Digital Control Systems

Practice problem set 3

Instruction: This problem set might be helpful for the midterm-exam preparation.

1. Given a number sequence {e[k ]} with Z-transform

z
E( z)
( z 1) 2

Compute lim e[k ] by applying final-value theorem to E ( z ) and compare the result with e[k ]
k

obtained from the inverse Z-transform of E ( z ) . Explain why the results from the two approaches
are different.

(Answer: Since ( z 1) E ( z ) has two poles at -1, which is not inside the unit circle, the final-value
theorem is not applicable for this case. i.e., lim e[k ] lim( z 1) E( z) )
k z 1

2. A feedback controlled systems is given as in the figure below:

a) Find the closed-loop transfer function from R( z ) to C ( z ) of the above systems.

K (0.0187 z 0.01756)
(Answer: T ( z ) )
z (0.8187 K 1.8187) z (0.01756 K 0.8187)
2

b) Find the steady-state error for the above system for a unit step and a unit ramp inputs.

(Answer: ESS 0 (for step input), ESS 1/ K (for ramp input))

c) If steady-state error for the unit ramp input is 0.25, find the corresponding damping ratio of
the closed-loop system. (Answer: Damping ratio 0.149 )
3. The block diagram below represents a digital control of an unstable 2nd-order system:

a) Assuming that Gc ( z ) K , sketch the root locus of the system as K varies from 0 to .

b) Based on the root-locus plot, determine values of K for which the closed-loop system is
stable. (Answer: None)

c) Design a digital controller Gc that results in zero steady-state error to a unit step input and
moves all closed-loop poles to z 0 . (You dont need to use the root locus)
 z 1
(Answer: A possible controller is a PD controller of the form Gc K p K d , where K p 1
z
and K d 2 .)

4. Consider the sampled double integrator system below:

Y ( z)
a) Find the bilinear transformation of when the sampling period is 0.2.
E ( z)

1 0.1w
(Answer: G( w) )
w2

b) Sketch the Bode diagram of G ( w) .