Zewail City of Science and Technology

Space and Communication Department

Digital Control Systems (SPC 512)

=================================================================
(1) Sampled Data Systems and the Z-Transform
1.1 A function y(t) = 2 sin 4t is sampled every T = 0.1 s. Find the z-transform of the resultant
number sequence.

1.2 Find the z-transform of the function y(t) = 3t.

1.3 Find the inverse z-transform of the function

z
y( z ) 
( z  1)( z  1)
1.4 The output response of a system is described with the z-transform
z
y( z ) 
( z  0.5)( z  0.2)
(i) Apply the final value theorem to calculate the final value of the output when a unit step
input is applied to the system.
(ii) Check your results by finding the inverse z-transform of y(z).
1.5 Find the inverse z-transform of the following functions using both long ivision and the
method of partial fractions. Compare the two methods.
0.2 z 0.2
(i) y ( z )  (iii) y( z ) 
( z 1)( z  0.5) ( z  3)( z 1)
0.1( z  1) z ( z 1)
(ii) y( z )  (iv) y ( z ) 
( z 1)( z  0.2) ( z  2) 2
1.6 Consider the open-loop system given in Figure 1.1. Find the output response when a unit
step is applied, if
0.2
G( s) 
s ( s  1)

Figure 1.1 Open-loop system for Exercise 1.6

1.7 Draw the output waveform of Exercise 1.6.

1.8 Find the z-transform of the following function, assuming that T = 0.5 s:
s 1
y( s) 
( s  1) ( s  3)
1.9 Find the z-transforms of the following functions, using z-transform tables:

s 1 s2
(i) y ( s)  (iii) y( s) 
s ( s  2) ( s  1) 2 ( s  2)
s 0.4
(ii) y ( s)  (iv) y( s) 
( s  1) 2 s ( s  1)(s  2)

1.10 Figure 1.2 shows an open-loop system with a zero-order hold. Find the output response
when a unit step input is applied. Assume that T = 0.1 s and
2
G( s) 
( s  1) ( s  2)

.
Figure 1.2 Open-loop system with zero-order hold for Exercise 1.10

1.11 Repeat Exercise 1.10 for the case where the plant transfer function is given by
0.1 2s
(i) G( s)  (ii) G( s) 
s ( s  2) ( s  1)( s  4)
1.12 Derive an expression for the transfer function of the closed-loop system whose lock
diagram is shown in Figure 1.3.

.
Figure 1.3 Closed-loop system for Exercise 1.12
1.13 Derive an expression for the output function of the closed-loop system whose block
diagram is shown in Figure 1.4.

Figure 1.4 Closed-loop system for Exercise 1.13

 (2) Sampling and Reconstruction

2.1 Shown is the output of a data hold that clamps the output to the input for the first half of the
sampling period, and returns the output to a value of zero for the last half of the sampling
period.
(a) Find the transfer function of this data hold.
(b) Plot the frequency response of this data hold.

2.2 A data hold is to be constructed that reconstructs the sampled signal by the straight line
approximation shown. Derive the transfer function of this data hold. Is this data physically
realizable?
 (3) System Time Response Characteristics

3.1 Find the damping ratio and the undamped natural frequency of the sampled data systems
whose characteristic equations are given below
(a) z2 − z + 2 = 0
(b) z2 − 1 = 0
(c) z2 − z + 1 = 0
(d) z2 − 0.81 = 0
3.2 Consider the closed-loop system of Figure 3.1. Assume that T = 1 s.
(a) Calculate the transfer function of the system.
(b) Calculate and plot the unit step response at the sampling instants.
(c) Calculate the damping factor and the undamped natural frequency of the system.

Figure 3.1 System for Exercise 3.2

3.3 Consider the closed-loop system of Figure 3.1. Do not assume a value for T .
(a) Calculate the transfer function of the system.
(b) Calculate the damping factor and the undamped natural frequency of the system.
(c) What will be the steady state error if a unit step input is applied?
3.4 A unit step input is applied to the system in Figure 3.1. Calculate:
(a) the percentage overshoot; (b) the peak time;
(c) the rise time; (d) settling time to 5 %.
3.5 The closed-loop transfer functions of four sampled data systems are given below. Calculate
the percentage overshoots and peak times.
1 1
(a) G( z )  (c) G( z ) 
z z2
2
z  z 1
2

1 2
(b) G( z )  2 (d) G( z )  2
z  2 z 1 z z4
3.6 The s-plane poles of a continuous-time system are at s = −1 and s = −2. Assuming T = 1 s,
calculate the pole locations in the z-plane.
3.7 The s-plane poles of a continuous-time system are at s1,2 = −0.5 ± j0.9. Assuming T = 1 s,
calculate the pole locations in the z-plane. Calculate the amping ratio and the undamped natural
frequency of the system using a graphical technique.
 (4) System Stability

4.1 Given below are the characteristic equations of some sampled data systems. Using Jury’s
test, determine if the systems are stable.
(a) z2 − 1.8 z + 0.72 = 0
(b) z2 − 0.5 z + 1.2 = 0
(c) z3 − 2.1z2 + 2.0 z − 0.5 = 0
(d) z3 − 2.3 z2 + 1.61 z − 0.32 = 0
4.2 The characteristic equation of a sampled data system is given by
(z − 0.5)(z2 − 0.5 z + 1.2) = 0.
Determine the stability of the system.
4.3 For the system shown in Figure 4.1, determine the range of K for stability using Jury’s test.

Figure 4.1 System for Exercise 4.3

4.4 Repeat Exercise 4.3 using the Routh–Hurwitz criterion.

4.5 Repeat Exercise 4.3 using the root locus.
4.6 The forward gain of a unity feedback sampled data system is given by
K ( z  0.2)
G( z ) 
( z  0.8) ( z  0.6)
(a) Write an expression for the closed-loop transfer function of the system.
(b) Draw the root locus of the system and hence determine the stability.
4.7 Check the stability of the transfer function
1
G( z ) 
z  2.7 z  1.5 z  0.2
3 2

(a) Jury’s test;

(b) the Routh–Hurwitz criterion;
(c) the oot locus
4.8 Repeat Exercise 4.7 using the Bode diagram.
4.9 A process with the transfer function
K
G( s) 
s (1  a s)
is preceded by a zero-order hold and is connected to form a unity feedback sampled data
system.
(a) Assuming the sampling time is T, derive an expression for the closed-loop transfer function
of the system.
(b) Draw the root locus of the system and hence determine the value of K for which the system
becomes marginally stable.
4.10 The open-loop transfer function of a sampled data system is given by
1
G( z ) 
z  3.1 z  3.1 z  1.1
3 2

The closed-loop system is formed by using a unity gain feedback. Use Jury’s criterion to
determine the stability of the system.
4.11 Use the Bode diagram to determine the stability of the sampled data system given by
z
G( z ) 
( z  1) ( z  0.6)
4.12 Repeat Exercise 4.11 using the Nyquist criterion.
4.13 The open-loop transfer function of a sampled data system is given by
K ( z  0.6)
G( z ) 
( z  0.8) ( z  0.4)
(a) Plot the Bode diagram by calculating the frequency response, assuming K = 1.
(b) From the Bode diagram determine the phase margin and the gain margin.
(c) Find the value of K for marginal stability.
(d) If the system is marginally stable, determine the frequency of oscillation.
4.14 The block diagram of a closed-loop sampled data system is shown in Figure 4.2.
Determine the range of K for stability by:
(a) finding the roots of the characteristic equation;
(b) using Jury’s test;
(c) using the Routh–Hurwitz criterion;
(d) using the root locus;
(e) drawing the Bode diagram;
(f) drawing the Nyquist diagram.
Which method would you prefer in this exercise and why?

Figure 4.2 Closed-loop system for Exercise 4.14

4.15 Explain the mapping between the s-plane and the simple w-plane. How are the frequency
points mapped?
 (5) Discrete Controller Design

5.1 The open-loop transfer function of a plant is given by:

e 4 s
G( s) 
1 2 s
(a) Design a dead-beat digital controller for the system. Assume that T = 1 s.
(b) Draw the block diagram of the system together with the controller.
(c) Plot the time response of the system.
5.2 Repeat Exercise 5.1 for a Dahlin controller. Plot the response and compare with the results
obtained from the dead-beat controller.
5.3 The open-loop transfer function of a system together with a zero-order hold is given by
0.2 ( z  0.8)
HG( z ) 
z  1.5 z  0.5
2

Design a digital controller so that the closed-loop system will have ζ = 0.6 and wd = 3 rad/s.
The steady-state error to a step input should be zero. Also, the steady state error to a ramp input
should be 0.5. Assume that T = 0.2 s.
5.4 The block diagram of a sampled data control system is shown in Figure 5.1. Find the value
of d.c. gain K to yield a damping ratio of 0.6

Figure 5.1 Block diagram for Exercise 5.4

5.5 Draw the time response of the system in Exercise 5.4
5.6 The open-loop transfer function of a system is
K
G( s) 
0.2 s  1
The system is preceded by a sampler and a zero-order hold. The closed-loop system is required
to have a time constant of 0.4 s.
(a) Determine the required value of the d.c. gain K.
(b) Plot the unit step time response of the system with the controller.
5.7 The block diagram of a system is given in Figure 5.2. It is required to design a controller
for this system such that the system poles are at the points z1,2 = 0.4 ± j0.4 in the z-plane.
(a) Derive the transfer function of the required digital controller.
(b) Plot the unit step time response of the system without the controller.
(c) Plot the unit step time response of the system with the controller.

Figure 5.2 Block diagram for Exercise 5.7

5.8 The block diagram of a system is given in Figure 5.3. It is required to design a controller
for this system with percent overshoot (PO) less than 20% and settling time ts ≤ 10 s. Assume
that the sampling time is, T = 0.1 s.
(a) Derive the transfer function of the required digital controller.
(b) Draw the block diagram of the system together with the controller.
(c) Plot the unit step time response of the system without the controller.
(d) Plot the unit step time response of the system with the controller.

Figure 5.3 Block diagram for Exercise 5.8

5.9 Explain the differences between the position and velocity forms of the PID controller.
5.10 The open-loop unit step response of a system is shown in Figure 4.4. Obtain the transfer
function of this system and use the Ziegler–Nichols tuning algorithm to design:
(a) a proportional controller; (b) a PI controller; (c) a PID controller.
Draw the block diagram of the system in each case.

Figure 5.4 Unit step response of the system for Exercise 5.10

5.11 Explain the procedure for designing a PID controller using the Ziegler–Nichols algorithm
when the plant is open-loop.
5.12 Repeat Exercise 5.11 for the case when the plant is closed-loop. What precautions should
be taken when tests are performed on a closed-loop system?
5.13 Explain what integral wind-up is when a PID controller is used. How can integral wind-up
be avoided?
5.14 Explain what derivative kick is when a PID controller is used. How can derivative kick be
avoided?
5.15 The open-loop transfer function of a unity feedback system is
10
G( s) 
s ( s  10)
Assume that T = 1 s and design a controller so that the system response to a unit step input is:
y(kT ) = 0, 0.4, 1, 1, . . ..
5.16 A mechanical process has the transfer function Ke−sTD /s The system oscillates with a
frequency of 0.05 Hz when a unity gain feedback is applied. Determine the value of TD.
5.17 The block diagram of a system is given in Figure 5.5. It is required to design a controller
for this system with percent overshoot (PO) less than 15% and settling time ts ≤ 10 s. Assume
that the sampling time is, T = 0.2 s.
(a) Derive the transfer function of the required digital controller.
(b) Draw the block diagram of the system together with the controller.
(c) Plot the unit step time response of the system without the controller.
(d) Plot the unit step time response of the system with the controller.

Figure 5.5 Block diagram for Exercise 5.17

5.18 Derive an expression for the z-transform model of the continuous-time PID controller.
Draw the block diagram of the controller. Describe how you can modify the model to avoid
derivative kick.
5.19 The continuous-time PI controller has the transfer function
U ( s) K p s  K i

E ( s) s
Derive the equivalent discrete-time controller transfer function using the bilinear
transformation.
4.20 A commonly used compensator in the s-plane is the lead lag, or lag lead with transfer
function
sa
G( s) 
s b
Find the equivalent discrete-time controller using the bilinear transformation.
 (6) Controller Realization

6.1 The transfer function of a digital controller is given by

1  2 z 1  3 z 2
D( z ) 
1  4 z 1  5 z  2
Draw the block diagram of the direct canonical realization of this controller.
6.2 Repeat Exercise 6.1 for a direct noncanocical controller realization.
6.3 Compare the realizations obtained in Exercises 6.1 and 6.2.
6.4 The transfer function of a digital controller is found to be
1  2 z 1  5 z 2
D( z ) 
1  3 z 1  7 z  2
Draw the block diagram of the direct noncanonical realization of this controller.
6.5 The transfer function of a digital controller is given by
2 ( z  2) ( z  3)
D( z ) 
z 2  0.4 z  0.03
Use two first-order cascaded transfer functions to implement this controller.
6.6 The transfer function of a digital controller is given by
(1  0.2 z 1 ) (1  2 z 1  4 z 2 )
D( z ) 
(1  0.3 z 1 ) (1  0.2 z 1  0.4 z  2 )
Use a first-order and a second-order cascaded transfer function to implement this controller.
6.7 The transfer function of a digital controller is given by
(1  2 z 1 ) (1  3 z 1 )
D( z ) 
(1  z 1 ) (1  5 z 1 )
Realize this transfer function using first-order parallel transfer functions.
6.8 Draw the block diagram of the PID implementation using a parallel realization.
6.9 Draw the block diagram of the PID implementation using a direct canonical realization.
6.10 Describe how a given realization can be implemented on a microcontroller.
6.11 Draw a flow diagram to show how the PID algorithm can be implemented on a
microcontroller. Write a program in C to implement this algorithm on a PIC microcontroller.
6.12 The transfer function of a digital controller is given by
1  2 z 1  5 z 2
D( z ) 
1  3 z 1  4 z  2
Draw a flow diagram to show how this controller can be implemented on a microcomputer.
Write a program in C to implement this algorithm on a PIC microcontroller.
5.13 Draw a flow diagram to show and explain how a second-order transfer function can be
implemented on a PIC microcontroller using the C programming language.
5.14 Explain how second-order direct canonical functions can be cascaded to obtain higher
order transfer functions.
5.15 Explain how the sampling time can be selected in a first-order system.
5.16 Repeat Exercise 5.15 for a second-order system.
5.17 Describe the problems that may occur when very large or very small sampling times are
selected.