10/16/08

ECE 483 Homework #4 Solution

Problem 1. Problem 4-9 (a). Solution: Denote the inputs to the last summing point from the upper and lower paths as a(t) and b(t), respectively. Then c(t) = a(t) + b(t); hence, c(kT ) = a(kT ) + b(kT ). 2 = s22 . We note that the input to the sampler in the upper path has Laplace transform 1 s s This signal is then passed through the sampler and data hold and a trivial plant transfer function Gp (s) = 1 to yield a(t). Thus, using the notion of pulse transfer function with Gp (s) = 1, we get A(z ) as A(z ) = Z 1 esT 2 z 2T z 2T z 1 Z 2 = (1 z 1 ) = . s s z 1 (z 1)2 (z 1)2

For the lower path, the input E (s) = 1 is passed through the sampler and data hold, followed s . Hence by the plant transfer function Gp (s) = 2 s B (z ) = Z 1 esT 2 1 2 1 2T z Z = (1 z 1 )Z 2 Z = = A(z ). s s s s s (z 1)2

As a result, C (z ) = A(z ) + B (z ) = 0, which implies that c(kT ) = 0, k = 0, 1, . . ..

c(t)

2T .....

2T

3T

Figure 1: Plot of c(t) for Problem 1. It is interesting and not hard to verify that C (s) = 0 while C (z ) = 0. To see why this is the case, note that in the upper path, the unit step input e(t) passing through the integrator 2 s will generate a ramp signal m(t) = 2t, which increases linearly with time t. Then after the ideal sampler and data hold, the reconstructed signal a(t) will be a stair-like function: a(t) = m (t) = 2kT, kT t < (k + 1)T, k = 0, 1, . . . .

On the other hand, in the lower path, the unit step input e(t) is passed rst through the sampler and data hold, which yields the same unit step signal. Then, after the integrator 2 , s we have b(t) = 2t, which is a ramp signal. Thus, a(t) and b(t) only agree at the sampling moments t = kT , k = 0, 1, . . .. The plot of c(t) = a(t) + b(t) is shown in Fig. 1. 1

Problem 2. Problem 4-10 part (a), only for the systems labeled (a) and (c). Note that although C (s) can always be expressed in terms of E (s) and/or E (s), C (z ) may not be of the form of C (z ) = H (z )E (z ) for some transfer function H (z ). Solution: (a) For system (a), we have C (s) = G3 (s)D (s)E (s) + [G1 (s)G2 (s)E (s)] . Taking the star transformation and replace eT s with z , we have C (z ) = G3 (z )D (z )E (z ) + Z [G1 (s)G2 (s)E (s)]. (c) For system (c), C (s ) = G 1 (s )G 2 (s )G 3 (s )E (s ) + 1 esT G3 (s)D (s)[G1 (s)E (s)] . s G 3 (s ) D (z ) Z [G1 (s)E (s)]. s

Taking the star transformation and replace eT s with z , we have C (z ) = Z [G1 (s)G2 (s)G3 (s)E (s)] + (1 z 1 )Z

Problem 3. Problem 4-13 (a)-(e). Matlab can be used for solving part (e). Solution: (a) The transfer function from e(kT ) to m(kT ) is D (z ) = 0.2z 0.2 = . 1 1 0.9z z 0.9

Thus, the transfer function from e(kT ) to c(kT ) is C (z ) = D (z )G (z ), E (z ) where G(z ) is the z -transform of the combined plant and data hold transfer function: 1 esT 1 Gp (s) = Z (1 esT ) s s(s + 0.2) 5 5 = (1 z 1 )Z s s + 0.2 5z 5z z1 = z z 1 z e0.2T 5(1 e0.2T ) 0.9063 = = . 0 . 2 T ze z 0.8187 Thus, the system transfer function is G (z ) = Z C (z ) 0.2 0.9063 0.1813z = D (z )G (z ) = = . E (z ) z 0.9 z 0.8187 (z 0.9)(z 0.8187) 2

(b) The DC gain of the system is D (z )G(z )|z =1 = 0.1813 = 10. (1 0.9)(1 0.8187)

(c) Alternatively, the DC gain can be computed as D (z )|z =1 Gp (s)|s=0 = 0.2 1 = 10. 1 0.9 0.2

(d) The steady-state value of the output under unit step input is 10. (e) Under unit step input e(t) = u(t), we have E (z ) = C (z ) =
z , z 1

and

0.1813z z 0.1813z 2 = (z 0.9)(z 0.8187) z 1 (z 0.9)(z 0.8187)(z 1) 20.07z 10.07z 10z = + + . z 0.9 z 0.8187 z 1

Thus, c(kT ) = 20.07 (0.9)k + 10.07 (0.8187)k + 10, which approaches 10 and k . k = 0, 1 , 2 , . . . ,

Problem 4. Problem 4-19 (c) and (d). Solution: (c) The modied z -transform is Zm 2 1 2 1 2 emT s+2 = Zm = Zm Zm = . s(s + 1) s s+1 s s+1 z 1 z eT

(d) Using the table in Appendix VIII, we have Zm s 2 (s s+2 2 1 1 = Zm 2 + + 1) s s s+1 2 1 1 = Zm 2 Zm + Zm s s s+1 2mT 2T 1 emT = + + z 1 (z 1)2 z 1 z eT 2mT 1 2T emT = + + . z1 (z 1)2 z eT

Problem 5. Problem 4-20 (c) and (d). Solution: (c) Using the conclusion of last problem, E (z ) = Z esT (s + 2)e0.1sT (s + 2)e0.1sT = z 1 Z s(s + 1) s(s + 1) s+2 s+2 = z 1 Z = z 1 Zm s(s + 1) =0.1 s(s + 1) m=0.9 0.9T e 2 = z 1 z 1 z eT (2 e0.9T )z + e0.9T 2eT = . z (z 1)(z eT )

(d) Using the conclusion of last problem, (s + 2)e0.2sT E (z ) = Z s2 (s + 1) s+2 s+2 = Z 2 = Zm 2 s (s + 1) =0.2 s (s + 1) m=0.8 2 1 1 = Zm 2 Zm + Zm s m=0.8 s m=0.8 s+1 0.8T 1.6T 1 2T e + + . = z1 (z 1)2 z eT

m=0.8