Assignment for HWQ6 to be given on Thursday, Dec 5 Discrete time filter design options, feedback and control applications,

and review topics Review Chapter 5, section 5.6 in Lathis text. Study section 5.7. Study sections M5.1 through M5.6. Study Chapter 4 in Lathi, section 4.7. Section 4.8 is a good review on frequency response for LTIC systems including transient response coverage that will supplement understanding of CE#6. Problems for HWQ6: (Probs in Lathis text are appended LT)

5.6-6 LT

a) Show a DFII canonic realization (see 5.8b, pg 526.) b) Plot the pole and zero inside the unit circle. Determine |H| at = 0 and at = . Should suggest an LP filter. c) c = 1.176 radians which is also the bandwidth. Can you do this working with the geometry of the pole-zero plot?

Given a low pass LTIC filter

H ( s)

c s c

where c = 2500 rad/s Convert the filter to a LTID filter a) using the impulse invariance method b) using the first order backward difference method (see M5.3) c) using the bilinear transformation Assume T is selected for a sampling rate of 10,000 Hz. For part c) above adjust the T used in the bilinear transformation by prewarping to map c to c . Answers: a) H [ z ]
H [ z] 0.314 z z 0.730 0.239 z z 0.761

b)

Use T = 1.0083(10-4) in the bilinear transformation 0.1367( z 1) relationship. H [ z ] z 0.7265

c)

5.7-2 LT (part a only) Express your answer in terms of a general sampling interval T. Ans.
H [ z] T [ z 5 z ] 2T 2 z e -5T z e

4.7-1 LT

requires a show that for each part

Given the generic unity feedback system shown below, prove the expressions for Y and E shown below.

W + R + Comp Dc(s) + + V + Plant G(s) Y

Dc G Dc G G R W V 1 Dc G 1 Dc G 1 Dc G

E R Y

Dc G 1 G R W V 1 Dc G 1 Dc G 1 Dc G

Consider the following open loop gain in a unity feedback system:

G( s)

100 s( s 10)

Suppose we have a step input 10u(t) as the input to the closed loop system. a) What is the steady state output? b) What is the approximate % overshoot? c) What is the approximate settling time? Ans. 10 Ans. 15% Ans. 0.92 sec

Suppose we have a closed loop transfer function:

T ( s)

1280 ( s 50)(s 2 8s 32)

Estimate the output for a unity step input u(t) considering the dominant poles: a) What is the steady state output? b) What is the approximate % overshoot? c) What is the approximate settling time? Ans. 0.8 Ans. 5% Ans. 1.15 sec

A certain system has the following transfer function:

G( s) 10 ( s 10)

a) Find y(t) if the input to the system is x(t) = 1.0 u(t). Ans. y(t) = (1 e-10t ) u(t)

a) What is the steady state output for the unit step input? Ans. 1.0 b) What is the approximate 1% settling time? Ans. 0.46 sec c) What is the % overshoot for the step input? Ans. 0 %

d) Suppose we treat G(s) as the uncompensated open loop gain in a unity feedback system. Choose a simple controller Dc(s) = K, a constant. (Assume W and V are zero in the generic unity feedback system.) Find a minimum value for K so that we reduce the 1 % settling time to 0.10 sec or less with a steady state % error of 10% or less. Ans. K must be > 3.6 to meet the settling time criterion and > 9 to meet the steady state error criterion. Choose K = 9.