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DiCTAr
Exam 2015.06.19 test
Name, surname and answers on the last page
1) A stable CT analog system is sampled at a frequency of 1000 Hz. For its identification a real-time
recursive least squares algorithm adopt a forgetting factor 0.998 . For a sudden parametric variation
in the CT system, the parameters of the identified DT model passes from the old value to the new
one after a time (about). What would be a reasonable value for ?
A) 500 sampling steps
B) a few seconds
C) a few tens of seconds
D) 1 millisecond
2) A CT system, sampled with a frequency s of 40 rad/s, is characterized by the following tf:
3z 2 0.4z 2.5
G (z) 3
z z 2 0.9z 0.9
Compute magnitude (in dB) and phase (in degree) of G(z) for N 20 rad/s
A) 16.5 dB, 93 B) 31.6 dB, 180
C) dB, 90 D) 31.6 dB, 180
3) Indicate the minimum number of bits N that assures, numerically, the following inequality
2 106 1 2 106
No sign bit is needed.
A) N = 19 B) N = 20 C) N = 21 D) N = 22
4) The following DT tf is given
z 2 3.41z 2.43
G (z)
z 3 2.7 z 2 2.42z 0.72
and the related following parameters are defined:
K G limG (z)
z1
y(i) unitary step response of G (z)
Y0 limy(i)
i
Indicate, among the following, the correct statements
A) KG exists, Y0 exists
B) KG exists, Y0 does not exist
C) KG does not exist, Y0 exists
D) KG does not exist, Y0 does not exist
5) In a CT control system with unitary and negative output feedback, the compensator is of type P
C(s) K ; the plant is characterized by the tf G(s) 1 .
s 1
The closed loop with the CT compensator is stable for K 1.
Realize now the same type of control, but in the DT domain C( z ) K , with a sampling step Ts and
a DAC with a zoh device. In this case the stability of the closed loop is assured for 1 K K lim
with
A) K lim 0 B) K lim C) K lim constant 0 D) K lim function of Ts
6) The following characteristic polynomial is given:
D(z) z 3 az 2 bz c
a, b and c have the following nominal values:
a 0 1.7, b 0 0.92, c 0 0.16
Compute in an approximate way the sensitivity of the pole with nominal value 0 0.5 with respect
to the coefficient b b
A) = 50/3 B) = 0 C) = 3/50 D) =
DiCTAr
Exam 2015.06.19 design
Name, surname and answers on the last page
The model of a sampled dynamic system is represented by the following DT tf:
y(z) B(z) z 0.8
.
u (z) A (z) z 2 1
Design a three terms control system R (z), S(z), T(z) , by the pole-zero placement approach, given
the following close-loop control specifications:
control law: R (z) u (z) T(z) r (z) S(z) y(z) , where r() represents the reference signal;
no zeros;
three not cancelled poles: cc1 0.9 j0.1 3 , cc 2 0.9 j0.1 3 , cc 3 0.5;
DC gain = 5.
1) Compute the polynomials R (z), S(z), T(z) .
With reference to the closed-loop unitary step response find:
- the overshoot s % ;
- the number of steps N10 90 that the step response takes to go from the 10% to the 90% of
the steady state value;
- the steady state value Y0 of the output.
2) If the control signal u() is realized as in the previous item, but with one extra step delay, say if
the closed loop is still stable and, if yes,
- compute the new s % ;
- compute the new N10 90 ;
- compute the new Y0.
DiCTAr
Exam 2015.06.19
Surname Name
1 2 3 4 5 6
test
R(z) =
S(z) =
design
item 1)
T=
N10%-90% = , = %, Y0 =
design
item 2)
N10%-90% = , = %, Y0 =
stable
unstable
