Faculty of Engineering Digital Control

Elect. Power & Machines Dept. Classical Control Tutorials

 Z-transform

1) Find the Z-tranform of the following signals assuming ( ) is the unit step.
a) ( ) b) ( ) ( )
c) ( ) ( ) d) ( ) ( )

2) Find the Inverse Z-tranform of the following

a) ( )( ) b) ( )( )
c) ( ) d)
( )

3) Consider the following difference equations

a) y[k] = y[k-1]+u[k]
b) y[k] = 0.6y[k-1]+u[k]
c) y[k] = 0.3y[k-1]+u[k]
d) y[k] = u[k-1]
e) y[k] = 0.707y[k-1]-0.25y[k-2]+u[k-1]
f) y[k] = -0.25y[k-2]+u[k-1]
g) y[k] = -0 .707y[k-1]-0.25y[k-2]-u[k-1]
i. Find the transfer function for each system
ii. Find the poles of each system, identify which system is stable
iii. Assuming zero initial conditions, find the unit pulse response for each
system analytically.
iv. Assuming zero initial conditions, find the unit pulse response for each
system by successive substitution.

4) Use the z-transform to determine the output of the difference equation

( ) ( ) ( ) ( )
where u is a unit step applied at and ( ) ( )

5) The transfer function of a discrete-time system is

( )
Find and plot the unit step response of the above system.

6) Consider the difference equation

( ) ( )
a) Assume a solution ( ) and find the characteristic equation in z.
b) Find the characteristic roots r 1 and r 2 and decide if the equation solutions are
stable or unstable
c) Assume a general solution of the form ( )
and find A 1 and A 2 to match the initial conditions u(0)=0, u(1)=1
d) Repeat parts (a), (b), and ( c ) for the difference equation
( ) ( )

Tz 1
7) Assume a unity feedback system with process transfer function G ( z) 
1  z 1
and a proportional controller of gain k. Show that instability results if kT >2.
Develop a SIMULINK program to demonstrate your answer.
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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

 Block Diagrams
8) Consider the block diagram shown in Figure 1
( )
a) Find ( )
b) Plot y(kT) if the input x(kT) is a unit-step. Assume y(kT) = 0 for k <0.

+ +
𝑧
𝑇 +
U Y
+
+
+
𝑧

Figure 1

9) For the block diagrams in Figure 2, find an expression for the sampled output
signal Y*(s), indicate if a transfer function exists in each case and compute it if it
exists.

+ M Y
R G(s) Y*
T
-

H(s) T

(a)

+ M Y
R G1(s) G1(s) Y*
T T
-

H(s)

(b)

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

+ M Y
R G1(s) G1(s) Y*
T T T
-

H(s)

(c)

M X Y
+ +
R D(s) G(s) Y*
T T T
- +

H(s)

(d)

Figure 2

Consider the block diagram in

10) Figure 3. Assume the input r(t) is a unit step and the initial output y(0) is zero.
Plot the signals r, e, e*, u, and y.

r (t)
+ e(t) e*(t) 𝑒 𝑇𝑠 u(t) y(t)
- 𝑠 𝑇𝑠
T

Figure 3

 Process Discretization
11) Consider the following transfer functions
a) ( )
b) ( )
c) ( ) ( )( )
d) ( )
e) ( ) ( )( )

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Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

f) ( ) Sampling Period : T = 1 sec

i. Compute G(z) by hand and table look-up.
ii. Compute G(z) assuming that the input to G(s) is coming from a computer
through a D/A converter.
iii. For T =0.05 and T=0.5, plot the location of the poles and zeros in z-plane
for (i) and (ii) . Comment on the results.

12) Consider the system in the following figure. Find the range of the sampling
interval T that ensures the system stability.

T
input ZOH output
𝑠
-

13) Consider the system given by

( )
Assume that u is the output of a computer through a D/A with a latching circuit. Let
the sampling interval be 0.2 sec.
( )
a) Find the transfer function ( )
b) Find the poles and zero of the transfer function in part (a).
c) Find an analytical expression for the output of the system if the computer
signal is a unit step (assume zero initial conditions for the output).
d) What is the final value of the output in part(c)?

14) The temperature of a tank of fluid with a constant flow rate in and out is
controlled by adjusting the temperature of the incoming fluid. The temperature of
the incoming fluid is controlled by a mixing valve that adjusts the relative
amounts of hot and cold supplies of the fluid. The modeling equations of the
system are
( )

( ) ( )

where

: tank temperature C : specific heat of the fluid

M : fluid mass contained in the tank ̇
̇ ̇ : mass flow rate
: delay time : temperature of fluid entering the tank
: Temperature of fluid immediately after the control valve and equal to the D/A

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

output.
̇ ̇
Assume minute , sec-1, and sampling interval = 45 secs.
( )
Let the valve be controlled using a computer system via a D/A converter. Find ,
( )
where u(kT) is the computer command signal.

15) Consider the system in Fig. 1. Assume that and ( ) .

( )
Assume the sampling interval is 0.5 sec.
a) Draw a block diagram that represents the control system and indicate the
correspondence between each element in the block diagram and the physical
system. Explain why the motor inductance could be represented by a short
circuit when the motor transfer function is derived.
b) Find an expression for ( )assuming a unit step input, .
c) Determine whether the system is stable.
d) Determine the final value of ( ) assuming a unit step input, .

DC motor
Power
Load
Va Amplifier

sensor
D/A C(z) A/D
-
+ θ
θr
Figure 4

 Root Locus Design

16) For the following open loop transfer functions:
a) ( )
b) ( )
( )
c) ( )
( )(( ) )
i. Draw the root locus in the S-Domain
ii. Draw the root locus in the Z-Domain considering that the system is
preceded by ZOH, Use T= 0.1 sec.

17) A system is given by

( )
( )

Show the effect of varying the parameter “c” if G(s) is placed in a unity negative
feedback configuration.

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Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

18) The characteristic equation of a closed loop digital control system is given by
( )

where K is a controller gain. Find the range of K for stability.

19) Consider a unity feedback control system with feedforward transfer function

( )
( )
( )( )

i) Plot the root locus and find the stability range of k.

ii) Assume a controller with a gain , modify the controller to compensate
a constant input disturbance with unknown magnitude. Simulate the system to
verify your design.
iii) Assume a controller with a gain , modify the controller to compensate
any constant bias in the sensor. Simulate the system to verify your design.
iv) Is it possible to simultaneously compensate constant input disturbance and
constant sensor bias? Why?

20) A system, given by the transfer function ( ) is to be controlled by a

( )
digital controller with a sampling time , with ( ) , as shown in Figure 5.
Draw on the same graph the root locus of the system for the following sample
times , and . Find in each case the maximum value of for
stability. Comment on your results.
+ Y
R D(z) ZOH G(s) Y*
T T
-

Figure 5

21) Consider the unity feedback system shown below where Gz  
Kz
.
z  0.4 j z  0.4 j 
+
R Y
- G(z)

a) Plot the root locus.

b) Determine the range of K for which the system has a damped frequency
4.712 rad/sec. Assume a sampling interval 0.5 sec.

22) A continuous time plant with transfer function ( ) ( )

is to be included in
the control system of Figure 5, with ( ) and :
a) Find the open loop discrete transfer function of the system

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Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

b) Find the closed loop discrete transfer function of the system for
c) Sketch the root locus of the system in the z-plane and find the marginal value
of K for stability. Show this value on the root locus
d) Find the values of ( and ) for zero steady state error for a step input
and 5% steady state error for a ramp input.
e) For this plant, using only the proportional control, can we have zero steady
state error for a unit step and a damping ratio of 0.7? Answer by yes or no
and explain

z 1
23) A system is given by the following transfer function G s   K .
z  12
a) Sketch the root locus as function of K  0 assuming unity negative feedback.
b) Design a compensator to achieve a damping ratio 0.7 and settling time 4
seconds assuming a sampling interval 0.1 sec.

24) A Dc servo-system is represented by the transfer function

( )
is to be controlled by a digital controller with a sampling time T. Given that the
plant is preceded by a ZOH and the sampling time is . Design a
compensator such that the closed loop system will have a settling time of 2
seconds and a damping ratio of 0.5.
i) Modify the controller to compensate a constant input disturbance with
unknown magnitude. Simulate the system to verify your design.
ii) Modify the controller to compensate any constant bias in the sensor. Simulate
the system to verify your design.

25) For
( )
( )( )
being controlled with a digital controller using a sample period of T = 0.1 sec
a) Design compensation using z-plane root locus that will respond to a step
with a rise time of 1 sec and an overshoot  5%.
b) Obtain the response of the system with the controller to a unit step input. Plot
the first few samples of the output in this case. What is the steady state error?
c) What can be done to reduce the steady state error?

26) The transfer function of an antenna tracking controller is given by

( )
( )
a) Using s-domain root locus design a compensator for the system to obtain an
overshoot less than or equal to 16%, with settling time of less than or equal to
10s.
b) Assuming a sampling time of 0.2s, Digitize the obtained controller using the
following transformation techniques:
i. Bilinear
ii. Zero-Pole mapping

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Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

c) Compute the ZOH equivalent of the plant. Find the closed loop poles of the
overall system with each of the obtained digitized controllers. Find the
overshoot and the settling time for each design
d) Comment on the obtained results
e) Repeat points (b, c, d) with a sampling time of T=1s

27) Consider the system ( ) . Let the system be controlled using a

( )
cascade controller in a unity feedback configuration,
a) Design a continuous time compensator to achieve a settling time of 2 seconds
and a damping ratio of 0.5
b) Assume Discretize the controller using the bilinear
transformation
c) Repeat (b) using
d) Repeat (b) and (c) using the forward and backward methods of approximating
continuous systems.
e) Use simulation to compare the performance of continuous-time and discrete-
time controllers.

28) A DC servo-systemis represented by the transfer function where

is the angular position in rad and V is the input voltage in volts. It is required to
design a compensator such that the closed loop system will have a settling time of
2 seconds and a damping ratio of 0.5. Assume the sampling interval is 0.1 second.
a) Sketch a diagram (showing the physical components) to illustrate how a
digital control system can be implemented. Then, draw the corresponding
block diagram.
b) Design the required compensator using the root locus.
c) Find the steady state value of the angular position if the set-point is 0.3 rad.

29) Consider a system given by

( )
is to be controlled by a digital controller with a sampling time as shown in Figure 5.
Given that the plant is preceded by a ZOH, Use the MATLAB SISO Tool to:
a) Design a continuous-time controller that achieves  n =0.3 rad/sec. and =0.7.
b) Use the emulation technique to find a digital controller which is equivalent
to the above continuous time controller
c) Compare the step response for both the continuous and discrete time
controllers.
d) Use simulation to plot the digital control system response for sampling
frequencies 2 , 6, and 20 rad/sec.
e) Find the open loop discrete transfer function of the system
f) Assuming the control transfer function to be unity, sketch the root locus of
the system against variation of the sampling time . Can we find a sampling
time such that the closed loop is stable? Why?
g) A unit ramp is applied to the unity feedback system above. What is the steady
state error? Why?
h) Design a direct digital controller that achieves  n =0.3 rad/sec. and =0.7;
assuming a sampling interval T =1 sec. Compare the direct-digital control

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

design with the emulation and continuous designs by plotting the step
response for each case.
i) Without actually solving for the gain, do you think that a settling time of 0.5
sec is possible? Why?

 Frequency Domain Design

30) The transfer function D(s) of a lead compensator was designed to add 60 phase
lead at 1 = 3 rad/s. Sketch its Bode plot and verify the design. It is to be
implemented on a digital computer using the transformation technique. For each
of the following design methods, compute and plot in the z-plane the pole and
zero locations and compute the amount of phase lead given by the equivalent
network at . Also, calculate the effect of the filter on the gain at the
same point. Comment on the obtained results. if T=0.25 and the design is via:
a) Forward Rectangular
b) Backward Rectangular
c) Bilinear
d) Zero-Pole mapping
( )
e) Zero order hold equivalent: ( ) ( ) { }

( )

31) The transfer function D(s) of a lag compensator was designed to introduce a gain
attenuation of 10 (20 db) at 1 = 3 rad/s. Sketch its Bode plot and verify the
design. It is to be implemented on a digital computer using the transformation
technique. For each of the following design methods, compute and plot in the z-
plane the pole and zero locations and compute the gain attenuation given by the
equivalent network at . Calculate the effect of the compensator on the
phase. Comment on the obtained results. if T=0.25 and the design is via:
a) Forward Rectangular
b) Backward Rectangular
c) Bilinear
d) Zero-Pole mapping
( )
e) Zero order hold equivalent: ( ) ( ) { }

( )

32) Consider a system given by ( ) . It is required to use the

( )( )
emulation technique to design a lead compensator that achieves a 20% overshoot,
a 0.1-second peak-time and a velocity error constant ( ) 40. Assume the
sampling interval is 0.1 second.
a) Use the Bode plots to design the compensator in s-domain.
b) Use the backward transformation to convert the system to z-domain.
c) Find the difference equation that can be used to implement the controller.

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

 PID Controller Tuning

33) A second order system has a natural frequency of 400 rad./sec, a damping ratio of
0.8, and a gain of 50. It is controlled using PID control strategy with an integral
5
gain of 10, a proportional gain of 0.04, and a derivative gain of 6.2510 . The
sample period is to be 0.002 sec.
a) Draw a block diagram for the system and obtain the closed-loop transfer
function.
b) Simulate the above system using Simulink; assume the input is a unit step.
Plot the time response.
c) Vary the proportional gain and plot the output curves. Comment on the
results.
d) Repeat “c” for the integral gain.
e) Repeat “c” for the derivative gain.

34) Consider the block diagram shown in Figure 6. It is required to design a PID
controller based on the ultimate sensitivity method where
, ⁄ , and ⁄ .

a) Find the PID controller parameters.

b) Show how to implement the PID controller in discrete time.

Figure 6

35) The step input of amplitude 2 is applied to a linear time-invariant system. The
output can be approximated as yt   2u(t  1.5)  2e ut  1.5 for t  0 .
(t 1.5)

a) Design a PID controller using Zigler-Nichol’s Method. Use K  1.2 / a ,

Ti  2L, and Td  0.5L
b) Write an expression of the PID controller in the continuous time.
c) Convert the PID controller to the discrete-time form suggesting an
appropriate sampling interval (Justify your choice of the sampling interval).

36) Consider the system ( ) ( )( )

Let the system be controlled using a cascade controller in a unity feedback
configuration:

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

a) Design a PID controller using Ziegler-Nichols. Use , ⁄ ,

and ⁄
b) Obtain a discrete version of the controller using the backward difference
operator. (Obtain an expression in terms of the sampling interval T)
c) Check by the simulation the performance of the closed loop digital control
system for T = 0.01 sec. and T =0.05 sec. Comment on the results.

37) Consider the system ( )

Let the system be controlled using a cascade controller in a unity feedback
configuration.
a) Design a PID controller using the Table of Ziegler-Nichols. Use K  1.2 / a ,
Ti  2L, and Td  0.5L
b) Obtain a discrete version of the controller using the backward difference
operator. (Obtain an expression in terms of the sampling interval T)
c) Check by the simulation the performance of the digital closed loop control
system for T=0.

 Estimating the Transfer Function Parameters

38) A system is described by yk   1uk  1   2uk  2 where 1 and  2 are

unknown parameters. Assume that measurements of y k  and u k  are collected
for k  0, 1,,100 .
a) Write the expressions to estimate 1 and  2 using the Least-squares
algorithm.
b) What is the condition that must be satisfied to calculate the estimated values
of 1 and  2 .

The data in

39) Table 1 represent a first order plus delay model of the form
yk    yk  1   uk  3   k 
a) Calculate the estimates of the parameters and .
b) Calculate the parameters' covariance matrix.

Table 1
k 0 1 2 3 4 5 6 7 8 9 10 11 12
u 1 1 1 1 0 0 0 0 0 0 1 1 1
y 0 0 0 0.39 0.63 0.77 0.86 0.52 0.31 0.19 0.11 0.07 0.041

Y 
40) A discrete system is given by  . Find the unknown parameters α
U z 4 z   
and β using the least squares estimation assuming the input-output measurements
given in Table 2.

Table 2

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 Faculty of Engineering Digital Control
Elect. Power & Machines Dept. Classical Control Tutorials

k 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
y 0 0 0 0 0 1 1.2 1.24 1.248 1.2496 0.2499 0.05 0.01 0.002 0.0004
u 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1

41) Consider the system ( ) ( ) ( ) ( ) , where e is

zero mean white noise. An experiment is done on the system to estimate a and b.
The following data were calculated.
∑ ( ) ∑ ( ) ,∑ ( ) ( ) ∑ ( ) ( )
∑ ( ) ( ) . All sums are from k = 1 to 999.
Determine the least-squares estimate of and . (8 points)

42) A continuous-time system is in Figure 7. Let ( ) where is unknown.

The output of the system, y, is sampled using an A/D with a sampling interval 0.1
sec. The input to the system, u, is produced by a computer through a D/A. The
input and output of the system are recorded and shownin Table 3. Use the
( )
recursive least squares algorithm to obtain the transfer function ( )
( )
Table 3
k 0 1 2 3 4 5 6 7 8 9 10
u -1 -1 -1 -1 -1 1 1 1 1 1 -1
y 0 0 0 0 -0.063 -0.086 -0.095 -0.098 -0.993 0.0267 0.073

𝑠
u(k) 𝑒 y(k)
Computer D/A A/D
𝑠 𝛼

Figure 7

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