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Chapter 5

The document provides solutions to six signal processing exercises involving concepts like root locus analysis, stability analysis, lead compensation design, and modeling continuous systems in discrete time. The solutions use techniques like partial fraction expansions, bilinear transformations, and determining equivalent z-transforms.

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rivawe1402
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8 views

Chapter 5

The document provides solutions to six signal processing exercises involving concepts like root locus analysis, stability analysis, lead compensation design, and modeling continuous systems in discrete time. The solutions use techniques like partial fraction expansions, bilinear transformations, and determining equivalent z-transforms.

Uploaded by

rivawe1402
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Exercise 1

Find f(kT) if
Solution 11

Begin by dividing F(z) by z and performing a partial-fraction expansion.


𝐹(𝑧) (𝑧 + 1)(𝑧 + 2) 𝐴 𝐵 𝐶
= = + +
𝑧 (𝑧 − 0.5)(𝑧 − 0.7)(𝑧 − 0.9) 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9
Multiplying by (𝑧 − 0.5)(𝑧 − 0.7)(𝑧 − 0.9)

𝑧 + 1 𝑧 + 2 = 𝐴(𝑧 − 0.7)(𝑧 − 0.9)+B (𝑧 − 0.5)(𝑧 − 0.9)+C (𝑧 − 0.5)(𝑧 − 0.7)


For z = 0.5 1.5 2.5 = 𝐴 −0.2 𝑧 − 0.4 ⇒ 𝐴 = 46.875
For z = 0.7 1.7 2.7 = 𝐵 0.2 0.2 ⇒ 𝐵 = −114.75
For z = 0.9 1.9 2.9 = 𝐶 0.4 0.2 ⇒ 𝐶 = 68.875
Next, multiply through by z.
𝐹(𝑧) 46.875 114.75 68.875 z z z
= − + ⇒ 𝐹 𝑧 = 46.875 − 114.75 + 68.875
𝑧 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9 𝑧 − 0.5 𝑧 − 0.7 𝑧 − 0.9
Using Table, we find the inverse z-transform of each partial fraction. the value of the time function at the sampling instants is:

𝑓 ∗ 𝑘𝑇 = 46.875(0.5) −114.75(0.7) +68.875(0.9)


Exercise 2

Find G(z) for G(s) = 8/(s + 4) in cascade with a zero order sample
and hold. The sampling period is 0.25 second.
Solution 21
1−𝑒 1−𝑒 8
The transfer function 𝐺(𝑠) in cascade with a zero-order hold is given by: 𝐺 𝑠 = 𝐺 (𝑠) =
𝑠 𝑠 𝑠+4
by moving the s in the denominator of the zero-order hold to 𝐺 𝑠 , yielding 𝑧=𝑒 Multiply by

𝐺 𝑠 𝐺 𝑠 𝑧−1 𝐺 𝑠
𝐺 𝑠 = (1 − 𝑒 ) from which 𝐺 𝑧 = 1−𝑧 𝑍 = 𝑍
𝑠 𝑠 𝑧 𝑠

Thus, begin the solution by finding the impulse response (inverse Laplace transform) of . Hence,

𝐺 𝑠 8 𝐴 𝐵 2 2
𝐺 𝑠 = = = + = −
𝑠 𝑠(𝑠 + 4) 𝑠 (𝑠 + 4) 𝑠 (𝑠 + 4)

Taking the inverse Laplace transform, we get 𝑔 𝑡 = 2 𝑢(𝑡) − 2𝑒 from which 𝑔 𝑘𝑇 = 2 𝑢(𝑘𝑇) − 2𝑒
2𝑧 2𝑧
Using Table, we find 𝐺 𝑧 = −
𝑧−1 𝑧−𝑒
𝐺 𝑠 2𝑧 2𝑧 1.264 𝑧
Substituting T = 0.25 yields 𝐺 𝑧 = 𝑍 𝑠
= − =
𝑧 − 1 𝑧 − 0.3679 (𝑧 − 1)(𝑧 − 0.3679)

𝑧−1 1.264
⇒ 𝐺 𝑧 = 𝐺 𝑧 =
𝑧 𝑧 − 0.3679
Exercise 3

Given 𝑇(𝑧) = 𝑁(𝑧)/𝐷(𝑧), where 𝐷 𝑧 = 𝑧 − 𝑧 − 0.5 𝑧 + 0.3,


use the Routh-Hurwitz criterion to find the number of z-plane poles of
T(z) inside, outside, and on the unit circle. Is the system stable?
𝑤𝑒 ℎ𝑎𝑣𝑒 𝐷 𝑧 = 𝑧 − 𝑧 − 0.5 𝑧 + 0.3 Solution 31
Using the bilinear transformation and substitute into 𝐷 𝑧 = 0 𝑤𝑒 𝑜𝑏𝑡𝑎𝑖𝑛

𝑠+1 𝑠+1 𝑠+1


− − 0.5 + 0.3 = 0
𝑠−1 𝑠−1 𝑠−1
𝑠+1 − 𝑠−1 𝑠+1 − 0.5 𝑠 − 1 𝑠 + 1 + 0.3 𝑠 − 1 =0

(𝑠 + 3𝑠 + 3𝑠 + 1) − (𝑠 + 𝑠 − 𝑠 − 1) − 0.5(𝑠 − 𝑠 − 𝑠 + 1) + 0.3(𝑠 − 3𝑠 + 3𝑠 − 1) = 0

−0.2 𝑠 + 1.6𝑠 + 5.4𝑠 + 1.2 = 0

The Routh table

𝑠 -0.2 5.4 The Routh table shows one root in the right-half plane and two roots in
𝑠 1.6 1.2 the left-half-plane. Hence, T(z) has one pole outside the unit
𝑠 5.55 0 circle, no poles on the unit circle, and two poles inside the unit circle.
The system is unstable because of the pole outside the unit circle.
𝑠 1.2
Exercise 4

For the system of Figure where H(z) = 1 and

1. sketch the root locus of the open-loop system.


2. determine the range of gain, K, for stability from the root locus plot.
3. find the value of gain, K, to yield a damping ratio of 0.5.
Solution 41 Root Locus

1. Treat the system as if z were s, and sketch the root locus. The result is shown in Limit of stability
K=1.64
Figure

Unit circle
2. search along the unit circle for 180°. Identification of the gain,
𝜉 = 0.5
K, at this point yields the range of gain for stability. 0< K<1.64

Pole for 𝜉=0.5


K=0.31
Solution 42

Matlab

3. From the Root Locus


plot the value of gain, K,
to yield a damping ratio
of 0.5 is K= 0.31.
Exercise 5
A lead compensator 𝐺 𝑠 is designed for a
unity feedback system whose plant is

The design specifications were as follows:


percent overshoot = 20%, peak time 0.1 second,
and Kv = 40. In order to meet the requirements,
the design yielded K = 1440 and a lead
compensator,

If the system is to be computer controlled, find the digital controller,


𝐺 𝑧 for a sampling period of T = 0.001 second.
Solution 5

The analog lead compensator

Using the Tustin transformation. With T=0.001 second yields.

2 𝑧−1
+ 25.3 2 𝑧 − 1 + 25.3 𝑇 𝑧 + 1 2 𝑧 − 1 + 25.3 (0.001) 𝑧 + 1
𝑇 𝑧+1
𝐺 𝑧 = 2.38 = 2.38 = 2.38
2(𝑧 − 1) 2 𝑧 − 1 + 60.2 𝑇 𝑧 + 1 2 𝑧 − 1 + 60.2 (0.001) 𝑧 + 1
+ 60.2
𝑇(𝑧 + 1)

2.0253 𝑧 − 1.9747 𝑧 − 0975


= 2.38 ⇒ 𝐺(𝑧) = 2.34
2.0602 𝑧 − 1.9398 𝑧 − 0.9416
Exercise 6

Find the equivalent sampled impulse response sequence and the


equivalent z-transfer function for the cascade of the two analog
systems with sampled input

1.If the systems are directly connected.

2. If the systems are separated by a sampler.


Solution
1. In the absence of samplers between the systems, the overall transfer function is

The impulse response of the cascade is

and the sampled impulse response is

Thus, the z-domain transfer function is

2. If the analog systems are separated by a sampler, then each has a z-domain transfer function, and the transfer
functions are given by

The overall transfer function for the cascade is

The partial fraction expansion of the transfer function is

Inverse z-transforming gives the impulse response sequence

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