YTU GRADUATE SCHOOL

DEPARTMENT OF CONTROL & AUTOMATION ENGINEERING

KOM5102 Digital Control Systems Design, Midterm-1 Take-Home Exam
Name & Surname : Grading:
Problem 1: 20
Student number :
Problem 2: 20
Signature : Due: April 10, 2016 Problem 3: 20
Problem 4: 15
Problem 5: 25

Problem 1. Using the formula 𝑥 = 1 + 𝑟 + 𝑟 2 + 𝑟 3 + ⋯ = 1/(1 − 𝑟) which is valid for converging

series, the Euler equations for trigonometric functions and z theorems such as real or complex shifting,
(a) Obtain one-sided z-transforms of the time functions given below. Here the time functions start
when t=0 as indicated with multiplication of each function by u(t).
(b) Find the first 12 terms of the xn(k), which are the discretized versions of the corresponding
analog signals of xn(t) for a sampling frequency of fs= 4 Hz.
(c) Plot kT vs. xn(kT) that was obtained in (b) for k=0,1,2, .., 11 on the computer.
i. x1(t) = –3u(t) or –3(t) vi. x6(t) = 0.5(t – 2) u(t – 2)
ii. x2(t) = 2u(t – 4) or 2(t – 4) vii. x7(t) = 0.5t e–2t u(t)
iii. x3(t) = u(t + 4) or 1(t + 4) viii. x8(t) = 10sinω(t – 2) u(t – 2)
iv. x4(t) = 10e–2(t – 4) u(t – 4) ix. x9(t) = ak u(t)
v. x5(t) = 0.5t u(t) x. x10(t) = ak x(k) u(t)

Problem 2. Consider the system described by the following difference equation,

𝑦(𝑘) − 𝑦(𝑘 − 1) + 0.24𝑦(𝑘 − 2) = 𝑥(𝑘) + 𝑥(𝑘 − 1)

where x(k) is the input and y(k) is the output of the system.
𝑌(𝑧)
(a) Obtain the pulse transfer function 𝐺(𝑧) = 𝑋(𝑧) of the system,
(b) Determine the weighting sequence of the system, 𝑔(𝑘), which is the unit sample response, then
if possible, express it in its closed form.
(c) Obtain the first few samples of the unit step response 𝑦(𝑘), and express it in its closed-form,
(d) Obtain the Matlab solution (use the filter command) to get the first 40 terms of 𝑦(𝑘) and plot it.
(e) Find the steady state value of this response using the Final Value Theorem in z-plane and check
if the result found here confirms the plot in (d).

Problem 3. Consider the Pulse Transfer Function given below,

𝑧2 + 𝑧 + 2
𝑋(𝑧) =
(𝑧 − 1)(𝑧 2 − 𝑧 + 1)
(a) Find (closed form of) x(k) by means of Partial Fraction Expansion.
(b) Obtain the first 10 values of x(k).
𝐶(𝑧)
(c) Express the 𝑋(𝑧) = 𝑅(𝑧) in the form of a difference equation, where r(k) and c(k) are input and
output, respectively.
(d) Using the difference equation obtained in (c), get the first 10 values of unit sample response.
(e) Find the first 10 values of unit sample response using Matlab’s filter function and show that the
same output samples are produced at each case.

KOM5102 Digital Control Systems, Take-home Exam for Midterm-1, Dr. Ş.N. Engin, April 2016 page 1 of 2
Problem 4. For a second order discrete-time system that is represented with the block diagram below,
x(k) + y(k)
–
+

0.4

z –1 z –1
(a) obtain the difference equation relating the input x(k) to the output y(k).
(b) Write a pseudo-code (or a Matlab code) for the difference equation obtained in (a), which
returns the first 20 values of the output for the inputs of
i. Kronecker delta (i.e. unit sample), and ii. Sampled unit step
(c) Plot the outputs for the first 20 values found in (b),
(d) Obtain the transfer function relating the input X(z) to the output Y(z),
(e) Find the poles of the transfer function,
(f) Determine if the system is stable or not.
Hint: Check if the poles lie inside the unit circle on z-plane. Also show if the transient response
goes to zero as k approaches infinity.
(g) If the system is stable, compute the steady-state value of output when the input is a unit step.
Hint: Use the Final Value Theorem. Note: You can take T = 1 sec if needed.

Problem 5. For the digital dc motor position control system given below,
(a) Obtain the pulse transfer function GD(z) of the digital PID controller for a sampling period of
0.25 seconds, analog proportional gain of K=2.8, integral time (or reset time) of Ti =2 seconds
and derivative time (or rate time) of Td =0.6 seconds.
(b) Obtain the block diagram realization of this digital filter by
i. direct programming, and ii. standard programming.
(c) Find the pulse transfer function G(z) of the plant by hand calculations and Matlab c2d function.
(d) Find the closed-loop transfer function T(z) of the system by hand and Matlab feedback function.
(e) Obtain the difference equation of the system output c(kT).
(f) Find the first 60 values of output c(kT) by means of a simple computer program written for the
difference equation you obtained in (e) for a unit step input.
(g) Plot the output for the first 60 values versus the index k, which corresponds to 0-15 seconds.
(h) Plot the same output by Matlab step function, for which use T(z) obtained in (d) by “feedback”.
(i) Find the maximum percent overshoot (%OS) and steady-state value of the unit step response
(css or cfinal or c()). The formula for maximum percent overshoot is %OS= 100(cmax –css)/css.
(j) Determine the settling time of the step response approximately, which is defined as the time for
the response to reach, and stay within, 2% of its final value, from the plot.
(k) Obtain and plot the unit ramp response for the same system. Find the value of steady-state error.
Zero-order hold,
Digital Controller Gh(s) Plant, Gp(s)
r(kT)
+ 1  e Ts 1 c(kT)
GD(z)
− δT s 𝑠(𝑠 + 2)

G(z)

KOM5102 Digital Control Systems, Take-home Exam for Midterm-1, Dr. Ş.N. Engin, April 2016 page 2 of 2