 = 3B + 9C − A − (3)
(2)+(3)
1 = −B + 3C − (4)
(1)+(4)
3 = 4C
3 5 20 18 38
C = B =2−C = A = 4B + 6C = + =
4 4 4 4 4
19
A =
2
So
F (z) 19 5 3
= + +
z 2(z − 3)2 4(z − 3) 4(z − 1)
19z 5z 3z
F (z) = + +
2(z − 3)2 4(z − 3) 4(z − 1)
19 3z 3 z 5 z
F (z) = · + · + ·
6 (z − 3) 2 4 z−1 4 z−3
Inverting
19 3 5
f [k] = k(3k ) + u[k] + (3k )
6 4 4
2. (a)
2z
F (z) =
(z − 2)(z − 3)
F (z) 2
=
z (z − 2)(z − 3)
A B
= +
z−2 z−3
A(z − 3) + B(z − 2)
=
(z − 2)(z − 3)
Comparing numerators
2 = A(z − 3) + B(z − 2)
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Inverting
(b)
ez
F (z) =
(ez − 1)2
z
We have G(z) = g[k] = k.
(z − 1)2
f [k] = e−k k
(c)
2 z
F (z) = 1 − +
z (z − 3)(z − 4)
So
2 z z z z
F (z) = 1 − + − = 1 − z −1 · 2 + −
z z−4 z−3 z−4 z−3
(d)
z2
F (z) =
z2 − 1
9
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F (z) z z
= =
z z 2 − 19 (z + 13 )(z − 13 )
F (z) A B
= 1 +
z z+3 z − 13
F (z) A(z − 13 ) + B(z + 13 )
=
z (z + 13 )(z − 13 )
Comparing numerators
1 1
z=A z− +B z+
3 3
1
let z = 3
1 2 1
= B B=
3 3 2
let z = − 13
1 2 1
− = A − A=
3 3 2
So
F (z) 1 1 1
= +
z 2 z+ 1
z− 1
3 3
1 z z
F (z) = +
2 z+ 1
3 z− 1
3
Inverting
k k
1 1 1
f [k] = + −
2 3 3
(e)
2z 2
F (z) =
(z − 1)(z − 0.905)
F (z) 2z A B
= = +
z (z − 1)(z − 0.905) z − 1 (z − 0.905)
A(z − 0.905) + B(z − 1)
=
(z − 1)(z − 0.905)
Comparing numerators
2z = A(z − 0.905) + B(z − 1)
put z = 1
2 = A(1 − 0.905)
2
A = = 21.05
0.095
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put z = 0.905
2 × 0.905 = B(0.905 − 1)
B = −19.05
Inverting
f [k] = 21.05u[k] − 19.05(0.905)k
3.
(z + 1)(2z − 3)(z − 2)
F (z) =
z3
F (z) (z + 1)(2z − 3)(z − 2)
=
z z4
A B C D
= + 3+ 2+
z4 z z z
A + Bz + Cz 2 + Dz 3
=
z4
Comparing numerators
(z + 1)(2z − 3)(z − 2) = A + Bz + Cz 2 + Dz 3
(z + 1)(2z 2 − 4z − 3z + 6) = A + Bz + Cz 2 + Dz 3
(z + 1)(2z 2 − 7z + 6) = A + Bz + Cz 2 + Dz 3
2z 3 − 7z 2 + 6z + 2z 2 − 7z + 6 = A + Bz + Cz 2 + Dz 3
2z 3 − 5z 2 − z + 6 = A + Bz + Cz 2 + Dz 3
D=2
C = −5
B = −1
A=6
F (z) 6 1 5 2
= 4− 3− 2+
z z z z z
Rearranging
5 1 6
F (z) = 2 − − 2+ 3
z z z
Comparing with standard form for z transform
f [0] = 2
f [1] = −5
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f [2] = −1
f [3] = 6
f [k] = 0 k≥4
4.
10z
F (z) =
(z − 1)(z − 2)
F (z) 10
=
z (z − 1)(z − 2)
F (z) A B
= +
z z−1 z−2
F (z) A(z − 2) + B(z − 1)
=
z (z − 1)(z − 2)
Comparing numerators
10 = A(z − 2) + B(z − 1)
put z = 1
10 = A(1 − 2)
A = −10
put z = 2
10 = B(2 − 1)
B = 10
So
F (z) 10 10
= −
z z−2 z−1
10z 10z
F (z) = −
z−2 z−1
Inverting
f [k] = 10 (2)k − u[k]
Exercises 22.12
1. (a)
x[k + 1] − 3x[k] = −6 x[0] = 1
Take z transforms:
6z
zX(z) − zx[0] − 3X(z) = −
z−1
6z
X(z)(z − 3) = z−
z−1
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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 197
z 2 − z − 6z
X(z)(z − 3) =
z−1
z 2 − 7z
X(z) =
(z − 1)(z − 3)
X(z) z−7
=
z (z − 1)(z − 3)
X(z) A B
= +
z z−1 z−3
X(z) A(z − 3) + B(z − 1)
=
z (z − 1)(z − 3)
put z = 3
3−7 = B(3 − 1)
−4 = 2B
B = −2
X(z) 3 2
= −
z z−1 z−3
3z 2z
X(z) = −
z−1 z−3
x[k] = 3u[k] − 2(3k )
(b)
2x[k + 1] − x[k] = 2k x[0] = 2
z
2 (zX(z) − zx[0]) − X(z) =
z−2
z
2 (zX(z) − 2z) − X(z) =
z−2
z
(2z − 1)X(z) = + 4z
z−2
z + 4z(z − 2)
=
z−2
z + 4z 2 − 8z
X(z) =
(z − 2)(2z − 1)
X(z) 4z − 7
=
z (z − 2)(2z − 1)
X(z) A B
= +
z z − 2 2z − 1
X(z) A(2z − 1) + B(z − 2)
=
z (z − 2)(2z − 1)
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8−7 = A(4 − 1)
1
A =
3
1
put z = 2
1
2−7 = B −2
2
−5 10
B = −3 = 3
2
X(z) 1 10
= +
z 3(z − 2) 3(2z − 1)
z 5z
X(z) = +
3(z − 2) 3 z − 12
k
2k 5 12
x[k] = +
3 3
(c)
(d)
x[k + 2] − 8x[k + 1] + 16x[k] = 0 x[0] = 10 x[1] = 20
10z(z − 6)
X(z) =
(z − 4)2
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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 199
X(z) 10(z − 6)
=
z (z − 4)2
A B
= +
(z − 4)2 z−4
A + B(z − 4)
=
(z − 4)2
Comparing numerators
10(z − 6) = A + B(z − 4)
10z − 60 = A + Bz − 4B
comparing z terms
B = 10
A − 4B = −60
A = 40 − 60
A = −20
X(z) 10 20
= −
z z − 4 (z − 4)2
10z 20z
X(z) = −
z − 4 (z − 4)2
x[k] = 10(4)k − 5(k4k )
(e)
x[k + 2] − x[k] = 0 x[0] = 0 x[1] = 1
z X(z) − z x[0] − zx[1] − X(z) = 0
2 2
z 2 X(z) − z − X(z) = 0
2
z − 1 X(z) = z
z
X(z) =
z2 − 1
X(z) 1
=
z z −1
2
X(z) A B
= +
z z+1 z−1
A(z − 1) + B(z + 1)
=
z2 − 1
comparing numerators
1 = A(z − 1) + B(z + 1)
put z = −1
1 = A(−1 − 1)
1
A = −
2
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put z = 1
1 = B(1 + 1)
1
B =
2
X(z) 1 1 1
= −
z 2 z−1 z+1
1 z z
X(z) = −
2 z−1 z+1
1
x[k] = u(k) − (−1)k
2
2.
3.
4.
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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 201
z
X(z) z 2 − 7z + 12 = + z 2 − 6z
(z − 1)2
z + (z 2 − 6z)(z − 1)2
=
(z − 1)2
comparing numerators
(z − 6)(z − 1)2 + 1 = A(z − 3)(z − 4) + B(z − 1)(z − 3)(z − 4) + C(z − 1)2 (z − 4) + D(z − 1)2 (z − 3)
put z = 1
1 = A(1 − 3)(1 − 4)
1 1
A = =
(−2)(−3) 6
put z = 3
put z = 4
−18 + 1 = 9D
17
D = −
9
comparing constants
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17
12B = −4
3
17 − 12
12B =
3
5 5
12B = B=
3 36
X(z) 1 5 11 17
= + + −
z 6(z − 1)2 36(z − 1) 4(z − 3) 9(z − 4)
z 5z 11z 17z
X(z) = + + −
6(z − 1)2 36(z − 1) 4(z − 3) 9(z − 4)
k 5 11 17
x[k] = + u[k] + (3)k − (4)k
6 36 4 9
Review Exercises 22
1. (a) second order, n, x, linear, inhomogeneous
(b) second order, k, y, linear, inhomogeneous
(c) first order, z, y, non-linear
(d) second order, n, z, linear, homogeneous
(e) third order, k, q, non-linear
4.
z(1 − a) z z
F (z) = = −
(z − 1)(z − a) z−1 z−a
Hence
f [k] = 1k − ak
5. (a)
3z(z + 2)
F (z) = 2
(z − 2)(z − 3)
F (z) 3(z + 2)
= 2
z (z − 2)(z − 3)
A B C
= + +
(z − 2) z − 3 (z − 3)2
A(z − 3)2 + B(z − 2)(z − 3) + C(z − 2)
= 2
(z − 2)(z − 3)
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Croft,Davison and Hargreaves,Engineering Mathematics,Solutions Manual 203
Comparing numerators
3(z + 2) = A(z − 3)2 + B(z − 2)(z − 3) + C(z − 2)
put
z = 2
(3)4 = A(2 − 3)2 A = 12
put
z = 3
3(3 + 2) = C(3 − 2) C = 15
comparing constants
6 = 9A + 6B − 2C
6B = 6 − 9A + 2C
6B = 6 − 108 + 30
6B = −72
B = −12
F (z) 12 12 15
= − +
z (z − 2) z − 3 (z − 3)2
12z 12z 15z
F (z) = − +
(z − 2) z − 3 (z − 3)2
f [k] = 12(2k ) − 12(3k ) + 5k3k
(b)
z 2 + 3z
F (z) =
3z 2+ 2z − 5
F (z) z+3 z+3
= =
z 3z + 2z − 5
2 (3z + 5)(z − 1)
F (z) A B
= +
z z − 1 3z + 5
A(3z + 5) + B(z − 1)
=
(z − 1)(3z + 5)
comparing numerators
z + 3 = A(3z + 5) + B(z − 1)
put
z = 1
1
4 = A(3 + 5) A=
2
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put
5
z = −
3
5 5
− +3 = B − −1
3 3
4 8 1
= B − B=−
3 3 2
F (z) 1 1 1
= −
z 2 z − 1 3z + 5
1 z z
F (z) = −
2 z − 1 3z + 5
k
1 1 5
f [k] = u[k] − −
2 3 3
1
6.
zi
ejθ −e−jθ
7. We know from Euler’s relations that sin θ = 2j . Then with θ = ak,
ejak − e−jak
sin ak =
2j
Then
1 z z
Z{sin ak} = −
2j z − eja z − e−ja
2 −ja
1 z − ze − z 2 + zeja
=
2j z 2 − eja z − e−ja z + 1
ja −ja
z e −e2j
=
z 2 − z(eja + e−ja ) + 1
z sin a
=
z 2 − 2z cos a + 1
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