EE 483 Automation and Robotics

Digital Control Homework Problems

Week 11 Spring 2015
1. The frequency domain magnitude plot of a particular time domain signal shows that 99%
of the power is contained between 0 and 100 Hz. It is decided to use a lowpass filter to
prevent aliasing of signals above 100 Hz. What is the sampling period if it is desired to
sample at 4 times the Nyquist rate? What would happen if the signal was not filtered
before sampling? What could happen if the filtered signal was sampled at exactly the
Nyquist rate and why (there may be a couple of reasons here).
2. For the following z-domain transfer function, write the difference equation. Does the
impulse response converge (stable) or diverge (unstable)?
H ( z )=

z0.5
z + 0.7 z0.18
2

3. For the transfer function in problem 2., draw a block diagram for the implementation,
using e(n) as the input and u(n) as the output.
4. For the following z-domain PID controller, suppose additional accuracy is needed, so you
decide to use the bilinear transformation. Find H(z) using this transformation. Then use
1 z 1
the simpler transformation s=
. Write difference equations for each result
T z
and then comment on the potential differences in the two block diagrams in terms of
complexity (you dont have to draw the block diagrams):

()

1
H ( s )=5+ +0.2 s
s
5. For both designs in problem 4., comment on the stability of the systems.
6. Given an open loop, analog transfer function for a plant that has unity gain, settling time
of 1 second and 10% overshoot. You want to close the loop and design a digital PID
controller that yields half the settling time and only 2% overshoot. For the integral part,
you may use a pole at -0.1 to compensate for the zero at 0. Use the simpler s to z
1 z 1
transformation s=
. Derive the final difference equation and draw a block
T z
diagram of the controller.

()