Code :R7411008 1

IV B.Tech I Semester(R07)Regular Examinations, November/December 2010

DIGITAL CONTROL SYSTEMS
(Electronics & Control Engineering, Electronics & Instrumentation Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE questions
All questions carry equal marks
?????

1. (a) Find the z- transform of the sampled ramp sequence f(k)= k, k=0,1,2, . . . .
(z+1)
(b) Obtain the inverse z-transform of the function F (z) = z 2 +0.2z+0.1
.
2. (a) What do you understand by ‘primary strips’ and ’complementary strips’ ? explain.
(b) For each of the following difference equations, determine the order of the equation. Is the
equation Linear and time invariant?
i. y (k + 2) + 0.8y (k + 1) + 7y (k) = u (k)
ii. y (k + 4) + sin (0.4k) y (k + 1) + 3y (k) = 0
3. The state equation of an armature controlled D.C. Motor is given by
 .      
x1 0 1 0 x1 0
 x.2  =  0 0 1   x2  +  0  u
.
x3 0 −10 −11 x3 10
Where x1 is the angular position, x2 is the angular velocity, and x3 is the anmature current.
Compute the state transition matrix.
4. (a) Prove the rank condition for controllability.
(b) Determine the controllability of the following state equation.
      
x1 (k + 1) −2 −2 0 x1 (k) 1 0
 x2 (k + 1)  =  0 0 1   x2 (k)  +  0 1  u (k)
x3 (k + 1) 0 −0.4 −0.5 x3 (k) 1 1
5. (a) Explain about primary strips and complementary strips.
(b) Test the stability of the polynomial,F (z) = z 5 +2.6z 4 −0.56z 3 −2.05 z 2 +0.0775z+0.35 = 0
6. Design a digital controller for the D.C. motor speed control system
1
G (s) = (S+1)(S+10)
to obtain.

(a) A zero steady state error due to a unit step.

(b) A damping ratio of 0.7 and
(c) A setting time of about 1s.
7. (a) Explain the concept of ‘pole placement’.
(b) Find the state feedback matrix that assigns the Eigen values {0.3 ± j0.2} to the pair
· ¸ · ¸
0 1 0
A= b=
3 4 1
8. (a) Explain any two examples for discrete data control system.
(b) Obtain the transfer function of Zero Order Hold.

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Code :R7411008 2
IV B.Tech I Semester(R07)Regular Examinations, November/December 2010
DIGITAL CONTROL SYSTEMS
(Electronics & Control Engineering, Electronics & Instrumentation Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE questions
All questions carry equal marks
?????

1. (a) Explain the advantages and disadvantages of digital control systems.

(b) Describe in detail the ‘sample and hold’ operation.
z+1
2. (a) Obtain the inverse z-transform of the function F (z) = z 2 +0.3z+0.02
(b) Verify the final value theorem using the z-transform of a decaying exponential sequence
and its limit as k tends to infinity.

3. (a) Given the discrete - time system, y (k + 1) − y (k) = u (k + 1). Find the system transfer
function and its response to a sampled units step.
(b) Given the discrete- time system,y (k + 1) − 0.5 y (k) = u (k) , y (0) = 0. Find the impulse
response h(k) of the system.

4. Obtain the discrete- time state equations for

 .      
x1 0 1 0 x1 0
 x.2  =  0 0 1   x2  +  0  u for a sampling period T=0.01 s.
.
x3 0 −10 −11 x3 10

5. (a) Prove the Rank condition for observability.

(b) Determine the observability of the system.
      
x1 (k + 1) −0.4 0 0 x1 (k) 1 0
 x2 (k + 1)  =  0 3 0    
x2 (k) + 0 0  u (k)
x3 (k + 1) 0 0 −2 x3 (k) 1 1
£ ¤ T
yk = 1 1 0 [x1 , (k) x2 (k) x3 (k)]

6. (a) What are ’primary strips’ and ’complementary strips’ ? Explain.

(b) Find stability conditions for
i. The first -order polynomial a1 z + a0 , a1 > 0
ii. The second - order polynomial a2 z 2 + a1 z + a0 , a2 > 0
1
7. Design a digital controller for the analog plant transfer function G (s) = (S+1)(S+3) for a time
constant of less than 0.3 second, a dominant pole damping ratio of at least 0.7, and zero steady
- state error due to a step input.
   
0.1 0 0.1 0.01
8. Design a feedback controller for the pair A =  0 0.5 0.2  b =  0  to obtain
0.2 0 0.4 0.005
the eigen values {0.1, 0.4 ± j0.4}.

?????
Code :R7411008 3
IV B.Tech I Semester(R07)Regular Examinations, November/December 2010
DIGITAL CONTROL SYSTEMS
(Electronics & Control Engineering, Electronics & Instrumentation Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE questions
All questions carry equal marks
?????

1. (a) Distinguish between analog control systems and digital control systems.
(b) With the help of a block schematic, explain the configuration of a digital control system.

2. (a) Obtain the z-transforms of

i. Sine function
ii. Cosine function
z
(b) Find the inverse z-transform of the function F (z) = (z+0.1)(z+0.2)(z+0.3)

3. Find the transfer functions corresponding to the following difference equations with input u(k)
and output y(k).If no transfer function is defined, explain why.
(i) y (k + 2) = y (k + 1) y (k) + u (k)
(ii) y (k + 3) − 2y (k) = 0
(iii) y (k + 4) + y (k − 1) = u (k)
4. Obtain the discrete-time state equations of the following analog state equation for a sampling
£ ¤T
period of 0.1s. Solve the discrete- time stateequation
 for the initial condition x (0) = 1 0
· . ¸ · ¸ x1 · ¸
x1 0 1  x2  + 0 u
and unit step input. . =
x2 −2 −3 1

5. (a) What do you understand by ‘Duality’ between controllability and observability? Give the
necessary proof for duality.
(b) Explain the concepts of ‘controllability’ and observability.

6. Find the range of the gain k for unity feedback system having the following loop transfer
functions;
1.9412×10−2 k
(a) z−0.9418
1.0653×10−2 k(z+0.8467)
(b) (z−1)(z−0.6065)

7. Design a proportional controller for the unity feedback, digital control system with analog
1
process.G (s) = S(S+5) and a sampling period T=0.04s to obtain,

(a) A steady state error of 10% due to a ramp input.

(b) A damping ratio of 0.7

8. (a) With the help of a block schematic, explain ‘full order state estimator.’
(b) Distinguish between ‘full order observers’ and ‘reduced order observer.’ Draw the block
diagram of reduced- order observer.

?????
Code :R7411008 4
IV B.Tech I Semester(R07)Regular Examinations, November/December 2010
DIGITAL CONTROL SYSTEMS
(Electronics & Control Engineering, Electronics & Instrumentation Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE questions
All questions carry equal marks
?????

1. (a) Explain the role of analog to digital conversion and digital to analog conversion in digital control systems.
(b) Why is ‘Sample and Hold’ operation required in digital control systems?
2. (a) What is ‘modified’ z-transform’ ? Why is it required?
(b) Use the ‘multiplication by exponential’ property to obtain the transforms of the discrete- time functions.
(i) e−αKT Sin (kwT )
(ii) e−αKT Cos (wT )
3. Solve the following difference equations
(a) y (k + 1) − 0.8y (k) = 0, y (0) = 1.
(b) y (k + 1) − 0.8y (k) = 1 (k) , y (0) = 0
4. (a) What is ‘State Transition Matrix’ ? What is its significance? What are its properties?
· . ¸ " #
h i x1 h i
x.1 0 1 x2 + 01 u for a unit step input and the initial
(b) Solve the state equation = −2 −3
x2
T
condition vector x (0) = [ 1 0 ] . Use the solution to obtain the discrete - time state equations for a
sampling period of 0.1s.
5. Show that the following state equation is uncontrollable, and determine the uncontrollable mode. Then obtain
the discrete- time state equation and verify that it is also uncontrollable.
· . ¸ h i· ¸ h i
x.1 (t) 0 1 x1 (t) −1
= 0 0 x2 (t) + 0 u (t) .
x2 (t)

6. (a) Explain ‘constant damping Loci’.

(b) Determine the asymptotic stability of the following systems:
4(z−2)
i. H (z) = (z−2)(z−0.1)
4(z−0.2)
ii. H (z) = (z−0.2)(z−0.1)
5(z−0.3)
iii. H (z) = (z−0.2)(z−0.1)
8(z−0.2)
iv. H (z) = (z−0.1)(z−1)

7. A closed loop control system is to be designed for a steady state error not to exceed 5 percent, a damping ratio
of about 0.7, and an undamped natural frequency of 10 rad/s. Select a suitable sampling period for the system
if the system has a sensor delay of
(a) 0.02s.
(b) 0.03s.
8. (a) Derive Ackerman’s formula for design via pole placement.
(b) What is ‘State observer’ ? Explain with the help of a block schematic. Distinguish between full order
observer and reduced order observer.

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