Polynomial in z or z-1 It is preferable to express X(z) as a ratio of polynomials in z, rather than z-1.
Inverse z transform • Direct division method • Computational method • MATLAB approach • Difference equation approach • Partial-fraction-expansion method • Inversion integral method
MATLAB approach X(z) G(z) Y(z) invz.m x(k) y(k) G(z)
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
Exercise 2 • Ogata • B-2-8 • B-2-9