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Part I Questions (1h30m)

1 point questions

1) Given a signal r(t) and its sampled version r* (s), what is the relationship between
their Laplace transform R(s) and R (s) ? What it implies from the frequency viewpoint ?

2) Can an anti-aliasing filter be a digital device ?

3) Accordingly with the mapping between the s and the z plane, where the locus of point
s such that 3 < Re(s ) < 2 is mapped in the z plane ?

4) Given a continuous time system G (s ) =

, sample its input and output (no
s + 11s + 30

ZOH) with a sampling time of Ts = 0.5 sec

5) Given a stable controller C (s ) and discretizing it with Backward Euler, is the resulting
C ( z ) stable ? And discretizing it with Forward Euler ? Explain why

6) In cascade control, should the inner loop be slower or faster with respect to the outer
ones ?

2 points questions

1) Given a system G (s ) with a ZOH and using a sampling time Ts , derive the formula for
the G ( z )

2) Describe the idea of MPC

Part II Exercise (2h)

Exercise 1 (8 points): Given the following sampled data system

where G(s) is
G (s ) = 2
s + 20 s + 19

1) Determine a reasonable sampling time and, using synthesis by discretization, a

simple digital controller C ( z ) such that the following specifications are satisfied
a) Steady state error for the ramp minor than the 20%
b) Asymptotic rejection of a step disturbance
c) Maximum overshoot of the 20%, 3db closed loop bandwidth b 2rad / sec

2) Assuming that the disturbance d(t) is a continuous signal which is measurable at each
sampling time, modify the above control scheme so as to improve the control
performances and simulate it with simulink. Is it possible to perfectly reject any signal ?
Justify your answer

3) Assuming that the (digital) reference signal is r (k ) = sin k , modify your controller
(or determine a new one) able to asymptotically follow it.

4) Using the same controllers computed above, verify if they still work using a
Continuous Output Holder rather than a ZOH and simulate the closed loop responses.
Determine the closed loop transfer functions.

For any controller plot and save in a directory all the useful signals and schemes

Exercise 2 (4 points): Given a system

G1 (s ) = G2 (s ) =
ZOH 19 1
s + 19 s +1

Determine a suitable digital control scheme that makes use of both the outputs and
improves the performances obtained in the exercise 1, point a). Explicitly explain how
you sample and take into account the transfer function of each subsystem (pay attention
to explain well this point of the theory).