MECH 4008 - Vibrations, Acoustics & Control Digital Control Systems Tutorial Sheet 2 — Control Question 1: Determine if each of the following transfer functions is stable, unstable, or marginally stable. In each case write the difference equation algorithm relating x(n) and y(n) re © 20 10 4-224 "40.527 Answer: (a) Marginally stable (21 = -0.65, 22 = 0.2, 23 = -1). (b) Unstable (z; = 2, z2 = -0.65). (c) Stable {z{=|zq= 0.707). Difference equations => see handouts. Question 2: Determine the first 5 points in the inverse z-transform by the power series method. Answer: y(0) = 0.5; y(1) = -2; y(2) Question 3: A digital control system is described by the difference equation yin) - 0.2 y(n-1) - y(n-2) + 0.2y(n-3) = 0.5x(n) - x(n-1) - 0.3x(n-2) (i) Determine the transfer function H(z) and discuss its stability (ii) Determine the impulse response h(n). (iii) Calculate the response due to a unit step function excitation at t= 0s, if the system is initially relaxed. (iv) Calculate the response due to the exponential function excitation x(n) = 3°, if the system is initially relaxed. Answer: (i) Marginally stable (21 = 1, 22 = -1, Zs = 0.2). (ii) h(n) =-0.5 +05 (AY +0.5 0.2)". (ili) y(n) = 0.375 + 0.25 (-1)" - 0.125 (0.2)"- 0.5 n (iv) y(n) = 0.25 + 0.125 (-1)" - 0.0357 (0.2)" + 0.1607 3".