Delayed Trandfer Functions.

Docx
Behzad
1




Systems with delayed responses:
Assume a dynamics in either continuous or discrete time domain
sys. LTI ( )
s
nT ( )
s
h nT

Figure 1: Impulse response for a LTI network operates in sampled-time regime

The z-transform of the system response, in a general form would resemble, { } ( ) ( )
s
h nT H z = .
Let us assume a LTI system (e.g. in Figure 2), that provides the same response, however,
includes a certain delay in its output, as shown below:
( )
sys.
Delayed
LTI
( )
s
nT
( )
s s
h nT qT

Figure 2: System response to an impulse excitation, which includes
s
q T delay

Time Shifting Theorem
1
: If x(t) =0 for t <0 and x(t) has z-transform X(z) for the delayed
function it is { } ( ) ( )
n
x t nT z X z

= .
By recalling the time shifting theorem, the TF for such dynamics, denoted as

( ) H z would fall in
the form sown in (1)

{ }
1

( ) ( ) ( ).
delayed
s s
q
H z h nT qT H z
z
= = (1)

1
Also called real translation theorem
Delayed Trandfer Functions.Docx
Behzad
2




A z-domain strictly proper rational transfer functions, ( ) ( ) H z

, which is analytic
within can be expressed in terms of the sum of the partial fraction bases, as follows

1

( ) .
P
q i
i
i
r
H z z
z p

=
=

(2)
Where complex values

i
p and
i
r

represent poles and corresponding residues respectively, and
P is the number of the poles.
The transfer function in z-domain (1), or its equivalent form (2) can be analytically converted to
the s-domain by applying Bilinear Transformation, shown in (3)
.
s
s z
s

+
=

(3)
An inverse transformation fromz-domain to s-domain is also possible by the following form of
the Bilinear Transformation

1
1
z
z s
z

=
+
(4)
Where z is complex discrete frequency and
2
2
s
s
F
T
= = , in which
s
T and
s
F represent the
sampling interval and sampling rate (frequency) respectively.
By applying Bilinear Transformation (BL), it would be

{ }
{ }
1 1

( ) ( ) ( )
q q
P P
q i i
i i
i i
z r z r
H s BL H z BL z H z BL BL
z p z p

= =


= = = = =
` `


) )



1 1
( )
q q q
P P
i i
i i
i i
r r s s s
H s
s s
s s s
p p
s s





= =
| | | |
| |
+ + | | | | | |
= = =
| |
| | |
+ +
+
\ . \ . \ .
| |

\ . \ .

(5)
Delayed Trandfer Functions.Docx
Behzad
3




Therefore;

( ) ( ), 0.
q
s
H s H s q
s

| |
=
|
+
\ .
(6)
The time domain equivalent for (6) can be consider as follows;


{ }
{ }
1 1 1 1

( ) ( ) ( ) ( ) .
q q
s
s s
h t qT H s H s H s
s s




| | | |
= = =
` `
| |
+ +
\ . \ .

) )
(7)
It is summarized as a convolution between two time signal,

1
( ) ( ).
q
s s
s
h nT qT h t
s

| |
=
`
|
+
\ .

)


Delayed Trandfer Functions.Docx
Behzad
4




Corollary: When the transformation between s and z domains is carried out through the bilinear
transformation the poles of discrete domain model are related to the poles of the equivalent
continues domain model by the bilinear transformation too.
Proof:
From (5) { } ( ) ( ) ( )
s
H s BL H z H
s

+
= =

(8)

q
i
i
i
z r
BL
z p


`

(9)

( )
1 1

( )
q q
P P
i i
i i
i i
i
r s r s s
H s
s
s s s p p s
p
s

= =
| |
| | |
+ | | | |
= = =
| | | |
+
+ + +
\ . \ .
\ .
|

\ .



( )
( ) ( )
( )
1 1
1
1
1 1
1
i
q q
P P
i i
i
i i
i i
i
r
s
p b s
s s
p
s s p p s
s
p

= =
| | | |

| |
| | +
| | | |
\ . |
= =
|
| |
| |
+ + +
\ . \ .
\ .

|
| +
\ .


Then, it is

( )
1
1

( )
1
1
i
q
P
i
i
i
i
r
s
p
s
H z
p
s
s
p

=
| | | |

| |
+
| |
\ . |
=
|
|
+
\ .

|
| +
\ .

, (10)
for which the poles are in the form of

( )

1
.
1
i
i
i
in s domain
p
p
p

=
+
(11)

Delayed Trandfer Functions.Docx
Behzad
5




With comparing (11) and (4), the definition for bilinear transformation, it is concluded that the
poles for transfer function in z-domain can be mapped to the s-domain by applying bilinear
transformation to obtain the poles for the equivalent s-domain model.
However, the zeros cannot be related to each other by a similarly simple mapping.