Digital Control Systems

Final Exam (Part 2)

Instruction

 The exam in this part contains 3 problems, each of which has 15 points. Do only 2 problems.
 All the problems are solvable by hand computation. However, some problems can also be solved
by MATLAB.
 If you solve a problem using MATLAB, you are required to list all MATLAB commands used in
the problem, and to attach all numerical and/or graphical results obtained from MATLAB in
your solution sheets.

Problem 1

We are given the continuous time plant

10( s  1)
G( s)  .
s5

First, suppose that the plant G(s) is controlled by a gain K (both negative and positive) in the closed-
loop system below:

a) Let K max and K min be the maximum and minimum possible values, respectively, of the gain K for
which the above system is stable. Compute K min and K max . (4 points)

Now consider the digital control system below:

b) Let K max and K min be the maximum and minimum possible values, respectively, of the gain K for
which the digital control system is stable. Express K min and K max in terms of the sampling period T .
(5 points)
c) Calculate K min and K max in problem 1b) when T  0.1s. (2 points)

Now consider the closed-loop system below. Note that there is one sample delay in the feedback path.
The sampling period is assumed to be 0.1 sec.

d) Let K max and K min be the maximum and minimum possible values, respectively, of the gain K for
which the above system is stable. Calculate K min and K max , and then discuss the differences between
this answer and those of problems 1a) and 1c). (4 points)