Department of Electrical Engineering

National Chung Hsing University

Digital Control Systems

Final Examination

9 January 2015

Please read the following instructions:

1. You may use any books, notes, calculators or MATLAB. However, collaboration with anyone

else is strictly prohibited.

2. There are 6 problems in this exam, with total 70 points (regular credit 60 + extra credit 10).

3. For Problems 1-5, you are required to describe all steps to obtain the answers. Explanations

are not required in Problem 6. However, you may get some partial credit for explanations that

show ideas to answer the questions in Problem 6.

4. Please check your e-mail a few times during the exam. There may be correction or clarification

for the exam questions or other announcements.

5. If you solve a problem using MATLAB, you are required to print out all MATLAB commands

used in the problem, and to attach all numerical and/or graphical results obtained from

MATLAB in your solution papers. Do not submit only MATLAB codes (see Instruction 3).

6. Don’t forget to write down your name and your student ID on your solution papers.

7. Submit your exam before January 16, 17:00. Late submission may result in reduction of

your points.

Good luck!
Problem 1

Consider the closed-loop discrete-time system below, where K is a control gain to be chosen.

1.1) If K  1, determine whether the steady-state error ( Ess ) to a unit-step input (i.e., r[k ]  1[k ] )

exists or not. If exists, calculate its value. (5 points)

1.2) Determine whether or not you can select a gain K so that the steady-state error to a unit step input

is 0.05. Clearly explain your reason. (5 points)

Problem 2

1
The transfer function of a simple antenna angle-tracker is given by G ( s )  . Consider the
s (10 s  1)

problem of designing a controller to achieve the following specifications:

- steady-state error to a unit-ramp input (i.e., r (t )  t , t  0 ) is less than 1.

- settling time (2% criterion) is not larger than 10 sec.

Suppose that a digital control system for the antenna angle-tracker shown in the figure below, where

10s  1
the controller CD ( z ) is approximated from the continuous-time controller C ( s)  using the
s 1

poles-zeros matching method. The sampling period of the digital control system is T  1sec .

4.1) Obtain the transfer function of CD ( z ) . (3 points)

4.2) Determine whether the settling-time specification is achieved. (4 points)

4.3) Compute the steady-state error to a unit-ramp input. Is the specification in steady-state error

achieved? (3 points)

For extra credit: Is it possible to tune a gain K  0 of the controller KCD ( z ) so that the settling time is

as small as possible, while the steady-state error performance is preserved?

Clearly justify your answer. (5 points)

(Hint: How does the magnitude of the closed-loop poles depend on the settling time?)
Problem 3

A continuous-time system is represented in the following state-space form:

 1 100  100 
x  x   u
1 0   0 
y   0 1 x

where u and y are the input and the output, respectively, of the system.

3.1) Obtain a state-space representation for the ZOH equivalent of this system, with T  0.01 sec.

You can use the approximation e AT  I  AT for this question. (5 points)

3.2) Rewrite the system in 3.1) in a controllable canonical form. (5 points)

Problem 4

Consider the discrete-time system

1.5 0.56  1 
x[k  1]    x[ k ]    u[k ]
1 0  0
y[k ]   0.1 0.08 x[ k ].

4.1) Obtain the transfer function Y ( z ) / U ( z ) as a rational function of z . (4 points)

4.2) Find all poles and zeros of the system. (2 points)

4.3) Is this system stable? Why? (2 points)

4.4) Represent the system as a difference equation relating u[k ] and y[k ] . (2 points)
Problem 5

z
A feedback control system for the plant P( z )  is given below:
z  1.2 z  1.9
2

5.1) Design a controller C ( z )  K ( z  a) so that the closed-loop poles will be z1  0.95, z2  0.4. .

(6 points)

5.2) Prove that we cannot put all the closed-loop poles at the origin using the controller of the form

C ( z )  K ( z  a) . (4 points)

For extra credit: Design a controller C ( z ) so that all the closed-loop poles are at the origin. The
controller must not perform unstable pole/zero cancellation with the plant. (5 points)

(Hint: The controller should be a rational function of z .)

Problem 6

Determine whether each of the following statements is TRUE or FALSE. Note that TRUE means the
statement is always true, while FALSE means the statement is false for at least one case.

You may receive 2 points for each correct answer without explanation, 0 points for each incorrect

answer without explanation, and 1 points for each incorrect answer with adequate explanation.

 G(s) 
6.1) If G(s) has a zero at s  b , then its ZOH equivalent Gzoh ( z )  (1  z 1 )  1
{ } will have
 s 

a zero at z  ebT , where T is a sampling period.

TRUE FALSE

6.2) If G( z) is stable, then its w-plane equivalent Gw ( w)  G ( z ) z 1 (T /2) w is also stable.
1 (T /2) w

TRUE FALSE

6.3) If G( z) is stable, then its gain margin must be greater than 1.

TRUE FALSE

6.4) Suppose that CD ( z ) is approximated from C (s) using the bilinear transformation. Then the DC

gains of the two systems are always matched, i.e., lim CD ( z )  lim C (s) , regardless of the choice
z 1 s 0

of T .

TRUE FALSE

6.5) Let y s [ k ] be a unit-step response of a stable discrete-time system of the form

x[k  1]  Ax[k ]  Bu[ k ]

y[k ]  Cx[k ]  Du[k ].

It holds that lim ys [k ]  C ( I  A)1 B  D .

k 

TRUE FALSE