Rr411005 Digital Control Systems

Code No: RR411005 Set No.
1
IV B.Tech I Semester Regular Examinations, November 2007
DIGITAL CONTROL SYSTEMS
( Common to Electronics & Instrumentation Engineering and Electronics &
Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆
1. Obtain the inverse Z-transform of

z −1
(a) F1 (z) = (1−z −1 )(1+1.3z −1 +0.4z −2 )
1+6z −2 +z −3
(b) F2 (z) = (1−z −1 )(1−0.2z −1 )
z −1 (0.5−z −1 )
(c) F3 (z) = (1−0.5z −1 )(1−0.8z −1 )2
in the closed form. [5+6+5]
2. Derive the state space model of discrete control system using direct programming
method and draw its block diagram. [16]
3.
Considerthe
following
continuous
control
system

ẋ1 (t) −1 1 x1 (k) 0
+
ẋ2 (t) 0 −1 x2 (k) 1
y(t) = x1 (t)
The control signal u(k) is now generated by processing the signal u(t) through a
sampler and zero order hold. Study the controllability and observability properties
of the system under this condition. Determine the values of the sampling period
for which the discretised system may exhibit hidden oscillation. [16]
4. Investigate the stability of the following system and calculate the range of K, over
which the system is stable. Select the sampling period T = 0.4 sec. as shown in
the figure 4. [16]
Figure 4
5. What is a dead beat response? Explain the characteristic of the poles of the transfer
function of a system that has a dead beat response. [16]
6. A regulator system has the plant characterized by

X(k+1) = AX(k)+Bu(k)
Y(k) = CX(k)
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Code No: RR411005 Set No. 1
   
0 0 −6 1
with A =  1 0 −11 B =
  0 C = 0 0 1
0 1 −6 0
Compute K so that the control law u(k) = -K(X) places the closed loop poles at
-2+j3.464, -2-j3.464, -5. Give the state variable model of the closed loop system.
[16]
7. (a) Discuss briefly Kalman Filtering algorithm and explain the various recursive
relations.
(b) With neat block diagram explain the full order observer. [8+8]
8. Consider the mixing tank system, x(k+1) = Fx(k) + Gu(k); y(k) = Cx(k)

0.9512 0 4.88 4.88 0.01 0
Where F = ;G = ;C =
0 0.90480 −0.019 0.0095 0 1
Find the optimal control law that minimizes the performance index
∞
y T (k) Qy(F ) + uT (k) ,
P
J =
k=0

25 0 2 0
where Q = ;R = [16]
0 0.1 0 0.5
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1. Show that the transfer function for

1−eT s
(a) a zero-order hold is,G0 (s) = s
2
T s+1 1−eT s
(b) a first-order hold is,G1 (s) = T s
. [8+8]
2. Consider the discrete control system represented by the transfer function

z −1 (1+z −1 )
G(z) = (1+0.5z−1 )(1−0.5z−1 )
Obtain the state space representation in the diagonal form. [16]
3. Consider the state equation
•
X = AX + Bu where,

1 1 0
A = B =
−4 −3 2
Instigate its controllability and transform the given equation into the controllable
canonical form. [16]
4. Determine the stability of the following characteristic equations by using suitable
tests.
(a) 5z2 −2z + 2 = 0
(b) z3 −0.2z2 −0.25z + 0.05 = 0
(c) z4 −1.7z3 +1.04z2 −0.268z + 0.024 = 0. [5+5+6]
5. Show that the transfer function U(s) / E(s) of the PID controller shown figure 5.

U (s) T1 + T2 1 T1 T2 · s
= Ko 1+ +
E(s) T1 (T1 + T2 ) T1 + T2
Assume the gain k is very large compared with unity, or k >>1. [16]
Figure 5
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6. (a) Enumerate the design steps for pole placement.
(b) Prove Ackermann’s formula for the determination of the state feedback gain
matrix K. [8+8]
relations.

0.8 1 1
8. Obtain the control law for the system X(k+1) = X(k) + u(k)
0 0.5 0.5
to ensure that the closed lop poles lie within a circle of radius 1/α; (α = 5, )
∞
[x21 + u2 ] for the
P
in addition to minimization of the performance index J =
k=0
system. [16]
⋆⋆⋆⋆⋆
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1. (a) Obtain the Z-transform of

i. f1 (t) = a1 (1 − e−at ) where ‘a’ is a constant
ii. f2 = 9k(2k−1 ) − 2k + 3 k≥0
(h!)z

(b) Show thatz k (k − 1) ..... (k − h + 1) ak−h = (z−a) h+1 . [5+5+6]
3. Investigate the controllability and observability of the following system

x1 (k + 1) 1 −2 x1 (k) 1 −1
= + u(k)
x2 (k + 1) 1 −1 x2 (k) 0 0

y1 (k) 1 0 x1 (k)
= [16]
y2 (k) 0 1 x2 (k)
4. Explain the Liapunov stability analysis of linear time invariant continuous time
system and linear time invariant discrete time system. [16]
5. Show that the transfer function U(s) / E(s) of the PID controller shown figure 5.

U (s) T1 + T2 1 T1 T2 · s
= Ko 1+ +
E(s) T1 (T1 + T2 ) T1 + T2
Assume the gain k is very large compared with unity, or k >>1. [16]
Figure 5
6. A regulator system has the plant

   
0 1 0 0
x(k + 1) =  0 0 1  x(k) + 0  u(k)

−6 −11 −6 1

y(k) = 1 0 0 x(k)
Design a state feedback controller which will place the closed loop poles at
-2+j3.464,-2-j3.464, -5. Give a block diagram of the controller configuration. [16]
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7. Consider the digital process with the state equations described by
X(k + 1) = AX (k) + Bu(k)
c(k) = D X(k)

0 1 0
Where A = , B= , D= 2 0 .
−1 1 1
Design a full order observer which will observe the states x1 (k) and x2 (k) from
the output c(k), having dead beat response. Write the dynamic equation for the
observer. [16]
8. Evaluate the minimum performance index and also find out the optimal control
law to minimize the given performance index for the discrete time control system
defined by [16]
x(k+1) = 0.3679 x(k) + 0.6321 u(k) ; x(0) = 1.
The performance index is
9
J = 12 [x (10)]2 + 12 [x2 (k) + u2 (k)]
P
k=0
⋆⋆⋆⋆⋆
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⋆⋆⋆⋆⋆
1. Consider the difference equation y(k+2) - 1.3679y(k+1) +0.3679y(k) = 0.3679u(k+1)

+ 0.2642u(k) Find the output y(k), if the initial condition is y(0) = y(1) = 0 and
the input is given by


 0.0000 f or k < 0 and k ≥ 3
1.0000 k=0

u(k) = [16]

 0.2142 k =1
0.2142 k=2

3.
Considerthe
following
continuous
control
system

ẋ1 (t) −1 1 x1 (k) 0
+
ẋ2 (t) 0 −1 x2 (k) 1
y(t) = x1 (t)
The control signal u(k) is now generated by processing the signal u(t) through a
sampler and zero order hold. Study the controllability and observability properties
of the system under this condition. Determine the values of the sampling period
for which the discretised system may exhibit hidden oscillation. [16]
4. Explain Liapunov stability criterion for the linear time variant systems. [16]
5. Explain the digital implementation of PI controller and lead lag controller in detail
with suitable diagrams. [16]
6. (a) Enumerate the design steps for pole placement.
(b) Prove Ackermann’s formula for the determination of the state feedback gain
matrix K. [8+8]
relations.

0.8 1 1
8. Obtain the control law for the system X(k+1) = X(k) + u(k)
0 0.5 0.5
to ensure that the closed lop poles lie within a circle of radius 1/α; (α = 5, )
∞
[x21 + u2 ] for the
P
in addition to minimization of the performance index J =
k=0
system. [16]
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2 of 2

Rr411005 Digital Control Systems

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Code No: RR411005 Set No.

1. Obtain the inverse Z-transform of

6. A regulator system has the plant characterized by

1. Show that the transfer function for

2. Consider the discrete control system represented by the transfer function

1. (a) Obtain the Z-transform of

6. A regulator system has the plant

1. Consider the difference equation y(k+2) - 1.3679y(k+1) +0.3679y(k) = 0.3679u(k+1)

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