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16 views

Homework 1

Uploaded by

talha manzoor
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EE 561: Digital Control Systems

Problem Set # 1
Spring 2020

Due date: Mar 09, 2020 (in class)

Question # 1 (15 marks)


Consider the following continuous-time signal

x(t) = sin t + sin 3t

a) Assume that the signal is sampled at frequency ωs = 3 rad/sec. Using the Z-transform
(or any other technique of your choosing) determine the sampled sequence upto 10 time
steps.

b) Plot the sequence obtained above (you may use MATLAB if you want). What anomaly
do you observe in the sampling sequence? Is it a hidden oscillation? Explain why it oc-
curred.

c) Show how the hidden oscillation may have been detected beforehand using the modified
Z-transform. You may choose any suitable value for the delay.

Question # 2 (10 marks)


Consider the following sampled-data system

a) Find the output y(t) at the sampling instants i.e. y(kT ) if the sampling time T is 0.1
sec. Assume a unit impulse input.

b) Repeat by substituting the zero-order-hold with a first-order-hold and replacing the


1
plant transfer function with . You may refer to the end of Section 3.4 of your text-
s+1
book to see what the F.O.H operation looks like.

Question # 3 (5 marks)
Consider the following plant transfer function.
Y (s) 3
=
U (s) (s + 1)(s + 3)
Derive the discrete-time state space description of the system if the plant is preceded by a
zero-order sample and hold operation with a sampling time of T = 0.1 sec.

Question # 4 (10 marks)


Obtain an analytical solution to the Fibonacci sequence as given in Ch 4.1 of your textbook
using the Z-transform method. Verify the solution by matching its first 5 values with those
obtained by directly evaluating the difference equation.

Question # 5 (10 marks)


Using any method of your choice, solve the following difference equations for analytical
expressions for the sequence

a)
uk+2 − 0.6uk+1 − 0.16uk = 5ek+2
where u−1 = 0, u−2 = 25/4 and ek = 4−k 1(k).

b)
uk+2 + 6uk+1 + 9uk = 0
where u−1 = −1/3, u−2 = −2/9.

c)
uk + 4uk−2 = 0
√ √
where u−1 = −1/(2 2), u−2 = 1/(4 2).

Question # 6 (10 marks)


Consider a system with the following transfer function
z − 0.5
H(z) =
(z + 0.5)(z − 1)
a) Write down the difference equation expressing the output uk of the system to the input
ek .

b) Using any method of your choice, find the response of the system to the input ek =
3−(k+1) 1(k).
Question # 7 (20 marks)
Consider the following continuous-time system

Y (s) 1
G(s) = =
U (s) s(s + 1)

a) Obtain a state space representation of the given system by selecting x1 = y and x2 = ẋ1 .

b) Calculate the discrete-time equivalent of the state space representation obtained above.
Assume that the control is applied through a zero-order-hold, and that the sampling time
T = 1.

c) Determine the discrete time transfer function G(z) = Y (z)/U (z).

d) Show that G(z) obtained above  is the same as  the one obtained through the Z.O.H
G(s)
equivalent of G(s) i.e., G(z) = Z (1 − e−T s ) .
s

Question # 8 (10 marks)


Consider the following discrete-time system

Y (z) z+1
= 2
U (z) z + 1.3z + 0.4

a) Obtain a state space representation of the given system in the control canonical form.

b) Transform the state by choosing the transformation matrix T as the matrix whose
columns comprise of the eigenvectors of AC . The resulting state space description is called
the modal canonical form. Show that it results in two uncoupled difference equations for
the state dynamics.

Question # 9 (10 marks)


Sketch the region in the z-plane where placing the poles of a second order transfer function
corresponds to the following time-response characteristics

1. Damped frequency ωd ≤ 0.5 rad/sec.

2. Attenuation factor σ ≥ 0.9.

3. Damping Ratio ζ ≥ 0.7.


Question # 10 (20 marks)
Consider the continuous time PI-controller given by the following transfer function
 
1
K 1+
Ti s

a) Obtain a discrete-time equivalent for the controller using each of the following methods

1. Numerical integration (use the bilinear approximation without pre-warping)

2. Pole-zero mapping

3. Hold equivalence (assume a zero order hold)

b) Using MATLAB, plot the output of each approximate controller if the input is an
impulse. Compare with the response of the continuous time controller and comment on
the accuracy of each approximation. Assume that K = 1, Ti = 2 and the sampling time
T = 0.1 sec. Attach your plots.

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