Problems 87

3.7 Find the equivalent sampled impulse response sequence and the equivalent
z-transfer function for the cascade of the two analog systems with sampled
input
1 10
H1 ðsÞ 5 H2 ðsÞ 5
s16 s11
(a) If the systems are directly connected
(b) If the systems are separated by a sampler
3.8 Obtain expressions for the analog and sampled outputs from the block
diagrams shown in Figure P3.8.

R(s) U(s) U*(s) Y(s) Y * (s)

C(s) G(s)
+ − T T

H(s)

(a)

R(s) E(s) E *(s) Y(s) Y * (s)

C(s) G(s)
+ − T T

H(s)

(b)

R(s) E(s) E* (s) U(s) U *(s) Y(s) Y *(s)

C(s) G(s)
+ − T T
T

H(s)

(c)
FIGURE P3.8
Block diagrams for systems with multiple samplers.

3.9 For the unity feedback system shown in Figure P3.9, we are given the analog
subsystem

s18
GðsÞ 5
s15
88 CHAPTER 3 Modeling of Digital Control Systems

R(z) E(z) U(z) Y(z)

C(z) DAC G(s) ADC
+ −

FIGURE P3.9
Block diagram for a closed-loop system with digital control.

The system is digitally controlled with a sampling period of 0.02 s. The

controller transfer function was selected as
0:35z
CðzÞ 5
z21
(a) Find the z-transfer function for the analog subsystem with DAC and ADC.
(b) Find the closed-loop transfer function and characteristic equation.
(c) Find the steady-state error for a sampled unit step and a sampled unit
ramp. Comment on the effect of the controller on steady-state error.
3.10 Find the steady-state error for a unit step disturbance input for the systems
shown in Figure P3.10 with a sampling period of 0.03 s and the transfer
functions

2 4ðs 1 2Þ esT 2 0:95

Gd ðsÞ 5 GðsÞ 5 C" ðsÞ 5
s11 sðs 1 3Þ esT 2 1

D(s)
Gd (s)
R(s) + Y(s) Y *(s)
C*(s) ZOH G(s)
+ − +
T T T

(a)

D(s)

Gd(s)
+
R(s) + Y(s) Y * (s)
C* (s) ZOH
+ − T T G(s)
T

(b)
FIGURE P3.10
Block diagrams for systems with disturbance inputs.