EE323 Tutorial Problems

Weeks 5 and 6
Stability
1. A unity feedback digital control system has an open loop transfer function
G( z) =

z ( z 0.5) 2
z 3 + 0.5 z 2 + 0.85 z + 0.2

a. Obtain the closed loop transfer function.

b. Determine the stability of the system.
2. A unity feedback digital control system has an open loop transfer function
G( z) =

z ( z 0.5)
( z 1)( z 2 0.6 z + 0.25)

a. Obtain the closed loop transfer function.

b. Determine the stability of the system.

Digital Controller Design Based on Continuous Controllers

3. A continuous controller has a transfer function
G ( s) =

M ( s ) 10( s + 1)
=
E ( s ) s 2 + s + 10

Determine the equivalent discrete transfer function G(z) using the matched
pole zero (MPZ) method with sample time of 0.02 second.
4. Convert the following continuous transfer function to digital form using the
pole-zero approximation method. Assume T = 0.1 sec.

G(s) =

s+2
s + 7 s + 12
2

5. A typical lead compensator in a continuous time system has a transfer function

of the form
D( s ) =

U (s) s + 1
=
E ( s) s + 10

Determine the z domain transfer function for an equivalent digital

compensator using the bilinear transformation with frequency prewarping at
the critical frequencies and a sampling rate of 25 rad/sec.

6. A plant has a transfer function

G ( s) =

3
s( s + 3)

Obtain the equivalent discrete transfer function of the plant using the ZOH
approximation method with a sample time of 0.05 second.

7. A continuous controller has a transfer function

G ( s) =

M ( s) 10( s + 1)
=
E ( s) s 2 + s + 10

Determine the equivalent discrete transfer function G(z) using the impulse
invariant method with sample time of 0.02 second.
8. Convert the following continuous transfer function to digital form using the
impulse invariant method. Assume T = 0.1 sec.
G(s) =

s+2
s + 7 s + 12
2