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Set No. 1

IV B.Tech I Semester Supplementary Examinations, February 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 the following in the closed form. (a) F1 (z) = (b) F2 (z) = (c) F3 (z) =

0.368z 2 +0.478z+0.154 z 2 (z−1) 2z 3 +z (z−1)2 (z−1) z+2 z 2 (z−2)

[6+5+5]

2. For the following discrete control system represented by z −1 (1 + z −1 ) G(z) = (1 + 0.5z −1 ) (1 − 0.5z −1 ) Obtain the state representation of the system in the controllable canonical form. Also ﬁnd its state transition matrix. [16] 3. Investigate the controllability and observability of the following system x1 (k + 1) x2 (k + 1) y1 (k) y2 (k) = = 1 −2 1 −1 x1 (k) x2 (k) x1 (k) x2 (k) + 1 −1 0 0 u(k) [16] [16]

1 0 0 1

4. Explain Liapunov stability criterion for the linear time variant systems.

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 Ackermanns formula for the determination of the state feedback gain matrix K. [8+8] 7. Consider the digital process with the state equations described by X(k + 1) = AX (k) + Bu(k) c(k) = D X(k) Where A = 0 0 1 ,D = 2 0 . Design a full order observer ,B = 1 −1 1 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] 1 of 2

Code No: RR411005

Set No. 1

8. What is a state regulator? Explain the steps involved in the design of state regulator. [16] ⋆⋆⋆⋆⋆

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Code No: RR411005

Set No. 2

IV B.Tech I Semester Supplementary Examinations, February 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. (a) The transfer function of a discrete-time system has poles at z = 0.5, z = 0.1±j0.2 and zeros at z = ±1. Develop the diﬀerence equation and obtain the parallel realization diagram. (b) Given the transfer function 1 G(z) = (z−0.9)2 for all |z| > 0.9 Obtain the corresponding discrete-time sequence g(k), using the residue method. [8+8] 2. A discrete time system has state and output equations given by x1 (k + 1) = 1 x1 (k) + u (k) 4 x2 (k + 1) = 1 x1 (k) + 1 x2 (k) + u (k) 8 8 y(k) = 1/ 0 2 x1 (k) x2 (k) [16]

Find the output y(k) when u(k)=unit impulse and x(0) = 0. 3. For the system deﬁned by x1 (k + 1) x2 (k + 1) y(k) = = 1 0 0 1 −0.16 −1 x1 (k) x2 (k) x1 (k) x2 (k) + 0 1 u(k)

assume that the following outputs are observed as y(0)=1 and y(1)=2 and the control signals given are u(0)=2,u(1)=-1, determine the initial state X(0) and also X(1) and X(2) . [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. What are PID controllers? Compare its performance with PI controllers and PD controllers. Explain digital PID controller in detail. [16]

1 of 2

Code No: RR411005 6. Consider the system given by x1 (k + 1) x2 (k + 2) = 0 1 −0.16 −1 x1 (k) x2 (k) + 0 1

Set No. 2

u(k)

Determine the state feedback gain matrix such that when the controls signal is given by u(k) = - KX(k) the closed loop system exhibits the dead beat response to an initial state x(0). Assume that the control signal u(k) is unbounded. [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. Derive the solution for optimal control problem using transfer function approach. [16] ⋆⋆⋆⋆⋆

2 of 2

Code No: RR411005

Set No. 3

IV B.Tech I Semester Supplementary Examinations, February 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. Show that the transfer function for (a) a zero-order hold is,G0 (s) = (b) a ﬁrst-order hold is,G1 (s) =

1−eT s s T s+1 T 1−eT s s 2

.

[8+8]

2. Derive the state space model of discrete control system using direct programming method and draw its block diagram. [16] 3. Deﬁne controllability and observability of discrete time systems. For the following system, Y (z) z −1 (1 + 0.8z −1 ) = U(z) 1 + 1.3z −1 + 0.4z −2 Determine whether the system is observable and controllable. [16]

4. (a) Discuss the Liapunov stability analysis for Linear Time Invariant (LTI) discrete time system. (b) Determine the stability of the origin of the system given by x1 (k + 1) 0 1 x1 (k) = x2 (k + 1) −0.5 −1 x2 (k)

[8+8]

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 Ackermanns formula for the determination of the state feedback gain matrix K. [8+8] 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. 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 x(k+1) = 0.3679 x(k) + 0.6321 u(k) ; x(0) = 1. The performance index is 1 of 2

Code No: RR411005

1 2

Set No. 3

9 1 2

J =

[x (10)]2 +

[x2 (k) + u2 (k)]

k=0

[16]

⋆⋆⋆⋆⋆

2 of 2

Code No: RR411005

Set No. 4

IV B.Tech I Semester Supplementary Examinations, February 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. 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 f or k < 0 and k ≥ 3 0.0000 1.0000 k=0 [16] u(k) = k=1 0.2142 0.2142 k=2 2. A discrete time system is described the following diﬀerence equation y(k+2)+5y(k+1)+6y(k)=u(k) y(0)=y(1)=0, T=1 sec. (a) Determine the state model in canonical form. (b) Find the state transition matrix. (c) For input u(k)=1,k¿=1, ﬁnd the output y(k). [5+5+6]

3. Deﬁne controllability and observability of discrete time systems. For the following system, Y (z) z −1 (1 + 0.8z −1 ) = U(z) 1 + 1.3z −1 + 0.4z −2 Determine whether the system is observable and controllable. [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. (a) Give the advantage of using w transformation for the design of discrete data systems. (b) What can you say about root sensitivity of a system with dead beat response? [8+8]

1 of 2

Code No: RR411005 6. Consider the system deﬁned by . X = Ax + Bu 0 1 0 0 0 1 B = 0 A = 0 −1 −5 −6 1

Set No. 4

by using the state feedback control u = -Kx, it is desired to have the closed loop poles at s = -2 ± j 4 and s= -10. Determine the state feedback gain matrix K. [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. Explain the Discretized Quadratic optimal control problem. ⋆⋆⋆⋆⋆ [8+8] [16]

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