IC6701 / DIGITAL CONTROL SYSTEM

Question Paper Code: 41247

B.E/B.Tech. DEGREE EXAMINATION, MAY 2018
Seventh Semester (Regulation 2013)
Electronics and Instrumentation Engineering
IC 6701-DIGITAL CONTROL SYSTEM
PART –A (10x2=20 Marks)
1.List any two advantages of digital control over analog control.
i) Lower costs as less electronic circuitry required.
ii) No component aging problem.
iii) Easy to implement complex control algorithm.
iv) Control of multiple process variables is possible.

2.Define sampling theorem.

Shannon’s sampling theorem states that, a signal can be exactly reconstructed from
its samples if the sampling frequency is greater than twice the highest frequency of
the signal.

3.What is the purpose of a pulse transfer function? Mention the methods of obtaining
the transfer function.
Laplace transform method
Modified z transform method

4.What is error transfer function?

R( z )
E ( z) 
1   GhoGH ( S )
5.When a system is said to be unstable?
When the poles and zeros lies outside the unit circle the system is said to be
unstable.

6.State the Nyquist stability criterion.

If the contour TGH of the open loop transfer function G(s)H(s) corresponding to the
Nyquist contour in the S plane, encircles the (-1+j0) point in the counter clockwise
direction as many times as the number of RHS plane poles of G(s)H(s), then the
closed loop system is stable.
Number of counter clockwise encirclements N=P-Z
P= No of RHS plane poles of G(s)H(s)
Z=No of RHS plane zeros of q(s)

7.Write the drawbacks of PID controller.

Excessive proportional action causes a faltering or hesitation, excessive integral
action causes overshoot, and excessive derivative action causes an oscillatory
approach to setpoint.
8.Why we should not try to cancel an unstable pole?
if the undesired poles are near jw axis, inexact cancellation, which is almost
inevitable in practice, may lead to a marginally stable or even unstable closed loop
system. For this reason one should never try to cancel an unstable pole.

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 IC6701 / DIGITAL CONTROL SYSTEM
9.What do you mean by a state of dynamic system?
The state of a dynamic system is the smallest set of variables, such that the
knowledge of these variables at t=t0 together with the knowledge of the inputs for t
≥t0, completely determines the behaviour of the system for any time t ≥t0.

10.Differentiate controllability to the origin from controllability from the origin.

A system is controllable from the origin if an appropriate input can drive the
system from the origin to any desired state in a finite amount of time. This
property is often called reachability. A system is controllable to the origin if an
appropriate input can drive the origin to any desired state in a finite amount of
time. This property is equivalent to state controllability.

PART B – (5 x 16 = 80 marks)
11.(a)(i)Draw and explain the principle of sample and hold circuit. (8)
A model of a sample and hold operation:
S/H operation requires modeling of two processes:
i) Extracting the samples
ii) Holding the result fixed for one period.
The impulse modulator effectively extracts the samples in the form of x ( k ) (t  kT )
The block diagram representation of the model of a sample and hold operation is
shown in Fig bellow:

Practical Sample and hold circuit:

S/H functions are performed by a single S/H device. It consists of a capacitor, an
electronic switch and operational amplifiers. Op amps are needed for isolation. The
first op amp acts as a voltage follower and its output is Vin. When the switch is
closed the capacitor rapidly charges to Vin and Vout is equal to Vin . When the
switch opens the capacitor retains its charge, the output holds at a value of Vin . If
the input voltage changes rapidly while the switch is closed the capacitor can follow
this voltage because the charging time constant is very short. If the switch is
suddenly opened, the capacitor voltage represents a sample of the input voltage at
the instant the switch was opened. The capacitor then holds this sample until the
switch is again closed and a new sample taken.

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11.a. (ii)Explain with a neat sketch, the zero order hold operation. (8)
Higher the order of the derivatives to be estimated is, larger will be the number of
delayed pulses required. Since time delay degrades the stability of a closed loop
control system, using higher order derivatives of f(t) for more accurate
reconstruction often causes serious stability problem. Moreover a high order
extrapolation requires complex circuitry and results in high cost.

The zero-order hold (ZOH) is a mathematical model of the practical signal

reconstruction done by a conventional digital-to-analog converter (DAC). That is, it
describes the effect of converting a discrete-time signal to a continuous-time signal
by holding each sample value for one sample interval.
use of only the first term in the power series to approximate f(t) during the time
interval kT≤t <(k+1)T is very popular and the device for this type of extrapolation
is known as zero-order extrapolator or zero order hold. It holds the value of f(kT) for
kT≤t <(k+ 1)T until the next sample f((k+ 1)T) arrives. Figure 1 illustrates the
operation of a ZOH circuit.

Transfer function of zero order hold circuit:

The zero order hold is a system whose response to unit impulse  (t ) is a unit
pulse g (t ) of width “T”. The transfer function of the hold operation is given as
h0
follows:

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 IC6701 / DIGITAL CONTROL SYSTEM
T 1e ST
G ( S )  L  g (t )    e st dt  S
h0  h0 
0
11.(b)(i)Write down the properties and also the limitations of Z-transform. (12)

Properties of Z-transform:
1. Linear property:
If x1 ( n ) & x2 ( n ) are two sequences then
a1 x1 (n)  a2 x2 (n)  z
 a1 X 1 ( z )  a2 X 2 ( z )
2. Time delaying property:
z
If x(n)   X ( z ) then
k
z  
x(n  k )   z  k  X ( z )   x (  n) z n 
 n 1 
3. Time advancing property:
z
If x(n)   X ( z ) then
k 1
z  
x(n  k )   z  k  X ( z )   x ( n) z  n 
 n 0 
4. Scaling in z-domain:
If x(n)  z
 X  z  then
z
a n x ( n)  z
X 
a
5.Time Reversal:
z
If x(n)   X ( z ) then
z
x(n)   X ( z 1 )
6. Differentiation in z domain:
z
If x(n)   X ( z ) then
z d
nx(n)    z X (z)
dz
Limitations of Z-transform:

1.z transform can not apply in continuous signal.

2.z transform can not analyze analog filter

11.b.(ii) Find whether ROC exists for x(n) = (0.5)nU(n) (4)

n
x  n    0.5  u ( n)
1  n  0  n  0 
u(n)   
0 n  0


n z
X ( z )    0.5  z  n 
n 0 z  0.5
ROC: z  0.5

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12.(a) Draw the composite signal flow graph of the system represented by the block
diagram shown in Figure. (16)

Referring to Fig above, the input output relations are,

E ( S )  R ( S )  H ( S )G ( S ) E * ( S )
C (S )  G(S ) E* (S )
The sampled signals are,
E * ( S )  R* ( S )  GH * ( S ) E * ( S )
E * ( S ) 1  GH * ( S )   R* ( S )  (1)
* * *
C (S )  G (S ) E (S )  (2)
Substituting (1) in (2)
R* ( S )
C * (S )  G* ( S )
1  GH * ( S ) 
C * (S ) G* (S )

R* ( S ) 1  GH * ( S ) 
C(z) G(Z)
In Z domain, =
R(z) 1+GH ( z )
12.(b)(i)Find the steady state error for an input signal r(t) of unity negative feedback
control system G(s) (10)
2
 t 
r (t )   5  2t   u (t )
 2
5( s  4)
G ( s)  2
s ( s  1)( s  20)

5( s  4) A 1
K  lt G  s  H  s   lt  ; ess   0
p s0
2
s  0 s ( s  1)( s  20)
Step
1 K 1 
p
5( S  4) A
K  lt S G  s  H  s   lt S 2  ; ess  0
v s0 s  0 S ( S  1)( S  20)
ramp
K
v
5( s  4) 1
K  lt S 2G  s  H  s   lt S 2 2  1; ess  1
a s0 s0 s ( s  1)( s  20) para
K
a
12.b.(ii)Write a brief note on critical damping time response of control system with
respect to unit step input function. (6)

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Step Response of critically damped system:

2
C ( s) 
n
R( s)

2 2
 1
S  2 S 
n n
2 2
 
C ( s)  n  n

 2
S S  2 S 
n n
2
   S S 
n
2

n 2 A B C
  
2
S  S n  S  S  n   S n  2

Solving for constants,

A  1; B  1;C  
n
1 1 n
C ( s)    2
s s 
n s n  
 n t  n t
C (t )  1  e  nte
13.(a) (i) Construct a Jury table and verify whether the following system is stable or
not. ∆(z) = 2 z 4  7 z 3  10 z 2  4 z  1
Solution:
Applying stability constraints,
i) ∆z(1) = 2  7  10  4  1  24  0, satisfied
ii) ∆z(-1) = 2  7  10  4  1  2  0, satisfied
Row z0 z2 z1 z3 z4
1 1 4 10 7 2
2 2 7 10 4 1
3 -3 -10 -10 -1
4 -1 -10 -10 -3
5 8 20 20
Now, (n-1)=3 constraints are checked.
a0  an , (i.e) 1  2 satisfied
b0  bn 1 , (i.e) 3  1 ; satisfied
c0  cn2 , (i.e) 8  20 ; not satisfied
The system is therefore unstable.

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 IC6701 / DIGITAL CONTROL SYSTEM
13.a.ii) Write down the procedure to plot root locus. [8]
RULES FOR CONSTRUCTION OF ROOT LOCUS PLOT :
RULE 1: The root locus is symmetrical about the real axis.
RULE 2: Each branch of the root locus originates from an open-loop pole with K = 0
and terminates at either on a finite open loop zero or at K  . The number of
branches of root locus terminating on infinity is equal to (n-m).
RULE 3: The number of root locus branches is N=n if n>m or N=m if m>n
n-is the number of open loop poles
m-is the number of open loop zeros
RULE 4: Segments of the real axis having an odd number of real axis open-loop
poles and zeros to their right are parts of the root locus.
RULE 5: The (n–m) root locus branches that tend to infinity, do so along straight line
asymptotes making angles with the real axis is given by
180 [2q  1]
A  ; q = 0,1,2,…. , (n–m–1)
(n  m)
RULE 6: The point of intersection of the asymptotes with the real axis occurs at
Z = - A where
Sumof poles  Sumof zeros
A 
nm
RULE 7: The breakaway and breakin points of the root locus are determined from
dK '
the roots of the equation 0.
dZ
RULE 8: The angle of departure from a complex open-loop pole is given

by,  p  180 +
Where  is the net angle contribution at the pole by all other open loop poles and
zeros.
RULE9: The angle angle of arrival at a complex open loop zero is given by
Z  180 
where  is the net angle contribution at the zero by all other open loop poles and
zeros.
RULE 10: The intersection of root locus branches with the imaginary axis can be
determined by use of the Routh criterion.
RULE 11: The open-loop gain K at any point Z0 on the root locus is given
n

z 0  pi
by, K  i 1
m

z
i 1
0  zi

Product of phasor length from openloop poles tothe point z0

K
Product of phasor length from openloop zeros tothe point z0

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13.b.i) For the following CE use bilinear transformation to check stability:
( z )  2 z 3  z 2  z  1  0
Solution:
Transforming ( z ) into w -domain:
3 2
  1   1    1
2      1  0
  1    1    1 
5 3   2  5  1  0
The Routh array is,
w3 : 5 5
w2 : 1 1
w1 : 0 0
w0 : 4
There is no sign change in the first column of the Routh array.
Thus the system is stable with all poles lies inside the unit circle of z-plane

13.b.(ii) Write down the advantages of Bode Plot. (4)

(a) An approximate Bode plot using straight line asymptotes can be quickly and
easily sketched and then corrections can be made to obtain the exact plot.
(b) Both absolute and relative stability of a system can be determined using Bode
plots.
(c) Since the logarithmic scale is used, both low frequency and high frequency
portions can be represented on the same sheet.
(d) Since the magnitude is expressed in dB, multiplication and division of
magnitudes can be converted into addition and subtraction respectively.
(e) They can be used to analyze both open-loop and closed-loop systems.
14.(a) Find the poles in s-plane and z-plane and draw the Root Locus of the
uncompensated system for the following closed loop discrete control system as
shown in figure such that the dominant closed loop poles have a damping ratio of
0.5 and settling time ts = 2 sec for 2% tolerance band. Take the sampling period as T
= 0.2 sec. The dominant pole pair in continuous domain is n  jn 1   2 where
n is the natural undamped frequency. (16)
Solution:
 k   1 1 1 
Gh0 G( z )  (1  z 1 )   2   (1  z 1 )   k  2   
 S ( S  1)    s s s  1 
 Tz z z   T ( z  eT )  ( z  1)( z  eT )  ( z  1)2 
 k (1  z 1 )  2
  T 
 ( z  1) k  
 ( z  1) z  1 z  e   ( z  1)2 ( z  eT ) 

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 T ( z  eT )  ( z  1)( z  eT )  ( z  1)2 
Gh0 G( z )  k  
 ( z  1)( z  eT ) 
T T T
 z (T  1  e )  (1  e  Te ) 
Gh0 G( z )  k  
 ( z  1)( z  eT ) 
For T=0.2 sec
 z (0.2  1  e 0.2 )  (1  e 0.2  0.2 e 0.2 ) 
Gh0 G ( z )  k  
 ( z  1)( z  e 0.2 ) 
0.01825k ( z  0.96) K '( z  0.96)
Gh0 G( z )  
( z  1)( z  0.82) ( z  1)( z  0.82)
1.The open-loop transfer function has two poles at z=1& 0.82 and a zero at
z = -0.96. There are two branches of root locus originating at z=1& 0.82 respectively.
2. Since there is one open loop zero in the finite region, one of the branch terminates
at the open loop zero located at z = -0.96 and the other branch terminates at infinity.
3. The asymptotes make an angle with the real axis is given by
180 [2q  1]
A  ; q = 0,1,2,…. , (n–m–1)
(n  m)
180
A   180 Thus, there is a possibility of existence of circular root locus
(2  1)
branches.
4. The real axis segments 0.82 to 1 and -0.72 to infinity lies on the root locus. Hence
there exists one BAP between 0.82 and 1.
5. Determination of breakaway point:
K '( z  0.96)
1  Gh0 G ( z )  1  0
( z  1)( z  0.82)
K '( z  0.96)  ( z  1)( z  0.82)
 1  K'
( z  1)( z  0.82) ( z  0.96)
dK ' ( z  0.96)(2 z  1.82)  ( z 2  1.82 z  0.82)
 0
dz ( z  0.96) 2

 Z 2  1.92Z  2.57  0
The roots are, Z1,Z2 = -2.83, 0.9
Hence, 0.9 & -2.83 are the BAPs.
6. Determination of intersection of root locus with the imaginary axis:
K '( z  0.96)
The characteristic equation is, 1  ( z  1)( z  0.82)  0

The characteristic equation is given by z 2  1.82 z  K ' z  0.82  0.96 K '  0 .

Application of the Routh criterion to the above equation gives the following Routh
array:
Z2 : 1 0.82+0.96K’
Z 1 : -1.82+K’ 0

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Z0 : 0.82+0.96K’

For stability the following conditions should be satisfied:

i) -1.82+K’>0 K’>1.82
ii) 0.82+0.96K'  0
When K’=1.82 all the elements in row 2 become zero and the auxiliary polynomial
equation is,
z 2   0.82  0.96  1.82   0  z   j1.6
The root locus intersects the imaginary axis at 1.6

14. (b)(i)Write down the procedure for the design of phase lead compensator using
Bode Plot and also draw the Bode diagram. (10)
Design of Lead compensator based on Frequency Domain Approach:
1. The open loop gain K of an uncompensated system is determined to specify the
requirement on the given static error constant (if needed).
2. The plant transfer function G(S) is discretized to get G(z). Using bilinear
transformation G(z) is converted to G ( )
3.The Bode diagram of the uncompensated system with transfer function G ( ) is

drawn.

4. The phase lead angle required is determined using the relation, m  S  uc  

Where, S – specified phase margin.

uc – phase margin of the uncompensated system.
 - A Margin of the safely required by the fact the cross over frequency
will increase due to compensation.
5. The  parameter of the lead network is determined using the relation,
1  sin m

1  sin m

6.The frequency where the magnitude of the uncompensated system G ( j ) is equal

 1 
to 20 log   is determined. This frequency is selected as the new gain cross over
 
1
frequency. This frequency corresponds to  n  & the maximum phase shift
T 
m occurs at this frequency.
7. The corner frequency of the lead compensator are designed as follows,
1
For Zero of the lead compensator is at
T

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1
For Pole of the lead compensator is at
T
8. Thus the transfer function of the lead comparator is,
1  T 1  ST
D ( )  or D ( S ) 
1   T 1  S T
9. The compensator transfer function is transformed back to the Z plane by bilinear
2 Z 1
transformation  
Ts Z  1

10.The Bode diagram of the compensated system is drawn & the phase margin is

determined. If the phase margin is still low the value of  is increased& the above
steps are repeated.

14.b.(ii) Compare Nichols and Cohen-Coon methods. (6)

Zeigler – Nichols Cohen – Coon
It is a closed loop method of tuning It is a open loop method of tuning
Tuning is based on frequency response Tuning is based on time response
specifications specifications
Pu, c0, Kcu, (ie) ultimate period, cross over The delay time (td) and process time
frequency, ultimate gain are determined constant ()are determined from transient
from frequency response curve response curve.
Using Pu, Kcu, the controller settings are Using td and  controller settings are
obtained. obtained.

15.(a) Consider the following state model of a continuous time system. If the system
is under a sampling process with period T, derive the discrete state model of the
system. (16)
• 1 1  0 
X=  X+ U
 0 2 1 
y = 1 0 X

Solution:
The discrete time description of the plant is obtained as follows

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X (k  1)  FX (k )  gU (k )
y(k )  C X (k )
T

Where, F  e
AT
and g   e A Bd
0

For a continuous time system,

e At  L1[ SI  A]1

 s  1 1 
SI  A   
 0 S  2
1 1 s  2 1 
 SI  A 
s  3s  2  0
2
s  1

 s2 1 
1  s 2  3s  2 s  3s  2 
2
e At  L1  SI  A  L1  
 s 1 
0
 s 2  3s  2 

et e 2 t  et 
e At   
0 e2t 

AT eT e 2T  eT   2.72 4.67 

F e   
0 e 2T   0 7.39 
T T
e e 2  e  0 
g   e A Bd       d
0 0  0 e2  1 
1
 e 2 
T 2 
e  e   2  e  1.47 
g    2  d   2    
0  e   e   3.2 
 2 
0

Thus the state space model obtained in discrete domain is,

 2.72 4.67  1.47 
X (k  1)    X (k )    U (k )
 0 7.39   3.2 
y (k )  1 0 X (k )

15.(b) (i) Find the state transition matrix for the following system using inverse
z-transform and hence find y(k) for k ≥ 0. (8)
 0 1 0 1 
X (k  1)    X (k )    (1) k ; X (0)   
 0.21 1 1  0
y (k )  X 2 (k )

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 IC6701 / DIGITAL CONTROL SYSTEM
Solution:
0 1
Given F   
 0.21  1 
Inverse Z transform method:
1
 (k )   1  ZI  F  Z 
 

Z 0  0 1  Z 1 
 ZI  F     
0 Z   0.21 1 0.21 Z  1
 

1 1  Z 1 1 
 ZI  F  
z ( z  1)  0.21  0.21 Z 

 ( Z  1) Z Z 
 Z 2  Z  0.21 Z  Z  0.21 
2
Now,  (k )   1  
 0.21Z Z2 
 Z 2  Z  0.21 Z 2  Z  0.21 

X1 ( z)  Z 1   Z 1 
  1  2    1  
z  Z  Z  0.21    Z  0.3 Z  0.7  
k
x1 (k )  1.75  0.3  0.75(0.7)k

X 2 ( z)  1   1 
  1  2   1
 
z  Z  Z  0.21    Z  0.3 Z  0.7  
k
x2 (k )  2.5  0.3  2.5(0.7)k

X 3 ( z)  0.21   0.21 
  1  2    1  
z  Z  Z  0.21    Z  0.3  Z  0.7  
k
x3 (k )  0.525  0.3  0.525(0.7)k

X 4 ( z)  Z   Z 
  1  2    1  
z  Z  Z  0.21    Z  0.3 Z  0.7  
k
x4 (k )  0.75  0.3  1.75(0.7)k

 1.75  0.3 k  0.75(0.7)k k

2.5  0.3  2.5(0.7)k 
 (k )   k k

 0.525  0.3  0.525(0.7)k 0.75  0.3  1.75(0.7) k 
-1
Y  z  = C  ZI - F   Z X  0  + gU  z  

1  Z 1 1  1 0 z 
Y  z = 2 0 1   Z  +  
Z +Z+0.21 0.21 Z  0 1 z+1

Prepared by Prof.S.Nagammai, HOD/EIE, KLNCE Page AU.56

 IC6701 / DIGITAL CONTROL SYSTEM
 Z 
1
Y z = 2  0.21 Z  z 
Z +Z+0.21
 z+1
0.79Z  Z 0.27
Y z = 2
 Z  Z 0.21  z+1
Y z 0.79 Z 0.27
=
z  Z  Z 0.21  z+1
2

Applying partial fraction expansion,

0.79 Z 0.27 A B C
  
 Z  Z 0.21  z+1
2
 Z 0.3  Z 0.7  Z 1
Solving for constants, A=-1.6, B=6.356, C=-4.76
1.6Z 6.356Z 4.76Z
Y (z)   
 Z  0.3  Z  0.7  Z 1
k k k
y(k )   1.6  0.3  6.356  0.7   4.76  1  u (k )
 
15.b.(ii) Explain the theorems on observability. (8)

Theorems on Observability

1. The state model (1) or the pair (A,C) is observable if and only if the npxn
observability matrix Qo  C CF CF2 .. ... CFn 1  T has rank equal to n

2.The state model (1) is observable if the nxn observability grammian matrix

is nonsingular for any nonzero finite N.

3. If the state model is in observable canonical form then the system is observable.
4. When A has distinct eigenvalues and in Jordan/Diagonal canonical form, the state
model is observable if and only if none of the columns of C contain zeros.
5. When A has multiple order eigenvalues and in Jordan canonical form, then the
state model is observable if and only if
i. each Jordan block corresponds to one distinct eigenvalue and

ii. The elements of C that correspond to first column of each Jordan block are not all
zero.

Prepared by Prof.S.Nagammai, HOD/EIE, KLNCE Page AU.57