Q1
F
(
z
)
z
=
b
(
z
−
p
1
)
2
(
z
−
p
2
)
=
A
1
z
−
p
1
+
A
2
z
−
p
2
+
A
3
(
z
−
p
1
)
2
=
A
1
(
z
−
p
1
)
(
z
−
p
2
)
+
A
2
(
z
−
p
1
)
2
+
A
3
(
z
−
p
2
)
(
z
−
p
1
)
2
(
z
−
p
2
)
=
(
A
1
+
A
2
)
z
2
+
[
−
A
1
(
p
1
+
p
2
)
−
2
A
2
p
1
+
A
3
]
z
+
(
A
1
p
1
p
2
+
A
2
p
1
2
−
p
2
A
3
)
(
z
−
p
1
)
2
(
z
−
p
2
)
\begin{aligned} \frac{F(z)}{z} &= \frac {b}{(z-p_1)^2(z-p_2)} \\ &= \frac{A_1}{z-p_1} + \frac{A_2}{z-p_2} + \frac{A_3}{(z-p_1)^2} \\ &= \frac {A_1(z-p_1)(z-p_2) + A_2(z-p_1)^2 + A_3(z-p_2)}{(z-p_1)^2(z-p_2)} \\ &= \frac {(A_1+ A_2)z^2 + [-A_1(p_1+p_2)-2A_2p_1+A_3]z + (A_1p_1p_2+A_2p_1^2-p_2A_3)}{(z-p_1)^2(z-p_2)} \\ \end{aligned} \\
zF(z)=(z−p1)2(z−p2)b=z−p1A1+z−p2A2+(z−p1)2A3=(z−p1)2(z−p2)A1(z−p1)(z−p2)+A2(z−p1)2+A3(z−p2)=(z−p1)2(z−p2)(A1+A2)z2+[−A1(p1+p2)−2A2p1+A3]z+(A1p1p2+A2p12−p2A3)
令
z
=
p
1
z = p_1
z=p1，则
A
3
(
p
1
−
p
2
)
=
b
A_3(p_1-p_2) = b
A3(p1−p2)=b，显然
A
3
=
b
p
1
−
p
2
A_3 = \frac b{p_1-p_2}
A3=p1−p2b
又
{
A
1
+
A
2
=
0
−
(
p
1
+
p
2
)
A
1
−
2
p
1
A
2
+
A
3
=
0
p
1
p
2
A
1
+
p
1
2
A
2
−
p
2
A
3
=
b
⇒
{
(
p
1
+
p
2
)
A
1
+
2
p
1
A
2
=
A
3
p
2
A
1
+
p
1
A
2
=
b
+
p
2
A
3
p
1
\left \{ \begin{aligned} A_1+ A_2 &= 0 \\ -(p_1+p_2)A_1-2p_1A_2+A_3 &= 0\\ p_1p_2A_1+p_1^2A_2-p_2A_3 &= b \end{aligned} \right. \Rightarrow \left \{ \begin{aligned} (p_1+p_2)A_1 + 2p_1A_2 &= A_3\\ p_2A_1+p_1A_2 &= \frac{b+p_2A_3}{p_1} \end{aligned} \right.
⎩
⎨
⎧A1+A2−(p1+p2)A1−2p1A2+A3p1p2A1+p12A2−p2A3=0=0=b⇒⎩
⎨
⎧(p1+p2)A1+2p1A2p2A1+p1A2=A3=p1b+p2A3
化简得
{
A
1
+
A
2
=
0
p
2
A
1
+
p
1
A
2
=
b
+
p
2
A
3
p
1
\left \{ \begin{aligned} A_1 + A_2 &= 0\\ p_2A_1+p_1A_2 &= \frac{b+p_2A_3}{p_1} \end{aligned} \right.
⎩
⎨
⎧A1+A2p2A1+p1A2=0=p1b+p2A3
解得
{
A
1
=
−
b
(
p
1
−
p
2
)
2
A
2
=
b
(
p
1
−
p
2
)
2
A
3
=
b
p
1
−
p
2
\left \{ \begin{aligned} A_1 &= -\frac{b}{(p_1-p_2)^2} \\ A_2 &= \frac{b}{(p_1-p_2)^2}\\ A_3 &= \frac b{p_1-p_2} \end{aligned} \right.
⎩
⎨
⎧A1A2A3=−(p1−p2)2b=(p1−p2)2b=p1−p2b
故
y
(
k
)
=
A
1
p
1
k
+
A
2
p
2
k
+
A
3
k
p
1
k
−
1
y(k) = A_1 p_1^k + A_2 p_2^k+ A_3kp_1^{k-1}
y(k)=A1p1k+A2p2k+A3kp1k−1
Q2
(1)
[
z
2
F
(
z
)
−
z
2
y
0
−
z
y
1
]
+
a
1
[
z
F
(
z
)
−
z
y
(
0
)
]
+
a
2
F
(
z
)
=
z
z
−
b
0
(
z
2
+
a
1
z
+
a
2
)
F
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z
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=
z
z
−
b
0
+
z
2
y
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0
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+
z
[
y
(
1
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+
y
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0
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]
\left [ z^2 F(z) - z^2y_0 - zy_1 \right ] + a_1\left [ z F(z) - zy(0) \right ] + a_2F(z) = \frac{z}{z-b_0} \\ (z^2 + a_1z + a_2)F(z) = \frac{z}{z-b_0} + z^2y(0) + z\left[y(1) +y(0) \right]
[z2F(z)−z2y0−zy1]+a1[zF(z)−zy(0)]+a2F(z)=z−b0z(z2+a1z+a2)F(z)=z−b0z+z2y(0)+z[y(1)+y(0)]
代入数据
a
1
,
a
2
a_1,a_2
a1,a2，则
z
2
+
a
1
z
+
a
2
z^2 + a_1z + a_2
z2+a1z+a2有零点
p
1
,
p
2
p_1,p_2
p1,p2，所以
F
(
z
)
=
y
0
z
3
+
(
y
0
+
y
1
−
b
0
y
0
)
z
2
+
[
1
−
b
0
(
y
0
+
y
1
)
]
z
(
z
−
b
0
)
(
z
−
p
1
)
(
z
−
p
2
)
=
y
0
z
3
+
(
y
0
+
y
1
−
b
0
y
0
)
z
2
+
[
1
−
b
0
(
y
0
+
y
1
)
]
z
z
3
−
(
p
1
+
p
2
+
b
0
)
z
2
+
(
p
1
p
2
+
p
1
b
0
+
p
2
b
0
)
z
−
p
1
p
2
b
0
F(z) = \frac{y_0z^3 + (y_0+y_1-b_0y_0)z^2 + [1-b_0(y_0+y_1)]z}{(z-b_0)(z -p_1)(z -p_2)} \\ = \frac{y_0z^3 + (y_0+y_1-b_0y_0)z^2 + [1-b_0(y_0+y_1)]z}{z^3 -(p_1+p_2+b_0)z^2 + (p_1p_2 + p_1 b_0 + p_2 b_0 ) z -p_1p_2 b_0}
F(z)=(z−b0)(z−p1)(z−p2)y0z3+(y0+y1−b0y0)z2+[1−b0(y0+y1)]z=z3−(p1+p2+b0)z2+(p1p2+p1b0+p2b0)z−p1p2b0y0z3+(y0+y1−b0y0)z2+[1−b0(y0+y1)]z
(2)
F
(
z
)
z
=
a
z
2
+
b
z
+
c
(
z
−
p
1
)
(
z
−
p
2
)
(
z
−
p
3
)
=
A
1
z
−
p
1
+
A
2
z
−
p
2
+
A
3
z
−
p
3
=
A
1
(
z
−
p
2
)
(
z
−
p
3
)
+
A
2
(
z
−
p
1
)
(
z
−
p
3
)
+
A
3
(
z
−
p
1
)
(
z
−
p
2
)
(
z
−
p
1
)
(
z
−
p
2
)
(
z
−
p
3
)
\begin{aligned} \frac{F(z)}{z} &= \frac{az^2+bz+c}{(z-p_1)(z -p_2)(z -p_3)} \\ &= \frac{A_1}{z-p_1} + \frac{A_2}{z-p_2} + \frac{A_3}{z-p_3} \\ &= \frac {A_1(z-p_2)(z-p_3) + A_2(z-p_1)(z-p_3) + A_3(z-p_1)(z-p_2)}{(z-p_1)(z-p_2)(z-p_3)} \\ \end{aligned}
zF(z)=(z−p1)(z−p2)(z−p3)az2+bz+c=z−p1A1+z−p2A2+z−p3A3=(z−p1)(z−p2)(z−p3)A1(z−p2)(z−p3)+A2(z−p1)(z−p3)+A3(z−p1)(z−p2)
令
z
=
p
1
z = p_1
z=p1，则
A
1
(
p
1
−
p
2
)
(
p
1
−
p
3
)
=
a
p
1
2
+
b
p
1
+
c
A_1(p_1-p_2)(p_1-p_3) = ap_1^2+bp_1+c
A1(p1−p2)(p1−p3)=ap12+bp1+c，显然
A
1
=
a
p
1
2
+
b
p
1
+
c
(
p
1
−
p
2
)
(
p
1
−
p
3
)
A_1 = \frac {ap_1^2+bp_1+c}{(p_1-p_2)(p_1-p_3)}
A1=(p1−p2)(p1−p3)ap12+bp1+c
同理可得，
A
2
=
a
p
2
2
+
b
p
2
+
c
(
p
2
−
p
1
)
(
p
2
−
p
3
)
,
A
3
=
a
p
3
2
+
b
p
3
+
c
(
p
3
−
p
1
)
(
p
3
−
p
2
)
A_2 = \frac {ap_2^2+bp_2+c}{(p_2-p_1)(p_2-p_3)},A_3 = \frac {ap_3^2+bp_3+c}{(p_3-p_1)(p_3-p_2)}
A2=(p2−p1)(p2−p3)ap22+bp2+c,A3=(p3−p1)(p3−p2)ap32+bp3+c
所以
y
(
k
)
=
A
1
p
1
k
+
A
2
p
2
k
+
A
3
p
3
k
y(k) = A_1 p_1^k + A_2 p_2^k + A_3 p_3^k
y(k)=A1p1k+A2p2k+A3p3k
(3) 通过通项式和递推式求解
(4)
- 如果所有极点都在单位圆内( ∣ p 1 ∣ , ∣ p 2 ∣ , ∣ b 0 ∣ < 1 |p_1|,|p_2|,|b_0|<1 ∣p1∣,∣p2∣,∣b0∣<1)，则稳定；
- 不稳定，如果任何极点是在单位圆外( ∣ p 1 ∣ , ∣ p 2 ∣ , ∣ b 0 ∣ > 1 |p_1|,|p_2|,|b_0|>1 ∣p1∣,∣p2∣,∣b0∣>1)或单位圆上有一个重复的极点( 存在 ∣ p i ∣ = 1 ，且 p 1 = p 2 或 p i = b 0 存在|p_i|=1，且p_1=p_2或p_i=b_0 存在∣pi∣=1，且p1=p2或pi=b0)；
- 如果一个或多个不重复的极点在单位圆上，并且所有其他极点都在单位圆内，则边际稳定。
Q3
Q4
%%The area for parameter
b2 = 20;
b3 = 14;
a1 = 9.7;
a2 = 30;
a3 = 28;
n = 49;
T = 0.09;
%% Question 1 find the system discrete-time transfer function H(z).
Gs = tf([b2 b3],[1 a1 a2 a3]);
Gz = c2d(Gs,T,'zoh');
Dz =1;
Hz = Dz*Gz %the system discrete-time transfer function H(z)
%% Question 2 simulate and plot the unit step response for n samples.
t = 0:T:T*n;
e = ones(size(t));
y = lsim(Hz,e,t);
plot(t, e, '--g', t, y, '--r')
legend('e(k): input','y(k): output')
%% Question 3 Find the zeros, poles and DC gain of your open-loop system.
%pzmap(Hz) % plot the pole and zero on the z-plane which can used in the report
zp = zero(Hz); % zero point
pp = pole(Hz); % pole point
gain = dcgain(Hz); % DC gain
Q5
%% The area for parameter
b2 = 20;
b3 = 14;
a1 = 9.7;
a2 = 30;
a3 = 28;
n = 49;
T = 0.09;
%% Question 1 find the system discrete-time transfer function H(z).
Gs = tf([b2 b3],[1 a1 a2 a3]);
Gz = c2d(Gs,T,'zoh');
Dz = tf([2 -1],[1 -1],T);
Hz = feedback(Dz*Gz,1); %the system discrete-time transfer function H(z)
%% Question 2 simulate and plot the unit step response for n samples.
t = 0:T:T*n;
e = ones(size(t));
y = lsim(Hz,e,t);
plot(t, e, '--g', t, y, '--r')
legend('e(k): input','y(k): output')
%% Question 3 Find the zeros, poles and DC gain of your open-loop system.
pzmap(Hz) % plot the pole and zero on the z-plane which can used in the report
zp = zero(Hz);
pp = pole(Hz);
gain = dcgain(Hz);
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