PRAGATI ENGINEERING COLLEGE

DIGITAL CONTROL SYSTEMS

IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-I

1. (a) With help of schematic diagram explain the principal operation of digital to analog conversion.
(b) Explain the conditions to be satisfied for reconstruction of sampled signal into continuous signal.
(c) Explain zero order hold device. [5+5+6]

2. (a) What are the different types of sampling operations? Explain each of them.
(b) What do you mean by the problem of aliasing? How to overcome this?
(c) Explain the advantages and disadvantages of digital control systems. [6+5+5]

3. (a) Describe the following parameters:

i. Acquisition time
ii. Aperture time and
iii. Settling time
(b) State and explain the sampling theorem.
(c) Derive the transfer function of zero order hold device. [6+5+5]

4. (a) Explain clearly the advantages and disadvantages of digital control systems.
(b) Draw the schematic diagram of basic digital control scheme and explain the same.
(c) With suitable diagram explain the weighted resistor digital to analog converter. [5+5+6]

5. (a) With suitable diagram explain any method of digital to analog conversion.
(b) What are the different types of sampling operations? Explain each of them. [8+8]

6. (a) With suitable block diagram explain the general sampled data control system.
(b) State and explain the theorem required to satisfy to recover the signal e(t) from the samples
e∗(t). [8+8]

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-II

1. (a) Obtain the z - transform of the following x(k)?

x(k) = 9k(2k  1)  2k  3 , k=0,1,2, ...... Assume that x(k)=0 for k<0.
(b) Obtain the inverse z-transform of the following
Z(Z  2)
i. X(Z)=
(Z  1)2
Z- 2
ii. X(Z)= [5+5+6]
(1 - Z - 1 )3

2. (a) Find the Z-transform of the following:

i. f(t) = t2,
ii. f(t) =e−αtsinωt
(b) What are the popular methods are used to find the inverse z-transform? Explain briefly each of
them. [8+8]

3. (a) State and prove the following properties /theorems of z-transforms.

i. Shifting theorem
ii. Complex translation theorem
iii. Complex differentiation and Partial differentiation theorem.
3z2  2z  1
(b) Find the inverse Z-transform of the F(z)=
z2  3z  2

-1
 z-2  k-2
(c) Show that Z   = (k-1)a , k = 1,2,3,…
 (1  az- 1 ) 2 
0 , k0 [6+5+5]

4. (a) Find the inverse Z-transform of the following:

(1 - e- ωT ) z
i. F(z) = , ‘ ω ’ is a positive constant; and ‘T’ is the sampling period,
(z - 1)(z - e- ωT )
10z
ii. F(z)=
z2  1
1
iii. F(z)= [6+5+5]
z(z - 0.2)

K K
5.(a) Given the function f(k)= (0.1) us(k) + 0.5k(0.1) us(k). Find the Z-transform of f(k), i.e., F(z)
(b) Explain the properties of z-transforms (at least four).
 z(z - 0.2)
6.(a) Given that the z-transform G(z) = ; Find the sequence g(kT)
4(z - 0.8)(z - 1)
2(s  1)
(b) i. F(s) =
s (s  5)
-t
ii. f(t) = te [8+8]

7.(a) State and Prove ‘Initial and Final’ value theorems.

(b) Find the Z-transform of the following:
1
i. F(s) =
s 2 (s  1)
ii. f(t) = tsin(ωt) [8+8]

8. (a) Find the Z-transform of f(t) = eαtt2

z2
(b) Find the inverse Z-transform of the following function, F(z) = [8+8]
(z - 1)(z - 0.2)

9.(a) Obtain the Z-transform of the curve x(t) shown the figure. Assume that ‘t’ is in sec.

(b) Find the inverse Z-transform of the following:

5z
i. F(z) =
z2  2z  2
3z2  2z  1
ii. F(z) =
z2 - 3z  2

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-III

1.(a) State and explain Jury’s stability test.

(b) Using the Jury’s stability criterion find the range of K, for which the characteristic equation
z3 + Kz2 + 1.5 Kz – (K+1) = 0 is closed loop stable. [8+8]

2. The block diagram representation of digital control system is given in figure.

Using the Jury’s stability criterion, find the range of values of K for which the system is stable. [16]

K
3. The block diagram of a digital control system is shown in the figure, where Gp(s) =
s (s 5)

[16]

Determine the range of K for which the system to be asymptotically stable.

4.(a) Explain the procedure for obtaining the pulse transfer function of a closed loop transfer function.
(b) Find Y(z)/ R(z) for the following sample- data closed-loop systems shown in the figure. [6+10]

5. Find the range of K for the system shown in the figure to be stable. [16]
 K(s  5)
6. The block diagram of a digital control system is shown in the figure, where G p(s) =
s2

Determine the range of K for which the system to be asymptotically stable. [16]

7. A sampler and ZOH are now introduced in the forward loop (figure). Study the stability of the sampled-
data system via bilinear transformation and show that the stable linear continuous time system becomes
unstable upon the introduction of a sampler and ZOH. [16]

8. Consider the sampled-data system shown in the figure and assume its sampling period is 0.4 sec.

Find the range of K, so that the closed-loop system for which stable.

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-IV

1. Explain the correlation between time response and root locations in the s-plane and the z-plane. [16]

20
2.The block diagram of a discrete-data control system is shown in the figure, in which Gp(s) = and
s (s  5)
T=0.5 sec. Compute and plot the unit step response c*(t) of the system. Find c* and the sampling instant
ma x
at which it occurs. [16]

20
3. The block diagram of a discrete-data control system is shown in the figure, in which Gp(s) = and
s (s  5)
T=0.5 sec. Compute and plot the unit step response c*(t) of the system. Find the step, ramp and parabolic
error constants. Also find the final value of c(KT) [16]

2(s  1)
4. The block diagram of a discrete-data control system is shown in the figure, in which Gp(s) = and
s (s  2)
T=0.5 sec. Compute and plot the unit step response c*(t) of the system. Find c* and the sampling instant
ma x
at which it occurs. [16]

C(z) 0.4986 (z  0.7453)

5. Consider the closed-loop transfer function of the system is given by 
R(z) z2 - 1.262 z  0.5235
Draw the the pole-zero configurations of the given system. Also find the maximum overshoot and peak time. [16]

6. Compare the characteristics of time-domain responses of a continuous-time and discrete-time systems.[16]

7. Consider the system shown in the figure. Derive the difference equation describing the system dynamics
when the input voltage is piecewise constant. i.e., e(t)= e(KT) when KT  t  (K+1)T and T=1 sec.

Also obtain the values of the output voltage at sampling instants of e(KT) = KT for K  0. [16]

8. The open loop pulse transfer function of an uncompensated digital control system is
0.0453(z  0.904)
Gh0Gp(z)= . The sampling period T is equal to 0.1 sec. Find the time response and
(z  0.905)(z  0.819)
steady state error of the system to a unit step input. [16]

2
9. The block diagram of a discrete-data control system is shown in the figure, in which Gp(s) =
s2  s  2
and T=1.0 sec. Compute and plot the unit step response c*(t) of the system. Find c* and the sampling
ma x
instant at which it occurs. [16]

20
10. The block diagram of a discrete-data control system is shown in the figure, in which Gp(s) =
s (s  5)
and T=0.5 sec. Compute and plot the unit step response c*(t) of the system. Find the step, ramp and
parabolic error constants. Also find the final value of c(KT). [16]

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-V

1. Draw the root locus in the z-plane for the system shown in the figure for 0 < K < ∞. Consider the sampling period
T=4 sec. [16]

2. Sketch the root locus of a digital system indicating all the component information on the root loci,
K(z2  0.5z  0.2)
given with G(z) = [16]
(z  1)(z2  z  0.5)
3. The open loop pulse transfer function of a unity-feedback digital control system is given by
K(z  0.5) (z  0.2)
G(z)= . Sketch the root loci of the system for 0 < K < ∞. Indicate all important information on
(z  1)(z  0.5)
the root loci. [16]

0.0952K z
4. Consider the digital control system whose transfer function is given by GH(z) = .
(z  1)(z  0.905)
Draw Nyquist plot and determine its stability. [16]

5. The open loop pulse transfer function of a unity-feedback digital control system is given by

K(z  0.5) (z  0.2)

G(z)= . Sketch the root loci of the system for 0 < K < ∞. Indicate all important information on
2
(z  1)(z  z  0.5)
the root loci.

6. The open loop pulse transfer function of a unity-feedback digital control system is given by
Kz
G(z)= . Sketch the root loci of the system for 0 < K < ∞. Indicate all important information
(z  1)(z2  z  0.5)
on the root loci.

7. The open loop pulse transfer function of a unity-feedback digital control system is given by

K(z2  0.5z  0.2)

G(z)= . Sketch the root loci of the system for 0 < K < ∞. Indicate all important information
(z  1)(z2  z  0.5)
on the root loci.
8.(a) State and explain the Nyquist stability criterion in z-domain.
(b) Explain the construction of Bode diagram for discrete time systems. [8+8]

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-VI

1. Derive the pulse transfer function of digital PID controller. Also the design procedure of PID controller. [16]

2.(a) Explain the design procedure of digital controller through bilinear transformation.
(b) Explain the digital PID controllers.

3. The block diagram of a digital control system is shown in the figure. Design a compensator D(z) to meet the
following specifications:

(a) Velocity error constant , Kv  4 sec-1,

(b) Phase margin  400 and
(c) Band Width = 1.5 rad/sec

4. The block diagram of a digital control system is shown in the figure. Design a PID controller D(z), to eliminate the
steady-state error due to a step input simultaneously realizing good transient response, and the ramp-error constant
Kv should equal 5. [16]

5.Consider the system shown in the figure and design lead compensator Gc(z) in ‘w’ plane for this system
to meet the following specifications:
(a) Damping ratio=0.7,
(b) Settling time, ts= 1.4 sec and
(c) Velocity error constant , Kv  2 sec-1.

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-VII

1.Obtain the state space representation of the system given in figure. The sampling period T is 1 sec. Also obtain
the state transition matrix. [16]

Y(z) z3  2z2  z  2
2. The pulse transfer function of a digital control system is given by  ,
R(z) 3 2
z  3z  2z  1

Obtain a state-space representation for the system and draw the state diagram. Also obtain the pulse transfer
matrix. [16]

3. Find state model for the following equation. Also find its state transition matrix.

y(k+2) +3y(k+1) + 2y(k) = 5u(k+1) + 3u(k) [16]

4.Find the complete response of the system

1 1 0  1
X(k+1) =   x(k) +   u(k) ; x(0) =   , if u(k) =1 for k= 0,1,2,… [16]
0 - 1 1   - 1

5.(a) Let A be an n X n matrix. Using Cayley-Hamilton’s theorem , show that any with k  n can be written as a linear

combination of I,A,...., An1 . 
(b) Explain the method to find the state-transition matrix through z-transform technique. [8+8]

6. Find state model for the following difference equation. Obtain different canonical forms. Also draw state diagram
for each.

y(k+3) + 5y(k+2) + 7y(k+1) + 3y(k) = 0 [16]

G.Naresh
Assoc. Professor of EEE
 PRAGATI ENGINEERING COLLEGE
DIGITAL CONTROL SYSTEMS
IV B.TECH II SEMESTER (FOR EEE Only) ASSIGNMENT-VIII

1.(a) State and explain the Liapunov’s stability theorem for linear digital systems.
 0.5 1 
(b) Given X(k+1) =   X(k)
-1 -1
Solve ‘P’ matrix and justify, by using the Liapunov’s theorem (Direct method). Show that the system is
asymptotically stable. [6+10]

2.(a) Draw the relationship between controllability, observability and transfer functions.
(b) Consider the discrete, linear discrete-time control system , whose input-output relation described by the
difference equation
y(k+2) +2y(k+1) +2y(k) = u(k+1) +3u(k). Test for state controllableand output controllable. [6+10]

3. Investigate the controllability and observability of the following systems.

  1 1 0
(a) X(k+1) =   X(k) +   u(k) ; y(k) = 1 1 x(k)
 0 - 1 1 
1 - 2  1 0  1 0
(b) X(k+1) =   X(k) +   u(k) ; y(k) =   x(k)
1 - 1   0 - 1 0 1 

What can you say about controllability and observability of the state model in part (a) without making any further
calculations. [8+8]

4.(a) Derive the necessary condition for the digital control system
X(k+1) = AX(k) + B u(k)
Y(k) = C X(k) to be controllable.
(b) Examine whether the discrete data system
X(k+1) = AX(k) + B u(k)
1 - 2 1 0 1 0
Y(k) = C X(k) where A =   , B =   , C=   is
1 - 1  0 - 1  0 1 
i. State controllable and
ii. Observable [10+6]
5.(a) State and explain the Liapunov’s stability theorems for linear digital systems.
(b) A digital control system is described by the state equation
 0.5 1  1
X(l+1) =   X(k) +   u(k)
-1 -1 1
Find the Liapunov function and determine its stability with u(k)=0. [8+8]

6.(a) Explain the concept of controllability and observability of discrete time control system.
(b) Examine whether the discrete data system :
X(k+1) = AX(k) + B u(k)
 0 1  1
C(k) = D X(k) where A =   , B =   , D = 1 0 is [7+9]
- 2 - 2  - 1
i. State controllable
ii. Output controllable and
iii. Observable
G.Naresh
Assoc. Professor of EEE