Study Resources For Solution Manual For Digital Control System Analysis and Design 4th Edition by Phillips ISBN 0132938316 9780132938310
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Solution Manual for Digital Control System Analysis and
Design 4th Edition by Phillips ISBN 0132938316
9780132938310
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CHAPTER 2
2.2-1. The rectangular rules for numerical integration are illustrated in Fig. P2.2-1. The left-side rule is
depicted in Fig. P2.2-1(a), and the right-side rule is depicted in Fig. P2.2-1(b). The integral of x(t)
is approximated by the sum of the rectangular areas shown for each rule. Let y(kT ) be the
numerical integral of x(t), 0 ≤ t ≤ kT.
x(t)
x(k)
x(k + 1)
kT (k + 1)T
(a)
x(t)
x(k + 1)
kT (k + 1)T
(b)
FIGURE P2.2-1 Rectangular rules for integration: (a) left side; (b) right side.
(a) Write the difference equation relating y(k + 1) , y(k) , and x(k) for the left-side rule.
(b) Find the transfer function Y (z)/X (z) for part (a).
(c) Write the difference equation relating y(k + 1), y(k) , and x(k + 1) for the right-side rule.
(d) Find the transfer function Y (z)/X (z) for part (c).
(e) Express y(k) as a summation on x(k) for the left-side rule.
(f) Express y(k) as a summation on x(k) for the right-side rule.
Solution:
(a) y(k +1) = y(k) + Tx(k)
Y (z)
(b) zY (z) = Y (z) + TX (z) = T
X (z) z −1
Y (z)
(d) zY (z) = Y (z) + TzX (z) = Tz
X (z) z −1
k −1
2.2-2. The trapezoidal rule (modified Euler method) for numerical integration approximates the integral
of a function x(t) by summing trapezoid areas as shown in Fig. P2.2-2. Let y(t) be the integral of
x(t) .
x(t)
x(k)
x(k + 1)
kT (k + 1)T
(a) Write the difference equation relating y ⎡(k + 1)T ⎤ , y(kT ), x ⎡(k + 1)T ⎤ , and x(kT ) for this rule.
⎣⎢ ⎥⎦ ⎣⎢ ⎥⎦
(b) Show that the transfer function for this integrator is given by
Y ( z) (T 2)(z + 1)
=
X ( z) z−1
Solution:
x(k) + x(k +1)
(a) y(k + 1) = y(k) + T
2
T T z +1
(b) zY (z) = Y (z) + X (z) + zX (z) Y (z) = X (z)
2 2 z −1
2.2-3. (a) The transfer function for the right-side rectangular-rule integrator was found in Problem 2.2-1
to be Y (z)/X (z) = Tz/(z − 1) . We would suspect that the reciprocal of this transfer function should
yield an approximation to a differentiator. That is, if w(kT ) is a numerical derivative of x(t) at
t = kT ,
W (z ) z−1
=
X (z) Tz
(b) Draw a figure similar to those in Fig. P2.2-1 illustrating the approximate differentiation.
(c) Repeat part (a) for the left-side rule, where W (z)/X (z) = T / (z − 1).
Solution:
1
w(k + 1) = x(k + 1) − x(k)
T
(b)
calculated
slope
kT (k + 1)T t
kT (k + 1)T t
1
w(k) = x(k + 1) − x(k)
T
2.3-1. Find the z-transform of the number sequence generated by sampling the time function e(t) = t
every T seconds, beginning at t = 0 . Can you express this transform in closed form?
Tz
Solution: e(t) = t; E(z ) = 0 + Tz −1 + 2Tz−2 + =
(z − 1)2
2.3-2. (a) Write, as a series, the z-transform of the number sequence generated by sampling the time
function e(t) = −t every T seconds, beginning at t = 0 . Can you express this transform in
closed form?
(b) Evaluate the coefficients in the series of part (a) for the case that T = 0.05 s .
(c) The exponential e(t) = −bt is sampled every T = 0.2 s , yielding the z-transform
⎛ 1⎞ ⎛ 1⎞2 − ⎛ 1 ⎞3 −
E(z) = 1 + ⎜ ⎟z −1 + ⎜ ⎟ z 2 + ⎜ ⎟ z 3 +
⎟
⎝⎟
⎜2⎠ ⎜⎝ 2 ⎟⎠ ⎜⎝ 2 ⎟⎠
Evaluate b.
Solution:
1
= 1 + (−T z −1) 1+ (−T z −1)2 + = =
z
1 − −T z−1 z − −T
z
(b) E(z) = 1+ (0.9512z−1 )1 + (0.9512z−1)2 + =
z − 0.9512
2.3-3. Find the z-transforms of the number sequences generated by sampling the following time functions
every T seconds, beginning at t = 0 . Express these transforms in closed form.
Solution:
z
(a) e(t) = −at E(z ) = 1+ −aT z−1 + −2aT z−2 + = 2-3.
z − −aT
E(z ) = z−1 + −T z−2 + −2T z−3 + = z−1 z (=1 −T
−T
z− z−
2.4-1. A function e(t) is sampled, and the resultant sequence has the z-transform
z3 − 2z
E( z ) =
z4 − 0.9z2 + 0.8
Solve this problem using E(z) and the properties of the z-transform.
(z3 − 2z)z−2
(a) �[e(t − 2T )u(t − 2T )] =
z4 − 0.9z2 + 0.8
z3 − 2z 1 −1.1z2 + 0.8
=
z − =
z4 − 0.9z2 + 0.8 z z4 − 0.9z2 + 0.8
z2 − z
=
z4 − 0.9z2 + 0.8
2.4-2. A function e(t) is sampled, and the resultant sequence has the z-transform
z −b
E (z ) =
z2 − cz2 + d
Find the z-transform of akT e(kT ) . Solve this problem using E(z) and the properties of the z-
transform.
Solution:
By complex translation
z−aT − b
�⎡ akT e(kT )⎤ = E(z −aT ) =
⎣⎢ ⎦⎥ z2−2aT − cz2−2aT + d
⎡ ⎤ z(z − cos aT )
�⎢⎣cos akT ⎥⎦ =
z2 − 2z cos aT + 1
(a) Find the conditions on the parameter a such that ⇥ ⎡⎢⎣cos akT ⎤⎥⎦is first order (pole-zero cancellation
occurs).
Solution:
(c) E(z) = z
=
z , cos a = 1, a = 0, 2π, 4π,
z − cos a z −1
2.5-2. Find the z-transform, in closed form, of the number sequence generated by sampling the time
function e(t) every T seconds beginning at t = 0 . The function e(t) is specified by its Laplace
transform,
E (s ) =
(
2 1 − −5s ), T = 1s
s( s + 2)
Solution:
E (s) = 2 1 −1
= +
1
s(s + 2) s s + 2
1, k = 0, 1
x(k) − 3x(k − 1) + 2x(k − 2) = e(k), e(k) =
0, k 2
x(−2) = x(−1) = 0
(c) Will the final-value theorem give the correct value of x(k) as k → ∞ ?
Solution:
z +1
(b) [1 − 3z + 2z ]X (z) = E(z) = 1 + z =
−1 −2 −1
z
z2 z +1 z(z +1) −2 3
X (z) =
(z − 1)(z − 2) z = =z +
(z − 1)(z − 2) z − 1 z − 2
x(k) = −2 + 3(2)k
(a) Solve for y(k) as a function of k, and give the numerical values of y(k), 0 ≤k ≤ 4.
(b) Solve the difference equation directly for y(k), 0 ≤ k ≤ 4, to verify the results of part (a).
(c) Repeat parts (a) and (b) for e(k) = 0 for all k, and y(0) = 1, y(1) = −2 .
Solution:
z 1
(a) E(z) = �[u(k − 1)] = z−1 =
z − 1 z−1
3 1
z2 − z+ Y (z) = E(z)
4
8
1 −8 8 3
Y (z) 1 · z −1 = + + −16 + 64 3
z =
z z−
1 1
z− z z −1 z − 1 z −1 4
2
2 4
1 k 64 1 k
y(k ) = −8δ(0) + −16 +
2 3 4
7
y(0) = 0; y(1) = 0; y(2) = 0; y(3) = 1; y(4) =
4
3 1
(b) y(k + 2) = e(k) + y(k + 1) − y(k)
4 8
3 1
y(2) = 0 + (0) − (0) = 0
4 8
3 1
y(3) = 1 + (0) − (0) = 1
4 8
3 1
y(4) = 1 + (1) − (0) = 7 4
4 8
(
(a) Solve for x(k) as a function of k, using the z-transform. Give the values of x(0), x(1) , and
x(2) .
(b) Verify the values x(0), x(1) , and x(2) , using the power-series method.
(c) Verify the values x(0), x(1) , and x(2) by solving the difference equationdirectly.
(d) Will the final-value property give the correct value for x(∞)?
Solution:
z
(a) [1− z−1 + z−2 ]X (z) = E(z) =
z −1
z3 1
X (z) 1 k1 k*
= + + 1 with p =
1 60
z z −1 z − p1 z − p1*
z2 1120
k1 = =
(z −1)(z −1 − 60) (.5 + j.866 −1)(.5 + j.866 − .5 + j.866)
z=160
1120
= = 0.5774 − 90
1120 [ j2(0.866)]
π
aT = ln ( p ) = 0; bT = arg p =
1 1
3
2z2 − 2z + 1
2z2 − 4z + 4 − 2z−1
2z +
x(0) = 1+ 0 − 0 = 1
x(1) = 1+1− 0 = 2
x(2) = 1 + 2 −1 = 2
where
⎧⎪ 1, k=0
e( k ) = ⎟⎨
⎪ 0, otherwise
⎟⎩
x(0) = 1
x(1) = −1
(c) Verify the results in part (b) using the power-series method.
(d) Verify the results in part (b) by solving the difference equation directly.
Solution:
(a) z2[X (z) − x(0) − x(1)z−1] + 3z[X (z) − x(0)] + 2X (z) = E(z) = 1
1 + z2 − z + 3z z2 + 2z + 1 z + 1
X (z) = 2 = =
z − 3z + 2 z2 + 3z + 2 z + 2
1
X (z) = z z +1 = z +
2
2 1
z(z + 2) z z + 2
1 1
x(k) = (k) + (−2)k
2 2
(a) Write a digital computer program that will calculate x(k) . Run this program solving for x(3),
x(4) , . . . , x(25) .
(c) Use the z-transform and the power-series method to verify the values x(k), 0 ≤ k ≤ 5.
Solution:
(a) x0 = 0;
x1 = 0;
x2 = 0;
for k = 0:5;
x0 = x1;
x1 = x2;
x2 = x3;
end
x(3) = 1+ 0 − 0 + 0 = 1
z
(c) [z3 − 2.2z2 +1.57z − 0.36]X (z) = E(z) =
z −1
z
X (z) =
(z −1)(z − 2.2z + 1.57z − 0.36)
3 2
x(3) = 1
x(4) = 3.2
x(5) = 6.47
0.1
E(z ) =
z(z − 0.9)
(c) Check the values calculated in part (a) using partial fractions.
(d) Find e(k) for k = 0, 1, 2, 3, and 4 if ⇥ ⎡e(k)⎤ is givenby
E( z ) =
1.98z
(z 2
− 0.9z + 0.9 )(z − 0.8)(z 2
− 1.2z + 0.27 )
(e) Find a function e(t) which, when sampled at a rate of 10 Hz (T = 0.1s), results in the
(g) From parts (e) and (f), what is the effect on the inverse z-transform of changing the sign on a
real pole?
Solution:
0.1zk−1 zk−2
(a) e(k) = z(z − 0.9)
= z − 0.9
residues residues
0.1 0.1
k = 0 : fcn = , residue = = 0.1235
z2(z − 0.9) z=0.9
(0.9)2
e(0) = 0
0.1 0.1
k = 1 : e(1) = + =0
z − 0.9 z=0 z z =0.9
k = 10 : e(10) = 0.1(0.9)8
k1 k2 k3
(c)(c) E(z) = 0.1 = + +
z z2 (z − 0.9) z2 z z − 0.9
−0.1 1
k= =− ;k 0.1 1
=
1 3
0.9 9 (0.9)2 8.1
d −1
k= 0.1 = , from (a)
2 dz z −0.9
z=0 8.1
−1 1 1
e(k) = (k) − (k −1) + (0.9)k
8.1 9 8.1
1 1 1 0.9
x(0) = − + 0 + = 0; x(1) = − 0 − + =0
8.1 8.1 9 8.1
0.1
x(10) = − 0 − 0 + (0.9)10 = 0.1(0.9)8
(0.9)2
1.98z
(d) E(z) = = 1.98z−4 + ()z−5 + ()z−6 +
z +
5
2z
(e) E(z) = = 2z
−aT = 0.8 aT = 0.2231
z − 0.8 z − −aT
0.2231
2z
(f) E(z) = ; −aT jπ = −0.8 aT = 2.231
z − (−0.8)
ωs
e(t) = 2e−2.231t cos10πt where = 10π
2
E( z ) =
z
( z + 1)
2
(b) Check your result in part (a) by finding the inverse z-transform of E(z).
Solution:
z(z − 1)
(a) e() = lim (z − 1)E(z) = =0
z→1 (z +1)2 z =1
z
(b) e(k) = z−1 = k(−1)k, e()unbounded
(z −1)2 z
(c) (a) e() = lim (z −1) ,
unbounded
z→1 (z −1)2
z
(d) (a) e() = lim (z −1) =0
z→1 (z − 0.9)2
z
(e) (a) e() = lim (z −1) =0
z→1 (z −1.1)2
2.7-3. Find the inverse z-transform of each E(z) below by the four methods given in the text. Compare
the values of e(z) , for k = 0, 1, 2, and 3, obtained by the four methods.
0.5
(a) E(z) = 0.5z (b) E(z ) =
Solution:
0.5z−1 + 0.8z−2 + 0.98z−3 +
(a) (i) z − 1.6z + 0.6 0.5z
2
k
(iii) zk − E(z) = 0.5z1
(z − 1)(z − 0.6)
0.5(1)k 0.5(0.6)k k
e(k) = + = 1.25(1 − 0.6 )u(k)
1 − 0.6 0.6 −1
0.5z
(iv) E1(z) = e1 (k) = 0.5(0.6)k
z − 0.6
1
E (z) = e2 (0) = 0; e2 (k) = 1, k 1
2
z −1
(b) e(0) = 0
Clematis Flammula L.
Delphinium cardiopetalum DC.
Iberis pectinata Boiss.
Biscutella Apula L.
Alyssum campestre L.
Eruca sativa Lmk.
Diplotaxis muralis DC.
Brassica Gravinæ Ten.
Sinapis amplexicaulis DC.
— pubescens L.
Helianthemum Niloticum Pers.
— pilosum Pers.
— glutinosum Pers.
— rubellum Presl.
*Reseda Duriæana J. Gay.
Silene ambigua Cambess.
— inflata Sm.
Lychnis macrocarpa Boiss. et Reut.
Linum decumbens Desf.
Malope stipulacea Cav.
Malva sylvestris L.
— parviflora L.
Erodium cicutarium L’Hérit.
— malachoides Willd.
Zizyphus Lotus L.
Ononis Columnæ All.
— breviflora DC.
— Natrix L.
— ornithopodioides L.
Anthyllis tetraphylla Desf.
— Vulneraria L.
Medicago orbicularis Willd.
— scutellata Lmk.
— minima Lmk.
— denticulata Willd.
— pentacycla DC.
— tribuloides Lmk.
Trifolium scabrum L.
— tomentosum L.
— stellatum L.
— fragiferum L.
Lotus edulis L.
— corniculatus L.
Astragalus sesameus L.
*— geniculatus Desf.
— Pentaglottis L.
— Epiglottis L.
— caprinus L.
— hamosus L.
Scorpiurus sulcata L.
Onobrychis Caput-Galli Lmk.
Hedysarum capitatum Desf.
*— pallidum Desf.
Arthrolobium scorpioides DC.
Hippocrepis multisiliquosa L.
— ciliata Willd.
— unisiliquosa L.
Vicia sativa L.
— lutea L. var. hirta.
Rubus fruticosus L. var. discolor.
Cratægus monogyna Jacq. var.
Poterium Magnolii Spach.
Paronychia argentea Lmk.
Sedum heptapetalum Poir.
Umbilicus hispidus DC.
— horizontalis DC.
Eryngium triquetrum Vahl.
Thapsia Garganica L.
*Daucus gracilis Steinh.
Valerianella discoidea Lois.
*Echinops spinosus L.
Rhaponticum acaule DC.
Cynara Cardunculus L.
Carduncellus pinnatus DC.
Kentrophyllum lanatum DC.
Centaurea Nicæensis All.
— Calcitrapa L.
*— acaulis L.
*Carlina involucrata Desf.
Atractylis cancellata L.
Pallenis spinosa Cass.
Anacyclus tomentosus DC.
Leucanthemum glabrum Boiss. et Reut.
Micropus supinus L.
Filago Jussiæi Coss. et Germ.
Bellis annua L.
Senecio delphinifolius Vahl.
— Nebrodensis L.
Cichorium Intybus L.
Scolymus Hispanicus L.
Seriola Ætnensis L.
*Kalbfussia Salzmanni Sch. Bip.
*Spitzelia cupuligera DR.
Catananche cærulea L.
— lutea L.
Hedypnois rhagadioloides Pers.
Hyoseris radiata L.
Urospermum Dalechampii Desf.
Scorzonera undulata Vahl.
Barkhausia fœtida DC.
Campanula Erinus L.
Convolvulus althæoides L.
— Sabatius Viv.
— Cantabrica L.
— arvensis L.
— undulatus Cav.
— tricolor L.
Alkanna tinctoria Tausch.
Nonnea nigricans DC.
Cynoglossum cheirifolium L.
Lycium Barbarum L.
Verbascum sinuatum L.
Scrophularia canina L.
Linaria triphylla Willd.
— reflexa Desf.
Antirrhinum tortuosum Bosc.
Eufragia viscosa Benth.
*Thymus ciliatus Benth. var.
Salvia Verbenaca L.
— patula Desf.
Stachys circinnata L’Hérit.
Teucrium Polium L.
Plantago Lagopus L.
— Serraria L.
— Psyllium L.
— albicans L.
Passerina hirsuta L.
Rumex Bucephalophorus L.
Euphorbia Peplus L.
*— calcarea DR.
Celtis australis L.
Iris Sisyrinchium L.
Asparagus albus L.
Scilla Peruviana L.
— maritima L.
Bellevalia Romana Rchb.
Muscari racemosum Mill.
Ornithogalum Arabicum L.
— umbellatum L.
Allium roseum L.
— nigrum L.
Asphodelus ramosus L.
Arisarum vulgare Kunth.
Arum Italicum Mill.
Phalaris paradoxa L.
Gastridium lendigerum Gaud.
Echinaria capitata Desf.
Cynodon Dactylon L.
Lagurus ovatus L.
Trisetum flavescens P. B.
Kœleria villosa Pers.
Ampelodesmos tenax Link.
Dactylis glomerata L.
Lamarckia aurea Mœnch.
Poa annua L.
Festuca rigida Kunth.
Bromus maximus Desf. var. Gussonii Parlat.
— macrostachyus Desf.
— rubens L.
Brachypodium distachyon Rœm. et Sch.
Ægilops ovata L.
— ventricosa Tausch.
Liste des plantes observées aux environs de Constantine, non mentionnées dans
les listes précédentes.
Liste des plantes observées dans les pâturages des environs de Mélila[11].
ENVIRONS DE BATNA.