1. 1 數位控制（四）

2. 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. 3 Inverse z transform Direct division method Computational method MATLAB approach Difference equation approach Partial-fraction-expansion method Inversion integral method

4. 4 Direct division method

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

6. 6 Difference equation approach

7. 7 Partial-Fraction-Expansion Method

8. 8

9. 9 Inversion Integral Method

10. 10 Z transform method for solving difference equation

11. 11 Difference equation example

12. 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. 13 SISO / MIMO

14. 14 Impulse sampling

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