Tutorial

Chapter 1 & 2
Prepared by;
Mohd Saifizi Bin Saidon
Tutorial 1
• A fluid level control system includes a tank, a level sensor, a fluid
source, and an actuator to control fluid inflow. Consult any classical
control text to obtain a block diagram of an analog fluid control
system. Modify the block diagram to show how the fluid level could
be digitally controlled.
Reference Water
Level Actuator & Level
Computer DAC Tank
InflowValve

Level
ADC Sensor
Tutorial 2
• Position control servos are discussed extensively in classical control
texts. Draw a block diagram for a DC motor position control system
after consulting your classical control text. Modify the block diagram
to obtain a digital position control servo.
For the angular position sensor we could use a potentiometer,
which is often packaged with an ADC to give a digital output

Reference Angular
Position Motor Position
Computer DAC
& Load

Angular
ADC Position
Sensor
Tutorial 3
• A ballistic missile is required to follow a predetermined flight path by
adjusting its angle of attack  (the angle between its axis and its
velocity vector v). The angle of attack is controlled by adjusting the
thrust angle  (angle between the thrust direction and the axis of the
missile). Draw a block diagram for a digital control system for the
angle of attack including a gyroscope to measure the angle  and a
motor to adjust the thrust angle .
Reference
Angle Angle 
Computer DAC Thruster Missile
Actuator

Angle
ADC Sensor
Tutorial 4
Use Definition 2.1 to obtain

(a) Z 1  3z 1  4 z 2   {1,3,4,0,0,0,..} (b) Z 5z 1  4 z 5   {0,5,0,0,0,4,0,0,..}

z 1  0.3z 2  0.07 z 3  ......

z 2  0.3z  0.02 z
z  0.3  0.02 z -1
(c)
 0.3  0.02 z -1
0.3  0.09 z -1  0.006 z  2
0.07 z 1  0.006 z  2
z
F ( z)   z 1  0.3z  2  0.07 z 3  ..... {f (k )}  {0,1,0.3,0.07,....}
z  0.3z  0.02
2

z 1  0.14 z 2  0.244 z 3  ......

z 2  0.04 z  0.25 z  0.1
z  0.04  0.25 z -1
(d)
 0.14  0.25 z -1
0.14  0.0056 z -1  0.035 z  2
 0.244 z 1  0.035 z  2
z
F ( z)   z 1  0.14 z  2  0.244 z 3  ....
z  0.04 z  0.25
2

{f (k )}  {0,1,0.14,0.244,....}
 F ( z) 1 1  1 1 
(c)  2   10  
z z  0.3z  0.02 z  0.1z  0.2   z  0.1 z  0.2 

 z
F ( z )  10 
z 
 z  0.1 z  0.2 

 {f (k )}  10  0.1   0.2
k k

Tutorial 5
(a) In the absence of samplers between the systems, the overall transfer function is

10
H ( s) 
( s  6)( s  1)
2 2
 
s  6 s 1

The impulse response of the cascade is

h(t )  2e 6t  2e t

and the sampled impulse response is

h(kT )  2e 6 kT  2e  kT ,k  0,1,2,...

Hence the z-domain transfer function is

H ( z)  
2z

2z


2 e T  e 6T z 
z  e 6T z  e T  
z  e 6T z  e T 
(b) If the analog systems are separated by a sampler then each has a z-domain
transfer function and the transfer functions are given by

z 10 z
H1 ( z)  H 2 ( z) 
z  e 6T z  e T
The overall transfer function for the cascade is

10 z 2
H ( z) 

z  e 6T z  e T  
The partial fraction expansion of the transfer function is

10  e 6T z e T z 
H ( z )   6T   T 
e  e T  z  e  6T
z  e 

Inverse z-transforming gives the impulse response sequence

h(kT )   6T
e e
10
T
e 
 6T  6 kT
e  e T  kT
e 
  6T
10
e  e T
e 
 6 ( k 1)T
 e  ( k 1)T

,k  0,1,2,...
Tutorial 5
3.1. For the shown unity feedback system of Figure P3.2, we are given the analog subsystem

s8
G(s) 
s5

The system is digitally controlled with a sampling period of 0.02 s. The controller transfer
function was selected as

0.35 z
C ( z) 
z 1

(a) Find the z-transfer function for the analog subsystem with DAC and ADC.
(b) Find the closed-loop transfer function and characteristic equation.
 (a)
R(z) E(z) U(z) Y(z)
C(z) ZOH G(s)
  T

Obtain the partial fraction expansion

G( s) s8 16
. 0.6
  
s s s  5 s s5

The transfer function with DAC (ZOH) and ADC (sampler) is


G ZAS ( z )  1  z 1  Z  G(ss) 

z  1 1.6 z 0.6 z 
   
z  z  1 z  e 50.02 
0.6z  1
 1.6 
z  e 0.1
z  0.845

z  0.905
(b) The closed-loop transfer function is

C ( z )GZAS ( z)
Gcl ( z ) 
1  C( z)GZAS ( z)
0.35 z z  0.848

 z  1 z  0.905  0.35 z z  0.848
0.35 z z  0.848

. z 2  2.202 z  0.905
135
0.259 z z  0.848

z 2  1631
. z  0.670

The closed-loop characteristic equation is

0  z 2  1631 z  0.670   z  0.815  0.07 2

2
.