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You are on page 1of 8

DIGITAL CONTROL SYSTEMS

(Electrical & Electronics Engineering)

Time: 3 Hours

1.

Max Marks: 80

All Questions carry equal marks

*******

a) With suitable block diagram explain the general sampled data control system.

b) What do you mean by the problem of aliasing? How to overcome this?

c) Explain zero order hold device.

[7+5+4]

2.

[8+8]

t 2

t

b) Find the z-transform of the following: (i) f ( t ) = e t (ii) f ( t ) = e sin t

3.

y(k+2) - 0.1 y(k+1) - 0.2 y(k)=r(k+1)+r(k);

where r(k)=1(k) for k=0,1,2,....; y(0)=0 and y(1)=0.

b) Obtain the impulse response of the system described by a difference equation

y( k + 1 ) + 2 y( k ) = ( k );

y(0) = 0

[8+8]

4.

1

0

0

1

0 ;

Given the state equation X ( k + 1 ) = F X(k) + Gu(k) , where F = 0

0 0.5 1.5

0 1

G = 1 0 . Find the state transition matrix ( k ) using (a) Cayley-Hamilton

2 1

technique and (b) Similarity transformation.

[8+8]

5.

X(k + 1) = AX(k) + Bu(k)

C(k) = DX (k) to be observable.

b) Consider a discrete linear discrete - data control system, whose input output

relation is described by the difference equation y(k+2)+2y(k+1)+y(k)=u(k+1)+u(k).

Test for state controllable and output controllable.

[8+8]

6.

b) Using Jurys stability criterion find the range of K, for which the characteristic

equationz3 + Kz2 + 1.5 Kz - (K+ 1) = 0 is closed loop stable.

[8+8]

1of 2

Set No. 1

7.

Derive the pulse transfer function of digital PID controller. Also the design procedure of

PID controller.

[16]

8.

b) Consider the single input digital control system, X(k + 1) = AX(k) + Bu(k)

1

0

0

where A =

; and B = .

1

2 3

Determine the state feedback matrix K such that the state feedback u(k) = - Kx(k),

places the closed loop poles at 0.3j0.3.

2 of 2

Set No.2

DIGITAL CONTROL SYSTEMS

(Electrical & Electronics Engineering)

Time: 3 Hours

Max Marks: 80

All Questions carry equal marks

*******

1. a) Explain the conditions to be satisfied for reconstruction of sampled signal into

continuous signal.

b) Explain the advantages and disadvantages of digital control systems.

c) State and explain the sampling theorem.

[6+5+5]

2. a) State and prove the following theorems of z-transforms.

(i) Shifting theorem

(ii) Complex translation theorem

(iii) Complex differentiation and Partial differentiation theorem.

b) Find the inverse z-transform of the following function , F ( z ) =

z2

( z 1 )( z 0.2 )

[8+8]

3. a) Solve the following difference equation using the z-transform method:

y(k+2) 1.5 y(k+1) + y(k)=2(k); where y(0)=0 and y(1)=1.

b) Explain the procedure for mapping of s-plane into a z-plane.

[8+8]

4. Obtain a state space representation of the system given in Figure 4. The sampling period T

is 1 second. Also obtain the state transition matrix.

[16]

Figure 4

1 1

0

X( k + 1) =

X ( k ) + u( k ) and y( k ) = [1 1]X ( k )

0 1

1

b) Develop relationship between controllability, observability and transfer functions. [9+7]

6. Discuss how the stability analysis of discrete control system is done using (a) Routh

stability criteria (b) Bilinear transformation.

1of 2

[16]

Set No.2

D(z) to meet the following specifications:

[6+5+5]

(a) Velocity error constant, K v 4 sec.;

(b) Phase margin 40 0 and

(c) band width =1.5 rad./sec.

Figure 7

8. a) Explain the procedure of designing a state feedback controller through pole placement.

b) Derive Ackermans formula.

[8+8]

2 of 2

Set No. 3

DIGITAL CONTROL SYSTEMS

(Electrical & Electronics Engineering)

Time: 3 Hours

Max Marks: 80

All Questions carry equal marks

*******

1. a) Draw the schematic diagram of basic digital control scheme and explain the same.

b) Define the following parameters: (i) Acquisition time (ii) Aperture time (iii) Settling

time.

c) Explain the advantages of digital controllers over analog controllers.

[6+6+4]

2. a) What are the popular methods are used to find the inverse z-transform? Explain each of

them.

b) Obtain the inverse z-transform of the following:

z 3

z 1 ( 1 z 2 )

(i) F ( z ) =

(ii)

[8+8]

F

(

z

)

=

( 1 z 1 )( 1 0.2 z 1 )

( 1 + z 2 )2

3. Solve the following difference equations: (a) x(k+2) +3 x(k+1) +2 x(k)=0; x(0)=0, and

x(1)=1. (b) y(k+2) 1.5 y(k+1) + y(k)=2(k); where y(0)=0 and y(1)=1.

[8+8]

4. The pulse transfer function of a digital control system is given by

Y( z ) z 3 + 2z 2 + z + 2

=

. Obtain a state space representation for the system and draw the

R( z ) z 3 + 3 z 2 + 2 z + 1

state diagram. Also obtain the pulse transfer matrix.

[16]

5. a) Examine whether the discrete data system

X(k + 1) = AX(k) + BU(k)

1 2

1 0

1 0

Y(k) = CX(k) where A =

, B=

,C =

1 1

0 - 1

0 1

(i) State controllable and (ii) Observable.

b) Develop relationship between controllability,observability and transfer functions. [9+7]

6.a) Consider a closed loop discrete time system as shown in figure 6(a), where K is the gain

of the plant. It is desired to determine the range of K for which the system is stable. Use

Jurys stability test.

Figure 6(a)

1 of 2

Set No. 3

b) Write a short note on stability analysis of a closed loop system in the z-plane.

[8+8]

b) Explain the digital PID controllers.

[8+8]

8. a) Explain the effects of the observer on a closed-loop system.

b) Consider the single input digital control system, X(k + 1) = AX(k) + Bu(k)

1

0

0

where A =

; and B = .

1

2 3

Determine the state feedback matrix K such that the state feedback u(k) = - Kx(k),

places the closed loop poles at 0.5j0.5.

2of 2

Set No. 4

DIGITAL CONTROL SYSTEMS

(Electrical & Electronics Engineering)

Time: 3 Hours

Max Marks: 80

All Questions carry equal marks

*******

1. a) With suitable diagram explain the weighted r esistor digital to analog converter.

b) State and explain the theorem required to satisfy to recover the signal e(t) from the

samples e*(t).

c) Derive the transfer function of zero order hold device.

[6+5+5]

2. a) Obtain the z - transform of the following: (i) F ( t ) =

1

( 1 e at )

a

(ii)

F ( t ) = t 2 e at

(where a is a constant)

b) Obtain the inverse z-transform of the following:

(i) X ( z ) =

z2( z 1)

z

[8+8]

z +1

3. a) Determine the pulse transfer function of two cascaded systems, each described by the

difference equation y( k ) = 0.5 y(k - 1) + r(k) .

(ii) X ( z ) =

b) Explain the procedure for obtaining the pulse transfer function of a closed loop transfer

function.

[8+8]

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

y(k+2) + 3y(k+1) + 2y(k) = 5u(k+1) + 3u(k).

[16]

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

1 1

0

a) x( k + 1 ) =

x( k ) + u( k ) and y( k ) = [1 1]x( k )

0 1

1

1 2

1 0

1 0

b) x( k + 1 ) =

x( k ) +

u( k ) and y( k ) =

[8+8]

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?

6. a) Explain the mapping between s-plane and z-plane with primary and secondary strips.

b) Using Jurys stability criterion, determine the stability of the following discrete time

system, z3 - 2.3 z2 + 1.7z - 0.4=0.

[8+8]

1of 2

7.

Set No. 4

controller D(z), to eliminate the steady-state error due to a step input and simultaneously

realizing a good transient response, and the ramp-error constant Kv should equal 5. [16]

8. a) With a neat schematic diagram, explain the design procedure of full order observer.

b) Derive Ackermans formula.

[8+8]

2of 2

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