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數位控制(三).

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Presentation on theme: "數位控制(三)."— Presentation transcript:

1 數位控制(三)

2 z transform z transformation transforms linear difference equation into algebraic in s. Laplace transformation transforms linear time-invariant differential equation into algebraic in z. G H x y + -

3 In time domain x(t) H(t) y(t) In s domain x(s) + y(s) G(s) - H(s)

4 The z transform method allows
Conventional analysis and design techniques Root-locus Frequency response analysis (convert z to w) Z transformed characteristic equation allows Simple stability test

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6 Elementary Functions Unit-step Unit-ramp Polynomial Exponential
Sinusoidal Table of z transforms (Ogata p-29)

7 Important properties Multiplication by a constant
Linearity of z transform Multiplication by ak Shifting theorem Complex translation theorem Initial value theorem Final value theorem

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12 Poles and Zeros in the z plane

13 Exercise 1 Ogata B-2-1 B-2-2


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