



Study with the several resources on Docsity
Earn points by helping other students or get them with a premium plan
Prepare for your exams
Study with the several resources on Docsity
Earn points to download
Earn points by helping other students or get them with a premium plan
Material Type: Assignment; Class: Micro-Based Control Systems I; Subject: Mechanical Engr & Mechanics; University: Drexel University; Term: Winter 2008;
Typology: Assignments
1 / 6
This page cannot be seen from the preview
Don't miss anything!




Assignment 3 solutions 11/3/
a)
0.5 0,1, 2,3........... ( ) 0 else
k (^) k x k
Z transform for the above can be found in series form using the basic definition of Z transform as shown below.
0 1 2 2 0 1 2
k k k k k
X Z x k z
z z z
z z
โ โ = โ โ โ โ = โ โ
๏ฅ
๏ฅ
In the closed form the above can be represented using the summation formula as below
2
1
1
1 ..... is the summation to formula 1 but in out case 0. 1 ( ) 1 0.5 0.
x x x x z z X Z z z
โ
โ
Assignment 3 solutions 11/3/
c) Using the real shifting property of the Z transform we get,
0
0
0
3
2
where
but
3
k k k n (^) n k n m m n
Z f k n f k n z
f k n z z
z f m z k n m
z F Z
Z x k z F Z z F Z z z Z x k z
โ โ = โ (^) โ โ โ = โ โ โ = โ
โ
โ
๏ฅ
๏ฅ
๏ฅ
Taking Z transform on both sides we get
Assignment 3 solutions 11/3/
The numbers at the sampling instances are tabulated in the table below.
0 1 1 0. 2 0. 3 0. 4 0. 5 1 6 0. 7 0. 8 0. 9 0. 10 0 11 0
b)
( )
x k ( ) = e โ^2 kT + e^ โ^2^ k^ โ^5 Tu k โ 5 where T is the sampling time. Taking Z transform of the
expression above produces the closed form representation of the number sequence.
( )
4 2 T 2 T
โ
5 2 2 4 2
Taking 1 we get
( )
z z X Z z z e z e z z X Z z e
โ โ โ โ โ
a) Final value theorem states that
1
1
lim ( ) lim( 1) ( )
Applying final value theorem to ( ) we get
( ) 1
lim ( ) lim 1 1 As z tends to 1 the above function tends to 0 the final value can be said to be 0
k z
k z
e k z E Z
X Z z X Z z z e k z z
โโ โ
โโ โ
Assignment 3 solutions 11/3/
b) Inverse Z transform of the above function can be taken to get the discreet time domain function after which the final value theorem can be applied to that function. The working is as shown below.
1
When 1, we get
1 1
1 ( ) 1 Applying final value theorem to the above function we get lim ( ) lim 1
The above limit does not tend toward 0 as k increases to. Rathe
k
k
k
k k k
z Z a z a a z Z z z Z x k z
x k
โ
โโ โโ
r it oscillates between -1 and +1.
This inconsistency is due to the fact that the Z transform does not converge for the value of -1.
0 0 1 0 1 1
1
In the above function the magnitude of the term 1 must be less than 1
1 1
1 1
1
k k k k k k k k k
Z a a z
z z z z z z
โ (^) โ
= โ โ = โ โ = โ โ
For values of z > -1 the z transform converges And For values z < -1 it diverges For z = -1 it oscillates as obtained above.