MECH 4008 - Vibrations, Acoustics & Control

Digital Control Systems

Tutorial Sheet 1 Control

1.

Write down the following mathematical relationships

Time domain to s plane; time domain to z plane; s plane to z plane.

2.

The difference equations describing the input-output relationship of an initially relaxed

discrete time systems are given below. Find the transfer function for each system.
y(n) 2.y(n-1) + y(n-2) + 5.y(n-3) = x(n)
4.y(n) 3.y(n-2) + 5.y(n-3) = 10.x(n) + 4.x(n-1)
y(n) 2.x(n-1) + x(n-2) + 3.y(n-3) + x(n) = 0
Solution:
Y ( z)
z3
H ( z) =
=
X ( z) z 3 2z 2 + z + 5
Y ( z ) 10 z 3 + 4 z 2
H ( z) =
=
X ( z ) 4 z 3 3z + 5
Y ( z) z 3 + 2 z 2 z
H ( z) =
=
X ( z)
z3 + 3

3.

Using inverse transfer function methods solve the following equations:

Y ( z) =

z 2 ( z + 1)
( z 1)( z 0.4)( z + 0.5)

Y ( z) =

3 z ( z + 1)( z + 0.2)
z ( z + 0.5)( z 0.4)

Solution:
1
28
5

y (n) = 20 (0.4) n (0.5) n

9
3
3

n
n
y (n) = 3 (n) + 7(0.4) (0.5)
4.

Determine the inverse transforms of

H ( z) =

3z 3 + 2 z 2 + 2 z + 5
z 3 + 4 z 2 + 3z + 2

10 z 2
X ( z) =
( z 1)( z + 1)

Solution:
h(0) = 3 h(1) = 10 h(2) = 33
x(n) = 5 + 5(1)