CS 421 TUTORIAL QUESTIONS 2013/2014

QUESTION ONE
a. With the aid of diagram define a digital control system and explain with examples the
advantages of a digital control system as compared to analog control system.
b. Explain the significancy of ADC and DAC in digital control systems.
c. Briefly explain the operation of the successive approximation converter and find the
successive approximation to output for 4 bit converter to a 6.875V if the reference
voltage is 10V.
d. Digital control systems finds numerous applications in todays life where one of them
is on aircrafts as the turbojet engines employ sophisticated computer control strategies.
The control requires feedback of the engine state i.e Speed, temperature and pressure,
measurements of the aircraft state i.e Speed and direction,The control also requires
thye pilot command. State the input(s) and output(s) of the system and also draw and
explain the simplified block diagram for the turbojet computer control system.
e. Consider a 5 bit D/A converter with resistance of 160K in LSB position. The
converter is designed with weighted resistive network. The reference voltage is 10V.
The output of the resistive network is connected to an OPAMP with a feedback
resistance of 5k. Determine the following.
i.

The value of R and draw the circuit for the binary weighted resistance.

ii.

Resolution of the converter.

iii.

Maximum output current.

iv.

Output Voltage for the first and last binary inputs.

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QUESTION TWO
a. Explain the use of mathematical models in digital control systems and explain in
tabular form atleast four mathematical models with their common uses.
b. Define Z-transform and derive the Z- transform for the following commonly used
signals in control systems; Unit impulse, Unit Ramp and exponential signals.
c. Find the Z transform for the following sequences and functions.
i.
ii.

iii.
d. Find the inverse Z-transform for the following
i.

Using residue theorem.

ii.

Using long division.

e. Consider modeling of discrete time systems, briefly explain the following z-transform
properties.
i.

Linearity.

ii.

Time shift.

iii.

Initial Value Theorem

iv.

Final Value Theorem

QUESTION THREE
a.

Differentiate with the aid of diagrams Zero Order Hold (ZOH) and First Order Hold
(FOH) and briefly explain their importance in digital control systems.

b.

State the relationship between E(z) and E*(S) , and derive the expression for the pulse
transfer function.

c.

Determine E*(s) for the given equqtion E(s) below.

E ( s) =
d.

1
( s + 1)( s + 2)

Highlight the steps for derivation procedure for determination of output function of
complicated sampled data systems and find the output function of the closed loop digital
control system shown in the figure 3a.

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Figure 3a
e.

Consider the system in the figure 3b.

Figure 3b
i.

Find the output C(kT) of the system for e(t) being a unit function.

ii.

What is the effect on C(kT) of the sampler and data hold in the upper path.

iii.

Sketch the unit response C(t) of the system without solving for C(s).

QUESTION FOUR
a.

Stability analysis techniques applicable to LTI continuous-time systems may also be

Applied to the analysis of LTI discrete time systems if certain modifications are made,
briefly explain at least three analysis techniques applicable in digital control systems.

b.

State and explain the Cauchys theorem and explain how it is used in stability analysis
of discrete time systems.

c.

For the system shown in the figure 4a.

e(s)

r(s)

e*(s)

y(s)

Figure 4a

CS 421 tutorial

i.

Determine whether the system is stable or not.

ii.

Find the values of T for the system to be unstable.

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d.

State the three initial necessary conditions for Jurys stability analysis and determine
whether the systems with the following C.E are stable or not using Jury test
i.

=0

ii.

e.

Consider the feedback control system in figure 4b.

Figure 4b
i.

Design D(z) so that when r(k) is a unit step, y(k) = 1 for all k 2.

ii.

What is the achieved closed loop transfer function.

QUESTION FIVE
a.

Consider a unit feedback system below.

A sampling with period T=2sec is applied just before G(z)

i.

Determine the range of K for stability using the Routh Hurwitz criterion. What
is the value of K for marginal stability.

ii.

Determine the range K for stability using Jury test. What is the value of K for
the system to be unstable.

iii.

b.

Compare your findings in a) and b) and comment accordingly.

Let

be the system equation with a sampling time of 0.2sec.

i.

Determine the pole locations of the system.

ii.

Find the damping ratio, natural frequency, time constant, rise time, peak time
and settling time.

iii.

Comment on the sampling period of the system as related to the time constant
obtained.

c.

Given the following system with unity feedback[6]

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Determine the following

i.

The position error constant.

ii.

The velocity error constant.

iii.

The steady state error for a unit step input.

iv.

The steady state error for unit ramp input.

QUESTION SIX
a.

Define what is the ideal sampler and explain its role in Digital control systems

b.

Derive the expression for the output of an ideal sampler for the unit step.

c.

State the relationship between E(z) and E*(S) , and derive the expression for the pulse
transfer function.

d.

Determine E*(s)

e.

Highlight the steps for derivation procedure for determination of output function of

E ( s) =

1
( s + 1)( s + 2)

complicated sampled data systems and find the output function of the closed loop digital
control system shown in the figure below

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QUESTION SEVEN
a. Stability analysis techniques applicable to LTI continuous-time systems may also be
Applied to the analysis of LTI discrete time systems, if certain modifications are made,
Briefly explain at least three analysis techniques applicable in digital control systems.
b. Consider the system in the figure below.

i. Determine the values of K such that the system is stable using Routh
Hurwitz criterion.
ii. Determine the cross over point and the oscillation frequency in w- plane
and s-plane
c. State and explain the Cauchys theorem and explain how is it used in stability analysis
of discrete time systems
d. State the three initial necessary conditions for Jurys stability analysis and determine
whether the systems with the following C.E are stable or not using Jury test
iii.

=0

iv.
e. The characteristic equation of the system is given by

Determine the values of K for which the system is stable using Jurys stability test

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