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Weeks 5 and 6
Stability
1. A unity feedback digital control system has an open loop transfer function
G( z) =
z ( z 0.5) 2
z 3 + 0.5 z 2 + 0.85 z + 0.2
z ( z 0.5)
( z 1)( z 2 0.6 z + 0.25)
M ( s ) 10( s + 1)
=
E ( s ) s 2 + s + 10
Determine the equivalent discrete transfer function G(z) using the matched
pole zero (MPZ) method with sample time of 0.02 second.
4. Convert the following continuous transfer function to digital form using the
pole-zero approximation method. Assume T = 0.1 sec.
G(s) =
s+2
s + 7 s + 12
2
U (s) s + 1
=
E ( s) s + 10
3
s( s + 3)
Obtain the equivalent discrete transfer function of the plant using the ZOH
approximation method with a sample time of 0.05 second.
M ( s) 10( s + 1)
=
E ( s) s 2 + s + 10
Determine the equivalent discrete transfer function G(z) using the impulse
invariant method with sample time of 0.02 second.
8. Convert the following continuous transfer function to digital form using the
impulse invariant method. Assume T = 0.1 sec.
G(s) =
s+2
s + 7 s + 12
2