1 數位控制（四）. 2 Polynomial in z or z -1 It is preferable to express X(z) as a ratio of polynomials in z, rather than z -1.

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Presentation transcript:

1 數位控制（四）

2 Polynomial in z or z -1 It is preferable to express X(z) as a ratio of polynomials in z, rather than z -1.

3 Inverse z transform Direct division method Computational method MATLAB approach Difference equation approach Partial-fraction-expansion method Inversion integral method

4 Direct division method

5 MATLAB approach invz.m X(z) G(z) Y(z) x(k) G(z) y(k)

6 Difference equation approach

7 Partial-Fraction-Expansion Method

8

9 Inversion Integral Method

10 Z transform method for solving difference equation

11 Difference equation example

12 z Plane Analysis of Discrete-Time Control System z transform method is useful for Single-Input- Single-Outout (SISO) system. Multi-Input-Multi-Outout (MIMO) will be introduced in Chapter 5. It enable us to apply conventional continuous- time design method to discrete-time system. s domain technique

13 SISO / MIMO

14 Impulse sampling

15 Exercise 2 Ogata B-2-8 B-2-9