587

Exercises

24.3. Suppose that

1 - 0.2rl
= (1 + 0.6r1)(1 - 0.3rl)(1

F(z)

rl)

(a) Calculate the corresponding time-domain response

(t).
(b) As a check, use the final value theorem to determine the steady-state value of

r(t).
24.4. Determine the inverse transform of
z(z

(z - 1) (Z2

1)

1)

by the following methods:

(a) Partial fraction expansion.
(b) Long division.
24.S. Calculate the z-transform of the rectangular pulse shown in the drawing. Assume
that the sampling period is t:.t = 2 min. The pulse is f = 3 for 2 s:: t < 6.
6.3 46 2
Time (min)

oLL
0

18

24.6. The pulse transfer function of a process is given by

Y(z)
X(z)

+ 0.6)
+ 0.41

5(z
Z2 -

(a) Calculate the response Y(nLlt) to a unit step change in x using the partial fraction
method.
(b) Check your answer in part (a) by using long division.
(c) What is the steady-state value of y?
24.7. The desired temperature trajectory T(t) for a batch reactor is shown in the drawing.
(a) Derive an expression for the Laplace transform of the temperature trajectory,
T(s).

(b) Determine the corresponding z-transform T( z) for sampling periods of

and 8 min.

t:.t

=4

T(OC)

80r
25~

40

20
Time (min)

24.8. The dynamic behavior of a temperature sensor and transmitter can be described by
the first-order transfer function,
T;"(s) _

e-2s

T' (s) - 8s

+ 1

588

DYNAMIC RESPONSE OF DISCRETE-TIME SYSTEMS

where

the time constant and time delay are in seconds

T = actual temperature
T m = measured temperature

If the actual temperature

changes as follows (t in seconds):

T =

for a :S t < 10
for
< a10
for tt ~

85C
70
{ 70 C
C

(a) What is the maximum value of the measured temperature

Tm?
(b) If samples of the measured temperature
are automatically
logged in a digital
computer every two minutes beginning at t = 0, what is the maximum value of
the logged temperature?

24.9. The transfer function for a process model and a zero-order

H (s)
Derive an expression

Gpes) = (1 -

(lOs +
1)(5s
3.8e-2s

se-s~t)

for the pulse transfer

hold can be written

1)

of H(s) G p(s) when

function

as

!:::,.t

= 2.

24.10. The pulse transfer function of a process is given by

2.7r1(z

Y(z)
X(z)

(a) Calculate
method.

the response

0.5z

Z2 -

+ 3)
+ 0.06

y(n!:::"t) to a unit step change in x using the partial fraction

(b) Check your answer in part (a) by using long division.

(c) What is the steady-state value of y?

24.11. A gas chromatograph

control

is used to provide composition measurements

loop. The open-loop transfer function is given by
G(s)

GcHGpGm

G(s)

E(s)
B(s)

(Gu

in a feedback

= 1)

and is

~)C - 5e-SM)(

12510+ 1)e-2S

= 2(1 + 8s

(a) Suppose that a sampling period of At = 1 min is selected. Calculate HG(z),

pulse transfer function of G(s) with ZOH.
(b) If a unit step change in the controller error signal e(t) is made, calculate
sampled open-loop response b(n!:::"t) using HG(z).

the
the

24.12. Determine

the pulse transfer function with zero-order

hold for the second-order
process Gp(s)
= K/[(5s
+ 1)(3s + 1)] using partial fraction expansion in the
s-domain. Check your results with those in Section 23.3. Note that At is unspecified
here.

24.13.

FindHG(z)ifG(s)
= (1- 9s)/[(3s + 1)(15s + 1)] for At = 4 (use partial fraction
expansion). What is the corresponding
difference equation? Do you detect inverse
response in the output Y n for a step change in the input at this sampling period?

24.14. Verify the z-transform

J(t)

= 1-

in Table

24.15. Find the response

Yn

for the difference

Yn -

Let Xo = 1,
the results.

24.1 for J(t)

t2.

What

is the z-transform

for

e -at?

Xn

= a for

n ~

Yn-l

equation

0.21 Yn-2 = Xn-2

1. Use long division as well as direct integration

to check

Exercises

24.16. Use long division to calculate the first eight coefficients of the z-transform
F(z)

589
given by

0.8r1
= (1 _ 0.8r1)Z

24.17. Derive the pulse transfer function for an analog lead-lag device cascaded with a zeroorder hold. The lead-lag device has the transfer function
the steady-state gain of the pulse transfer function.

24.18. Determine

the sampled

function f(n6.t)

corresponding

(TIS

1)1(TZS

1). Check

to the z-transform

F( z ) = 1 _ 1.5r1
0.5r1+ 0.5z-2
Use partial fraction expansion (6.t = 1) and compare the results with the long division
method for the first six sampled values (n = 0, 1, ... ,5).

24.19. For

G(s)
= 1/[(s + 1)(s + 2)], obtain G(z) for IJ.t = 1. Determine the response
to a unit step change in the input. Repeat using Tustin's method (approximate
z-transform)
and compare the step responses for the first five samples.

24.20. To determine

the effects of pole and zero locations, calculate and sketch the unit
step responses of the pulse transfer functions shown below for the first six sampling
instants, n = 0 to n = 5. What conclusions can you make concerning the effect of
pole and zero locations?

1
1

r1
(b)
(c)(a)11=_+ 0.7r1

1
(d) (1 + 0.7z-1)(1 - 0.3r1)

1 - 0.5r1
(e) (1 + 0.7r1)(1
f

( ) (1 +

- 0.3r1)

1 - 0.2rl

- 0.3r1)

0.6r1)(1

24.21. For the transfer functions shown below, determine

function

HGp(z)

for the system and a zero-order

the corresponding

pulse transfer

hold.

1
Gp(s)

= (s +

(b) Gp(s)

= (s +

(a)

1)3
6(1 2)(s

s)
+

3)

For sampling periods of 6.t = 1 and IJ.t = 2, determine whether any poles or zeros
of HG p(z) lie outside the unit circle for either process. Discuss the significance of
these results.