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page 1 of 2

MSE Course .,Adaptive and learning control"

MSE Course "Adaptive and learning control"

page 2 of 2

Exercise 9

EXERCISE SHEET 2

Y(s)
1+2s
.e-45
The process Gp(s) is given: Gp(s) = U(s) = (1Os + 1) (7s + 1)(3s + 1)

Exercise 6

with

sampling time To = 4 sec

Wlk)
~~,

e(k) .

(z-ll= Q(Z-l)
"p(,-,)d'

'_-1'= B(Z-l)
I 'V)

With:

y(k)

b) Determine the z-transfer function of the process Gp(z) (including zero order hold
element and dead time) using MATLAB

;~

i=1

1=)
.

L~

PI Z -I)

c) Determine the coefficients of the dead beat controller

BiZ-I) = )l~.z-'

QIZ-I)=)'1,Z-'

a) Which type of dynamic behaviour shows the process?

1+ )

p,z-'

d) Detenmine the difference equation of the dead beat controller

lB

1.

A(z-')=I+L,i,z-'

j=j

l=l

a) Determine the transfer function GRef(Z)= YOz) / W(z).

f)

b) Show that the closed loop has (n+r) poles with r = max{rz, rn}

Calculate the actuating variable u(k) for k=O,1,2,3,4,5, ..

Determine the poles of the closed loop control system.
Is the closed loop control system stable (Please explain your answer)

c) How many zeros has the closed loop control system?

Exercise 10

d) What is a "minimum phase system"?

The model of a process is given: Gp(s)

Exercise 7

This process should be controlled with:n

GCPIDT1(Z)=

Y(s)
U(s)

=(

3s+1

~(

5s+

./' C1S

;~~ontroller: Gc(s) = U(s) = _1_

E(s)
r;

--: C)IL!~)

The disturbance signal z is given: V(s) = vols (no reference value w(t) = 0)

QO'Z1+Q1'Z+Q2

ycalculate

the value of the ISE-Integral criterion.

(z-1).(z+r)

')

~hiCh
a) Determine the difference equation of the PIDT,-controller

value of the parameter Tn minimizes the ISE-criterion?

Ca culate the minimum value of the ISE-criterion.

r;
b) Determine the difference equation ifthe controller shows PID behaviour

Verify the stability behaviour of the closed loop.

(Please explain your answer)

e) Calculate the poles of the closed loop system with Tn = Tnop1.

Exercise 8
a) Determine the coefficients d., d2, d3 and d, of the closed loop denominator
polynomial D(z'l) if the poles of the closed loop system are placed at zp1=1,zp2=-1,
Zp3=zp4=O.
-eee-r--b) Use the Hurwitz criterion to check the stability behaviour of the system.

Prof. Dr.-Ing. M. Schnell

University of Applied Sciences

File Adaplive_SS2011_Exercise2_VO.doc

from 01.06.2011

Prof. Dr.-Ing.
University

Darmstadt

M. Schnell

01 Applied

File Adaplive_SS2011_Exercise2_VO.doc

Sciences

Darmstadt

(s)

...,-

The transfer function describes the dynamic behaviour of a PIDT1 controller:

U(z)
E(z)

from 01.06.2011

(
MSE Course .Adaptive and learning control"

(
page 1 of 2

MSE Course .Adaptive and learning control"

page 2 of 2

Exercise 4

EXERCISE SHEET 1

The input signal u(k) and the output signal y(k) of a facility are measured:

Exercise 1
G A(S) = Y(s) =
1
S
U(s)
(1+5s) (1+10s)
G (z ") = Y(z) = 0,0329 Z-l + 0.0269 Z-2 ,sampling time T = 2 sec
SA
U(z)
1-1.4891. z" + 0.5488. Z-2
0

a) Estimate the parameters a, and b, of a first order model using the LS method.
Use MAT LAB as a "pocket calculator" to inverse the matrices.

a) Draw the pole-zero-map of the continuous and of the discrete transfer function
Steps:

Determine the numbers nand N

Determine the vector y. and the matrix F

Calculate the parameter vector ~

Determine the error vector

b) Calculate the static gain factor of both transfer functions

c) Determine the step response y(k) of the discrete system for k = 0,1,2,3,4.
The input signal u(k) is the unit step s(k).
The sampling time is changed to To = 1 sec
d) Calculate the z-transfer function of the system GSA.
Determine the zeros and the poles of the system.
Is there any difference in the results? (please explain the differences)

b) Determine the z-transfer function of the process model

Exercise 5
Exercise 2
___

Determineihe

z-transter.nuicnon

The model of a process is given:

_ Y(s) _
1
Gp ( s ) U( s) S2 + 11s+ 10

of the following controller:

u(k) = 32,97 e(k) - 39,14 e(k -1) + 12,06 e(k - 2) + 0,409 u(k -1) + 0,591 u(k - 2)

A PI-Element is used as a controller:

U(s)
Gc(s)=--=K
R
E(s)

Exercise 3
The recursive difference equation of a PID-Controller is given:
u(k) = u(k -1) + qo . e(k) + q" e(k -1) +

Q2'

G
Ref

a) Determine the coefficients qo, q, and q2 of the PID Controller, if the following

f e(r)
o

(D-Element:

dr '" To'

Determine the parameters KR and Tn of the controller so that the error s = YM - Y = 0 for
the given reference model GRef(S)

e(k - 2)

approximation of the I-Element is given:

( 1+-- 1
T" . s

(s)- YM(S)_~
- W(S) -

(5+5)2

e(i) + e(i -1)

i=O

T . oe(t) '" T . e(k) - e(k -1) )

o
at
0
To

b) Upon which geometric form is this approximation based?

File Adaptive_SS2011_Exercisel_

Prof. Dr -Ing. M. Schnell

Universily of Applied Sciences

VO.doc from 23 03 2011

Prof. Dr.-Ing

M. Schnell

File Adaptive_SS2011_Exercisel_VO.doc

University 01 Applied Sciences

Darrnstadt

Darmstact

from 23.03

2011