IC 6701 Digital Control System Department of ICE 2018-19

IC6701 - DIGITAL CONTROL SYSTEM

UNIT I INTRODUCTION
Part A
1. Distinguish between analog and discrete signals
Analog signals are continuously vary with time, frequency and space but discrete signals do not
have continuous signal. It produces output only at different instants.
2. Find the z transform of unit step function.(May 2012, April 2017, Dec 2017)

3. Find the Z transform of f(t) = t e-at

Tze aT
Z { f (t )}  F ( z ) 
( z  e  aT ) 2
4. Define one sided z transform.

The one sided z transform is defined as Z{ f (t )}   f (nT ) z  n
n 0
5. Discuss the region of convergence of Z transform (April 2017, Dec 2017)

The region of convergence of Z transform of Z{ f (t )}   f (nT ) z  n is
n 0
i. |z| > r, then the above equation has a finite value; i.e the series converges. This value of z,
by definition, lies in the convergence region of the z – plane.
ii. |z|< r, then the above equation has a finite value; i.e undefined. This value of z, by
definition, lies in the divergence region, which contained within the circle of radius r .
iii. |z|= r, on the boundary the infinite series may or may not converge depending upon the
sequence.
6. Obtain the z transform of sin (at)
z sin aT
Z {sin at}  2
z  2 z cos aT  1
7. Obtain the Z transform of e-atsinωt
Z { e-at x(t) } = X ( z e-at) Z { sinωt } = Z { e-atsinωt } =

8. What is the use of modified Z transform?

The Z transform method determine the transient responses of sampled –data control systems
only at the sampling instant. To obtain the values of the response between sampling instants,
modified Z transforms are useful. They are also helpful in analyzing sampled data control
systems containing transportation lag.
9. Determine the final value x(t) if the z transform of x(t) is given by 10 z  5
X ( z) 
( z  1)( z  0.2)
Using Final value theorem
10 z  5 10  5  18.75
lim x(t )  lim (1  z 1 ) X ( z )  lim (1  z 1 ) 
t  z 1 z 1 z (1  z 1 )( z  0.2) 1  0.2
10. What the different methods are of determine inverse Z transform.
Partial fraction method, Power series (Direct division) method.
11. Define the initial value theorem of Z transform.
If the Z transform of f(t) is F(Z), then Lim f (t )  Lim F ( z )
t 0 z 

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12. Define the final value theorem of Z transform.
If the Z transform of f(t) is F(Z), then Lim f (t )  Lim(1  z 1 ) F ( z )
t  z 1
13. What are the common approaches to obtain closed loop Z transforms?
There are two common approaches for obtaining the closed-loop Z transforms of digital control
systems which contain feedback and multiple numbers of synchronized samplers-by algebraic
manipulation of block transfer functions or by the signal flow graph method.
14. a
Determine the Z-transform of the function (Dec 2011)
s( s  a)
 a  1 1  1 1 z 1 (1  e aT )
Z   Z     1
 
 s( s  a)  s s  a 1 z 1  e  aT z 1 (1  z 1 )(1  e aT z 1 )
15. Derive the relationship between s plane and z plane.(Dec 2012)

The imaginary axis of the s plane between minus half the sampling and plus half the sampling
frequency maps onto the unit circle in the z plane.
The portion of the s plane to the left line maps to the interior of the unit circle in the z plane.
The portion of the s plane to the right of the line maps to the exterior of the unit circle in the z
plane.
The line(line of constant sigma) maps to a circle inside the unit circle in the z plane.
Lines of constant frequency in the s plane maps to radial lines in the z plane.
The origin of the s plane maps to z = 1 in the z plane.
The negative real axis in the s plane maps to the unit interval 0 to 1 in the z plane.
16. Find F(z) for f(t)=t.e-at where t ≥ 0. (Nov/Dec 2013)
Te  aT z 1
1  e  aT z 1 
2
 
 
17. Obtain the z transform of e-at. (May/June 2013)
1
1  e  aT z 1
18. What are the limitations of Z transform.
i. Z transform may not yield unique solution.
The impulse responses of rational functions that do not have at least two more poles than zeros
experience a jump behavior at t = 0.
19. Mention the advantages of using Digital control system. (Nov/Dec 2013)
What are the advantages of digital control system?(May/June 2013)
Flexibility, Wide selection of control algorithm, integrated control of industrial systems, Future
generation control system.
20. List the general sampled data system variables.
The variables of a samples data system can be described in terms of their time and amplitude
characteristics grouped in four general categories
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(i) Discrete amplitude – discrete time (D-D),
(ii) Discrete amplitude – continuous time (D-C),
(iii) Continuous amplitude – discrete time (C-D),
(iv) Continuous amplitude – continuous time (C-C)
21. List the disadvantages of digital control system.
The disadvantages of digital control systems are Conversion of signals, Loss of signals in data
reconstruction, Logical errors in algorithms and conversion.
22. Classify the signals used in typical control system
The signals used in control systems are analog signals, discrete signals and Digital codes
23. Distinguish between analog and discrete signals
Analog signals are continuously vary with time, frequency and space but discrete signals do not
have continuous signal. It produces output only at discrete instants.
24. Compare conventional control and computer control.
In conventional control all signals are continuous signals. The components used in this control
system are works with analog signal only. In computer control the signals are hybrid and the
components are works with discrete and analog signals.
25. What are the building blocks of digital control system?
The basic building blocks of typical digital control system are Digital Controller, Analog to
Digital converter, Digital to Analog converter, Plant / System, Actuator, Sensor / Transducer
26. List the advantages of digital control system
The advantages of digital control systems are Flexibility, Wide selection of control algorithms
Integrated control of industrial systems, Future generation control systems
27. List the applications of digital control.
Few applications of digital control are Autopilot control system, Rolling mill control system
Turbine and generator control system, Motor speed control and etc
28. How do you improve the effect of sampling?
In the discrete time system each value of the input is held constant until the next value is
available. To overcome this delay the average value is taken by T / 2, as this assessment can be
made of the effect of delay in discrete control system. The delay can be approximated by pade
approximation.
29. Draw the block diagram of general digital control system (Dec 2011) (Nov/Dec 2013). Draw
the block schematic of a typical digital control system. (May/June 2013)

A/D Digital D/A Plant

computer

Sensor

30. Explain the term sampled data control system (Dec 2011, April 2017)
A sample data control system, utilizing a digital computer as a control element, can play a vital
role in control-system applications such as robotics, aircraft control, automobile control, medical
operations, process control, biomedical systems, and satellite operation.
31. Distinguish between analog signal and digital signal.(May 2014, April 2017)
Analog signal – signal that is continuous in time and can assume an infinite number
of values in a given range (continuous in time and value)
Discrete (digital) signal – signal that is continuous in time and assumes only a
limited number of values (maintains a constant level and then changes to another
constant level)

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32. What is sampled data system?(MAY 2016, Dec 2016, April 2017)
Control systems that combine an analog part with some digital components are traditionally
referred to as sampled-data systems.
A sampled-data system is a control system in which a continuous-time plant is controlled with a
digital device. Under periodic sampling, the sampled-data system is time-varying but also
periodic; thus, it may be modeled by a simplified discrete-time system obtained by discretizing
the plant.
33. Differentiate discrete time signal and digital signal. (MAY2016)
Discrete signal Digital signal
A discrete signal or discrete-time signal is a A digital signal refers to an electrical signal
time series consisting of a sequence of that is converted into a pattern of bits. Unlike
quantities. In other words, it is a time series an analog signal, which is a continuous signal
that is a function over a domain of integers. that contains time-varying quantities, a digital
signal has a discrete value at each sampling
point.

34. Give the general architecture of digital control system. (Dec 2016)

35. Define sampling frequency. (May 2016)

Sampling rate or sampling frequency defines the number of samples per second (or per other
unit) taken from a continuous signal to make a discrete or digital signal.
36. What is data reconstruction process? (May 2016)
Most of the control systems have analog controlled processes which are inherently driven by
analog inputs. Thus the outputs of a digital controller should first be converted into analog
signals before being applied to the systems.
37. How information loss happens due to sampling.
In practice, signals in control system include low frequency components carrying useful
information, as well as frequency noise components. The high frequency components appear as
low frequency signals due the aliasing effect, causing a loss of information.
38. What is the need for zero order hold in a discrete time control loop?
The zero order hold keeps the value of the discrete time signal constant for the entire time period
until the next time signal comes along. This is most commonly used because it can be easily
implemented
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39. What is aliasing? How it can be avoided?
A periodic signal that is sampled at a rate less than twice per cycle, the output signal will have a
different frequency from the input. This phenomenon is called aliasing. This can be avoided by
selecting the sampling period minimum 5 times of its highest frequency.
40. How sampling time selected for digital control systems?
In real applications the selection of the sampling time T value to be used for a sampled-data
control system is based upon the following realistic factors
a. Control application – model bandwidth, noise, environment
b. Control design technique employed – accuracy
c. State-of-the art computer hardware capabilities – speed, word length
41. What is quantization?
The operation of converting an analog signal to a digital number is A/D conversion. Since the
digital output can assume only a finite number of levels, the analog number is rounded off or
truncated into digital number. This approximation procedure is generally referred to as a
quantization.
42. Draw the block diagram of sampling and hold operation
HOLD e-Tds FILTER
Input Sampler
43. Define quantization error
The difference between the straight line and the quantization characteristic is called quantization
error.
44. Write down the general expression for HOLD operation
fk(t) = f(kT) + f(1)(kT) (t-kT) + (f(1)(kT))/2! (t-kT)2 + . . . .
45. Define acquisition time.
The acquisition time is measured from the instant the sample command is given to the time
when the S/H output enters and remains within a specified error band (+ 1 %) around the input
signal.
46. Define aperture time.
The time between the issuance of the hold command and the time the sampler is opened is called
aperture time.
47. Briefly explain hold mode droop.
During the hold mode, the output of the S/H device may decrease slightly, due to the leakage
currents with the switch and the buffer amplifier of the circuit. The droop in the output of the
S/H device can be greatly reduced by using a buffer amplifier with a very high input impedance
at the S/H output.
48. What is meant by frequency folding? And how is it avoided?
The phenomenon of the overlapping of the high-frequency components with the fundamental
component in the frequency spectrum of the sampled signal is sometimes referred to as folding.
This can be avoided by proper selection of sampling frequency.
49. What is the need of Digitization?
While converting the continuous component D (s) into a set of difference equations D (z), the
difference equations are need to programmed directly into a control computer. The fundamental
difference between the two implementation is that, the digital system operates on samples and
the continuous signal operates with respect to time.
50. How information loss happens due to sampling.
In practice, signals in control system include low frequency components carrying useful
information, as well as frequency noise components. The high frequency components appear as
low frequency signals due the aliasing effect, causing a loss of information.
51. Discuss the forward rectangle rule for integration
kT

The forward rectangle rule for integration is  y(t )dt  [ y(k  1)]T
( k 1)T

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52. Explain the finite approximation for derivatives using backward difference method.
dy(t ) y (k )  y (k  1)
The backward difference methods for approximating the derivatives are 
dt T
53. Discuss the backward rectangle rule for integration
kT
The forward rectangle rule for integration is  y(t )dt  [ y(k )]T
( k 1)T

54. Explain the finite approximation for derivatives using forward difference method.
dy(t ) y (k  1)  y (k )
The forward difference method for approximating the derivatives is 
dt T
55. What is the need for zero order hold in a discrete time control loop?
The zero order hold keeps the value of the discrete time signal constant for the entire time period
until the next time signal comes along. This is most commonly used because it can be easily
implemented

Part-B (Unit – I)

1. Explain in detail about the general sampled data system variables. (Dec 2011)
2. Sketch the block diagram for general sampled data system. Explain the function and
various steps involved with a flow chart. (May/June 2013, April 2017)
3. What is the necessity to use digital control system? (Dec 2014)
4. Explain with neat sketch any two examples of discrete data and digital control systems.
(Dec 2011)
5. Explain digital temperature control system along with the control algorithm. (Dec 2012)
6. Describe in detail the architecture and modeling of digital control system.(May 2012)
7. Describe the signal classification of a control system in detail.(Nov/Dec 2013)
8. Elaborate on the various implementation problems in digital control. (Dec 2012)
9. With diagram, explain a typical flow control loop with digital control. (May/June 2013,
April 2017)
10. (i) Draw the block diagram of a sampled data control system and explain.(10)
(May/June 2014)
(ii)Compare analog and digital controllers.(6) (May/June 2014)
11. (i)Discuss the advantages offered by digital control. (May/June 2014)
(ii)With suitable block diagram, explain one application of digital control system.
(May/June 2014)
12. Describe in detail the configuration of the basic digital control scheme. (Dec 2014)
13. Illustrate and derive the necessary equations for Heat exchanger control circuit. (Dec
2014)
14. Sketch the block diagram for general sampled data system. Explain function and various
steps involved with a flow chart. (Dec 2016, April 2017)
15. (i) Explain the need and merits of digital control system.
(ii) With diagram, explain a typical flow control loop with digital control. (Dec 2016,
April 2017)
16. Explain briefly about the configurations of digital control system and sampled data
system variables. (May 2016)
17. State and explain the advantages of digital control system with an example. (May 2016)
18. (i) Explain the function of Zero order hold circuit and derive its transfer function.(Dec
2017)
(ii) Obtain the final value for the sequence whose Z-transform is given by
z 2 ( z  a)
X ( z) 
( z  1)( z  b)( z  c)
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What can you conclude concerning the constants b and c if it is known that the limit
exists?

19. (i) Find the z-transform of x(n)=cos n for n≥0. Using the scaling property , determine
the z-transform of an cos n. (Dec 2017)
1
(ii) obtain the inverse z-transform of the following function X ( z )  2
z ( z  0.5)
20. (i) Starting from the fundamentals determine poles and ROC of the
signal F (k )  cos k .
s(2s  3)
(ii)Find G(z) if G ( s)  . (April 2017)
( s  1) 2 ( s  2)
21. z
(i) Find the inverse Z- Transform of f ( z )  2 by log division method. (April
z  z  0 .5
2017)
(ii) Determine the initial and final value of the pulse transfer function :
4 z 3  5z 2  8z
F ( z)  .
( z  1)( z  0.5) 2
22. Determine initial and final value of the pulse transfer function

23. Find Z-Transform and Inverse Z- Transform of (i) (ii)

24. Describe Zero Order Hold (ZOH) and First Order Hold (FOH) operations with suitable
examples.
25. Find Z-Transform and Inverse Z- Transform of (i)

(ii)

26. Construct table of Laplace and Z- transforms (Including Properties of Z –Transform)

27. Determine Z- Transform of the following
5 S
(i) F(S) = (ii) F(S) =
S ( S  3) 2
( S  1)( S  2) 2
(iii) F(t) = 1+ 5t+10t2 (iv) F(t) = t2 e 5t
28. Determine inverse Z- Transform of the following
z z 2  2z  1
(i) F(z) = (ii) F(z) = 2
( z  0.5)( z  0.8)( z  1) z  8z  1
29. Derive the transfer function of Zero order hold and first order hold.
30. What are the properties of the region of convergence (ROC) of the Z- transforms? Find
the Z-transform of ak and region of convergence of the following function X(Z) =


a
k 0
k
z k

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UNIT II PULSE TRANSFER FUNCTION AND TIME RESPONSE

Part - A
1. Define pulse transfer function.(April 2017)
The transfer function of linear discrete system is called pulse transfer function. It is given by z
transform of the impulse response of the system. G(z) = Y(z) / X(z), where Y(z) is output and
X(z) is input.
2. What is block diagram reduction technique?
It is a short hand representation of the system where you have each sub system or each
component represented by that it is transfer function. And the interconnection is captured as flow
of signals from one system to the other.
3. Explain combining blocks in series rule?

4. Explain moving a pick-off point beyond the block rule.

5. Explain moving a pick-off point ahead of a block rule.

6. Explain feedback loop elimination rule.

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7. Explain any two signal flow graph rule.

.
8. What is positional error constant?
K p  Lim G ( z ) ,
z 1

9. What is velocity error constant?

1  z 1 
K v  Lim G ( z ) ,
T z  1
 z 
10. Explain acceleration error constant.
1  ( z  1) 2 
K a  2 Lim G ( z )

T z 1
 z 
11. Analyse steady state error for step, ramp and parabolic inputs.
The steady state error for various types of input.

12. What is a time domain specification?

The time domain specifications are
a) Peak time (tp),
b) Delay time (td),
c) Rise time (tr),
d) Maximum over shoot (%Mp), and (e)Settling time (ts).
13. Define rise time.
For underdamped system:It the time taken for the response to raise from 0% to 100% for the
very first time.
For overdamped system: It is the time taken by the response to raise from 10% to 90%.
For critically damped system: It is the time taken for the response to raise from 5% to 95%.
1 2
  tan 1
  
Rise time tr  
d n 1   2

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14. Define settling time.

It is defined as the time taken by the response to reach and stay within the specified tolerance
band (error). It is usually expressed as % of final value. The usual tolerance band is 2% or 5%
of the final value.
4
ts   4T , for ±2% tolerance band
n
3
ts   3T , for ±5% tolerance band
n

15. Define peak overshoot.

It is the time taken for the response to reach the peak value for the very first time. (or) it is the
time taken for the response to reach the peak overshoot.

Peak time = t p 
n 1   2
It is defined as the ratio of maximum value measured from the steady state vale to the steady
state value.
c(t p )  c()
% Peak overshoot,%M p  100
c ( )
16. Write the expression for steady state error co efficient?
1  z 1  1  ( z  1) 2 
K p  Lim G ( z ) , K v  Lim  G ( z )  , K a  2 Lim G ( z )
z 1 T z 1
 z  T z 1
 z 

17. Define steady state error (Dec 2013, Dec 2017)

Steady-state error is defined as the difference between the input (command) and the output of a
system in the limit as time goes to infinity (i.e. when the response has reached steady state). The
steady-state error will depend on the type of input (step, ramp, etc.) as well as the system type
(0, I, or II).
18. What is meant by starred Laplace transform?(Dec 2017)
If a continuous-time signal x(t) is sampled in a periodic manner, mathematically the sampled
signal may be represented by

x*(t) is the sampled version of the continuous-time signal x(t).

19. Define Mason’s Gain formula for signal flow graphs. (April 2017)
Mason’s gain formula is given by,
1
T  Pk  k
 k
Where, Pk = path gain of kth forward path
 = 1- (sum of individual loop gains) + (sum of gain of all combinations of two
non touching loops) – (sum of gain product of all combinations of three non
touching loops) + ....
k =  of that part of graph not touching the kth forward path
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20. How the system is classified depending on the value of damping?

Case 1 :Undamped system,  = 0
Case 2 :Underdamped system, 0 << 1
Case 3 : Critically damped system, =1
Case 4 :Overdamped system, > 1

Part-B (Unit –II)

1. Derive the pulse transfer function of cascade blocks and closed loop systems.
2. Develop the concept of an ideal sampler to simplify the mathematical analysis of sampled data
control systems (Dec 2011).
What is an ideal sample and sampling process? (May 2012)
Explain the characteristics of ideal sampler in sampled data control systems. (Dec 2012)
3. Determine the pulse transfer function of a discrete time system shown in Figure 1.

Figure 1
4. Determine the pulse transfer function of a discrete time system shown in Figure 2.

Figure 2
5. Determine the pulse transfer function of a discrete time system shown in Figure 3.

Figure 3
6. Determine the pulse transfer function of a discrete time system shown in Figure 4.

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Figure 4
7. Obtain the overall transfer function from the signal flow graph shown in Figure 5.

Figure 5

8. Draw the original and sampled flow graph for the discrete time system shown in Figure 6.

Figure 6
9. Draw the original and sampled flow graph for the discrete time system shown in Figure 7.

Figure 7
10. Draw the original and sampled flow graph for the discrete time system shown in Figure 8.

Figure 8
11. Draw the original and sampled flow graph for the discrete time system shown in Figure 9. And
derive pulse transfer function.

Figure 9
12. Determine the response of the system defined by the equation (Dec 2017)
5 1
y (n)  y (n  1)  y (n  2)  x(n)
6 6
1
To the input signal x(n)   (n)   (n  1)
3

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13. A unity feedback system is characterized by the open loop transfer function
0.3679 ( Z  0.718)
G ho G ( z )  . The sampling period T = 0.5 sec. Determine the steady state error
( z  1)( z  0.3679 )
for unit step input, unit –ramp and unit – acceleration inputs. (Dec 2017)
14. Obtain the pulse transfer functions for the cascade blocks shown in figure and show their pulse
transfer functions are not equal. (April 2017)

15. Draw the signal flow graph for the discrete time system shown in figure and derive the pulse
transfer function. (April 2017)

UNIT III STABILITY

Part A
1. Examine the stability of the characteristic equation P(z) = z3 - 1.17z2 - 0.1z + 0.8 =0
Using Jury’s stability test the necessary condition
|a3| < a0 = 0.8 < 1 satisfies
P(1) = 1- 1.17 - 0.1 + 0.8 = 0.53 > 0 satisfies
P(-1) = -1 - 1.17 + 0.1 + 0.8 = -1.27 <0 satisfies
From the Jury’s table b2 = -0.36, b0 = -0.836, |b2| > |b0| condition fails
Hence, the system is unstable
2. Define stability with respect to Z domain.
The stability of the following closed loop system
C ( z) G( z)

R( z ) 1  G ( z ) H ( z )
can be determined from the location of closed loop poles in z-plane which are the roots of the
characteristic equation
1 + GH(z) = 0
1. For the system to be stable, the closed loop poles or the roots of the characteristic equation
must lie within the unit circle in z-plane. Otherwise the system would be unstable.
2. If a simple pole lies at |z| = 1, the system becomes marginally stable. Similarly if a pair of
complex conjugate poles lie on the |z| = 1 circle, the system is marginally stable. Multiple poles
on unit circle make the system unstable.
3. What is root locus?
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It is the locus of the closed loop poles obtained when the system gain ‘K’ is varied from - to
+.
4. When a sampled data control system is stable?
When the signal or information at any or some points in a system is in the form of discrete
pulses, then the system is called discrete data system or sampled data system.

5. What is characteristics equation of sample data system?

the stability of the following closed loop system
C(z) /R(Z) = G(z) /[1 + GH(z)]
In many LTI discrete time control systems, the characteristics equation may have either of the
following two forms.
1 + G(z)H(z) = 0
1 + GH(z) = 0
6. Define Gain Margin and Phase margin.
Gain margin and phase margins are the measures of relative stability of a system.

Gain margin is the safety factor by which the open loop gain of a system can be increased before
the system becomes unstable. It is measured as

where ωp is the phase crossover frequency which is defined as the frequency where the phase of

the loop transfer function is 180°.

Similarly Phase margin (PM) is defined as

where ωg is the gain crossover frequency which is defined as the frequency where the loop gain
magnitude of the system becomes one.
7. Explain the steps involved in Nyquist stability test.

A discrete system is stable if all poles of are inside the unit circle, or,

equivalently, if no zeros of are inside the unit circle.

Discrete-time Nyquist Stability Criterion

For the system to be stable, the following must be true:

 The number of CW encirclements of the point in the Nyquist plot

of when traverses clockwise the unit circle in

z-plane must equal minus the number of poles of outside the unit
circle of the z-plane.

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 The number of CCW encirclements of the point in the Nyquist plot

of when traverses clockwise the unit circle in

z-plane must equal the number of poles of outside the unit circle of
the z-plane.

8. What is pulse transfer function?

Define pulse transfer function.(May 2014)
The transfer function of linear discrete system is called pulse transfer function. It is given by z
transform of the impulse response of the system. G(z) = Y(z) / X(z), where Y(z) is output and
X(z) is input.
9. What are the procedures to find the dynamic response of a system?
i. Compute the transfer function of the system G(z)
ii. Compute the transfer function of the input signal E(z)
iii. Form the product E(z)G(z), which is the transform of the output signal U(z)
iv. Invert the transform to obtain u(kT)
10. State BIBO stability.
For every bounded input, there should be bounded output. The sufficient condition is | ek | < M

<  for all k ; e – input signal the necessary condition is | h
i  
i k |   h – output signal

11. How the stability is classified?

Stability may classified as follows
(i) Unstable : here is at least one finite initial state x(0) such that x(k) grows thereafter without
bound as k 
(ii) Asymptotically stable : For all possible initial states x(0), x(k) eventually decays to zero k

(iii) Marginally stable : For all initial states x(0), x(k) remains thereafter within finite bounds for
k>0
12. Define jury stability criterion
The jury stability criterion to a given characteristic equation
F(z) = a0zn + a1zn-1 + . . . + akzn-k + . . . + an-1z + a0; a0 > 0
Construct a table whose elements are based on the coefficients of F(z).
13. Define stability with respect to Z-domain.(Dec 2012)
A linear sampled data system is stable if the output sequence is bounded for any bounded input
sequence. Otherwise the system is said to be unstable.
14. State and prove the shifting theorem.
If X (z) is the Z transform of x(n) then Z{x(t  nT )}  Z  n X ( z )
 
Z{x(t  nT )}   x(kT  nT )z  k  z  n  x(kT  nT )z  ( k  n )
k 0 k 0

let m = k – n, then Z {x(t  nT )}  z  x(mT )z  z X ( z )
n m n

m0
15. How do you get the solution for difference equation?
Difference equation can be solved easily by use of digital computer, provided the numerical
values of all coefficients and parameters are given. However, closed form expressions for x(k)
can’t be obtained from the computer solution. The z transform method is useful to get the
solution, by using of shifting theorem,
Z{x(t-nT)] = z-n X(z) Z{x(t +nT)] =

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16. Tabulate the steady state error coefficients for type 0, 1, 2 stable systems. (Dec 2011)
Type 0 Type Type
1 2
Unit step 0 0
1 (1  kv )
Unit ramp  1 kv 0
Unit   1 ka 1  z 1 
parabolic K p  Lim G ( z ) K v  Lim G ( z )
z 1 T z 1
 z 
1  ( z  1) 2 
K a  2 Lim G ( z )

T z 1
 z 
17. What is steady state error? (Nov/Dec 2013)
Steady-state error is defined as the difference between the input (command) and the output of a
system in the limit as time goes to infinity (i.e. when the response has reached steady state). The
steady-state error will depend on the type of input (step, ramp, etc.) as well as the system type
(0, I, or II).
18. State the necessary condition for Jury’s stability test. (May/June 2013)
Consider the characteristics polynomial
F1(z)=anzn+an-1z n-1+…+a0=0 ; an>0
The necessary condition for stability are
F1(1)>0; (-1)nF1(-1)>0
19. For the characteristic polynomial F(z)=3z4+7 z3+10z2+4z+1, find the stability of the
system.(Dec 2014)
Necessary conditions for stability
F ( z ) z 1  0
And
 0 for n even
F ( z ) z  1 
 0 for n odd
According to the necessary conditions the system may be stable
20. Obtain the z transform of . (Dec 2016)
 z 
Z{e-at} =  at 
 ze 

21. State the necessary condition for jury’s stability function? (Dec 2016)
This is an algebraic test, similar in form to the Routh - Hurwitz approach, that determines
whether the roots of a polynomial lie within the unit circle.
22. Find F(z) for f(t) = where t≥0. (May 2016)

F(Z) =
23. What is steady state error? (May 2016)
Steady-state error is defined as the difference between the input (command) and the output of a
system in the limit as time goes to infinity (i.e. when the response has reached steady state). The
steady-state error will depend on the type of input (step, ramp, etc.) as well as the system type
(0, I, or II).
24. Use bilinear transformation check to check stability for the characteristics equation
г()=z3-1.3z2-0.08Z+0.24=0. (April 2017)
Transforming P(z) into w -domain:

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or,
We can now construct the Routh array as

There is one sign change in the first column of the Routh array. Thus the system is unstable with
one pole at right hand side of the w -plane or outside the unit circle of z -plane.

25. What are breakaway and break-in points of root locus?

Breakaway point and Break-in poin:
To find the break away and break in points, from an equation for K from the characteristics
equation, and differentiate the equation of K with respect to s. Then find the roots of equation
dK dK
 0 the roots of  0 are breakaway or breakin points, provided for this value of root, the
ds ds
gain K should be positive real.

26. How the poles on j axis in s-plane are mapped into z-plane?(Dec 2017)

The imaginary axis of the s plane between minus half the sampling and plus half the sampling
frequency maps onto the unit circle in the z plane.
The portion of the s plane to the left line maps to the interior of the unit circle in the z plane.
The portion of the s plane to the right of the line maps to the exterior of the unit circle in the z
plane.
The line(line of constant sigma) maps to a circle inside the unit circle in the z plane.
Lines of constant frequency in the s plane maps to radial lines in the z plane.
The origin of the s plane maps to z = 1 in the z plane.
The negative real axis in the s plane maps to the unit interval 0 to 1 in the z plane.

27. What is bilinear transformation? (April 2017)

The bilinear transformation has the following form.

where a, b, c, d are real constants. If we consider a = b = c = 1 and d = -1, then the

transformation takes a form

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28. State the necessary condition for Jury’s stability test. (April 2017)

Assume that the characteristic equation is as follows,

This system will be stable if:

PART B (Unit –III)

1. (a) The characteristics equation P(z) =
z  1.2 z  0.07 z  0.3 z  0.08  0
4 3 2

Using Jury’s test, determine if control system is stable. (8)

(b) Using bilinear transformation determine the stability of the system in the
characteristics equation z  0.9 z  0.15 z  0.215 z  0.034  0
4 3 2

2. Find the stability of the system shown in Figure 1 by Jury’s test. Verify the result by
the method of bilinear transformation.
R(S) 10 C(S)

s( s  1)
+
T=1 sec
-

Figure 1

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3. For the discrete time system shown in figure 2, sketch root locus and determine the
following:
R(S) 1  e T s K C(S)

+ T=1 sec s s( s  1)
-

Figure 2
(i) What values of K the root locus break-in and breakaway?
(ii) What values of K the system is stable?
(iii) What values of K the root locus intersect on the unit circle?
(iv) Find the frequency of oscillation.

4. Consider a unity feedback control system shown in figure 3, with T =0.1 sec. Draw
the bode plot and determine the phase margin and gain margin.

R(S)
50 C(S)
ZOH
+ T=0.1 s ( s  1)
- sec

Figure 3
5. Consider the system shown in figure 4. Draw the Nyquist plot and determine the
stability of the system. Verify the same by (i) bilinear transformation and (ii) Jury’s
test.
R(S)
1 C(S)
ZOH
+ T=1 sec s ( s  1)
-

Figure 4

6. Consider the unity feedback control system shown in figure 5. Sketch Bode
magnitude and phase plot and also determine the phase margin and gain margin.

R(S)
1  eT s 0 .2 C(S)

s s ( s  0 .2 )
+ T=1 sec
-

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Figure 5

7. The open loop transfer function of a unity feedback control system is given by
( z  1)
G ( z )  0.758
( z  1)( z  0.242 )
T= 0.1 Sec. Comment on the stability by Nyquist stability Criterion.
8. Sketch the root locus of the system and also comment on the stability of the system.
Given open loop transfer function of a unity feedback control system
K ( z  0.4)( z  0.368)
G( z) 
z ( z  0.6)( z  0.8)
Find (i) the critical value of K for stability (ii) the breakway points . (iii) the
frequency of oscillation.

9. Using Jury’s test determine the stability of the system

(A) z 3  2.3z 2  1.7 z  0.4  0
(B) z 3  2 z 2  z  5  0
10. The open loop transfer function of a unity feedback discrete time system is given as
0.0952 Kz
G( z) 
( z  1)( z  0.905)
And T =1 sec . Using rootlocus technique, determine the range of K for which the
system is stable.
11. (a) The characteristics equation P(z) = z 4  1.2 z 3  0.07 z 2  0.3 z  0.08  0
Using Jury’s test, determine if control system is stable. (8)
(b) Using bilinear transformation determine the stability of the system in the
characteristics equation z  0.9 z  0.15 z  0.215 z  0.034  0
4 3 2

12. (i)Explain the method of Jury stability criterion. (May 2012)

(ii)Test the stability of the polynomial z5+2.6z4-0.56z3-2.05z2+0.0775z+0.35=0
13. 5
(i)Given E ( s )  determine E(z). (Dec 2012)
s ( s  1)( s  5)
(ii)Obtain the signal flow graph for the hybrid system given below. Also find the
expression for C(z)/R(z) and C(z). (Dec 2012)

Develop the impulse response of the continuous-time system

Gho(s)G(s)
 Develop the z-domain equivalent
 Form the pulse transfer function
14. Explain the Jury stability criterion and determine if the given characteristics polynomial

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4 3 2
Δ(z)=2z +7z +10z +4z+1 is stable. (Dec 2012)
15. (i)Explain the Jury stability test.(May/June 2013)
(ii)Determine the stability of the system defined by the characteristic equation z 3+3.3
z2+4z+0.8=0
16. Describe the :
(i)Steady state error analysis for stable systems and
(ii) Jurry’s stability test in detail. (Nov/Dec 2013)
17. A process operating under proportional-only digital control has Kc=4,Gm=1 and M=1,
2
G p ( s)  . Using Jury’s test, determine if control system is stable. (Dec
(2s  1)(5s  1)
2014)
18. (i) For the following system with unity feedback, find the static error constants and the
steady state error constants and the steady-state error for unit step and ramp inputs.
(May/June 2014)
0.4( z  0.2)
G( z) 
( z  1)( z  0.1)
(ii) Using Jury’s stability test, check if all the roots of the following characteristic equation
lie within the unity circle.
Z3+3.3z2+4z+0.8=0
19. (i) Explain jury stability test.
(ii) Determine the stability of the system defined by the characteristics equation
Z3 +3.3 Z2 + 4Z +0.8 = 0 (May 2016)
20. (i) Explain the method of jury stability criterion.
(ii) Test the stability of the polynomial
Z5+2.6 Z4-0.56 Z3-2.05 Z2+0.0775 Z+0.35 = 0 (Dec 2016)
21. Find the stable range of the gain K for the vehicle position control system with the analog
K
plant transfer function G ( s )  with DAC and ADC if sampling period T = 0.05
s ( s  10)
sec. Apply Jury Test. (Dec 2017)
22. A sampled data feedback control system is shown below. The controlled process of the
K
system is described by the transfer function G ( s )  ; 0K≥∞.
s ( s  1)

The sampling period T=1.0 sec. Sketch root locus for the system on the z-plane and there
from obtain the value of K that results in marginal stability. (Dec 2017)
23. (i) Explain Jury’s stability test. (April 2017)
(ii) The characteristics equation P( z )  z 4  1.2 z 3  0.07 z 2  0.3z  0.08. Using Jury’s
test, determine if control system is stable.
24. For the discrete time system shown in the following figure, sketch the root and determine
the following:
(i) What values of K the root locus break-in and break away?
(ii) What values of K the system is stable?
(iii) What values of K the root locus intersect on the unit circle?
(iv) Find the frequency of oscillation. (April 2017)

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UNIT IV DIGITAL PID CONTROLLER

Part A
1. Compare position form and velocity form of PID controller. (May/June 2013)
Position form Velocity form
it requires initialization of controller it does not need initialization of
output controller output
it does not protect against integral windup it is protected against integral windup as
as sum or error sequences are not sum or error sequences are not
computed computed.
it does not protect the process against it protects the process against computer
computer failure failure
it produces bump transfer it produces bumpless transfer
2. What is pole placement?
Finding the elements of control gain matrix K so that the roots of the characteristic
equation ( i.e., the poles of the closed loop system ) are in the desired location is called
pole placement. The parameters are iterated in the compensators to find acceptable
closed loop root locations with full state feedback.
3. Why velocity form of algorithm is preferred over positional form of algorithm?
a) it does not need initialization of controller output
b) it is protected against integral windup as sum or error sequences are not
computed
c) it protects the process against computer failure
4. What is the need for controller tuning?
Controller tuning refers to the selection of tuning parameters to ensure the best
response of the controller. Choose tuning that is too slow, and the response will be
sluggish…the controller will not handle upsets, and it will take too long to reach
setpoint. Choose tuning that is too aggressive, and the loop will overshoot or become
unstable.
5. Define the transfer function of Lag, Lead and Lag- Lead compensator.
Lag:
For frequency response design it is convenient to use the following transfer function of
a lag compensator.

where,
Lead:
A typical lead compensator has the following transfer function.

where,
Lag-Lead:
In lag-lead compensator the lag part precedes the lead part. A continuous time lag-lead

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compensator is given by

where,

The corner frequencies are , , , .

6. Neatly draw the block diagram of feedback compensation system.

7. What is ringing? Why is it undesirable in controller design?

Ringing is the successive sign changes in controller output. Ringing causes excessive
controller movement, which cause physical damage in controller so it is undesirable in
industrial environments.
8. What is the necessary and sufficient condition for the arbitrary placement of
poles?
The necessary and sufficient condition for the arbitrary placement of pole is the system
should be completely controllable.
9. What is the use of integral control?
The integral control is useful in eliminating the steady state errors due to constant
disturbance or reference input commands. The integral control eliminates the need to
catalog nominal values or to reset the control. The integral term can be thought of as
constantly calculating the value of the control required at the set point to cause the
error to go to zero. For these reason, the integral control is typically include in most
control systems.
10. Is PID controller phase lag-lead compensator?
Yes. PID controller is a special case of a phase lag-lead controller. The PD control
action, which affects the high frequency region, increases the phase lead angle and
improves system stability. The PI control action affects the low frequency gain and
improves steady state accuracy, therefore the PI controller act as a phase lag
compensator.
11. Obtain the Digital PID control by Euler’s rule.
The equation for PID controller in time domain is given by
D ( s) = U ( s) / E ( s) = K [ 1 + 1 / Ti s + Td s ]
After implementing the euler’s rule, we get
u(k) = u ( k-1) + K [ ( 1 + T/ Ti + Td / T ) e(k) – ( 1 + 2 Td / T ) e( k-1) + Td / T e(k-2)
12. Define Trapezoid rule.
The Trapezoid rule is defined by uk = uk-1 = T/2 [ ek + ek-1], where uk - output at k th
instant
uk-1 - output at (k – 1)th instant, ek - input at k th instant, ek-1 - input at (k -1) th
instant
13. Write both velocity and positional form of PID algorithms (April 2017)
Positional: +

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Velocity:
14. Write the position form of PI control algorithm:
}+
15. What are undesired consequences of integral windup of controller:
When control action is saturated, because of larger values of integral term, it is called
as integral windup. When process is returned to automatic operation, the control action
remains saturated resulting in large overshoots
16. State the tuning rules for digital controllers.(Dec 2012)
Empirical digital PID controller tuning, Ziegler and Nichols
17. What is the advantage of the velocity-form PID control scheme?
 it does not need initialization of controller output
 it is protected against integral windup as sum or error sequences are not
computed.
 it protects the process against computer failure
 it produces bumpless transfer
18. State Jordon canonical form.(May 2016, April 2017)
The Jordan form is a type of diagonal form canonical model in which the poles of the
transfer function are arranged diagonally in the A matrix.

19. Define controllability and observability. (April 2017)

Controllability:
For the linear system x(k+1) = F x(k) + g u(k); y(k) = c x(k) + d u(k), if there exists an
input u(k); k € [0, N-1] with N a finite positive integer, which transfers the initial state
x(0) ≡ x0 to the state x1 at k = N, the state x0 is said to be controllable. If all initial
states are controllable, the system is said to be completely controllable. Otherwise, the
system is said to be uncontrollable.
Observability:
For the linear system x(k+1) = F x(k) + g u(k); y(k) = c x(k) + d u(k), if the knowledge
of the input u(k); k € [0, N-1] and the output y(k); k € [0, N-1] with N a finite positive
integer, suffices to determine the state x(0) ≡ x0 the state x0 is said to be observable . If
all initial states are observable, the system is said to be completely observable.
Otherwise, the system is said to be unobservable.
20. Write the velocity form of PID controller. (Dec 2017)`
Velocity:
21. What are the effects of Lead compensator? (Dec 2017)
The lead compensator increases the gain of the system at high frequencies. This can
increase the crossover frequency, which will help to decrease the rise time and settling
time of the system (but may amplify high frequency noise).

Part B( Unit –IV)

1. Design a phase lag compensator using frequency domain method for the unity feedback system
K
with feed-forward transfer function G ( S ) 
S ( S  1)(0.5S  1)
to satisfy the following design specifications. Static velocity error constant to be 5 Sec-1 , Phase
Margin 40°, and gain margin 10 db or more.
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2. Explain design procedure of Lag, Lead and Lag-Lead compensators.
3. Design a phase lead compensator using frequency domain method for the unity feedback
K
system with feed-forward transfer function G ( S ) 
S ( S  10)( S  1000 )
to satisfy the following design specifications. Static velocity error constant to be 1000 Sec-1 ,
and Phase Margin 45°.
4. Design a phase lag - lead compensator using frequency domain method for the unity feedback
K
system with feed-forward transfer function G ( S ) 
S ( S  1)( S  4)
to satisfy the following design specifications. Kv = 12, Phase Margin 55°, and Gain margin
greater than 10 db.
5. Explain in detail about controller tuning methods.
6. Explain design procedure of P, PI Controller.
7. Consider the digital control system shown in figure 6, design a lead compensator D(z) to satisfy
the following specifications Kv = 4, PM= 50°, GM ≥ 10 db. Assume the sampling period T
=0.1 sec.

Figure 6

8. Consider the digital control system shown in figure 7. Design a lag compensator D(z) to satisfy
the following specifications. Kv = 4, PM = 40°, and GM ≥ 10 db. Assume that the sampling
period T = 0.4 sec .

Figure 7
9. Consider the digital control system shown in figure 8. Design a lag-lead compensator D(z) to
satisfy the following specifications. Kv =2, PM = 50°, and GM ≥ 10 db. Assume that the
sampling period T = 0.2 sec .

Figure 8

10. Explain design procedure of PD and PID Controller

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11. K
A unity feedback control system with G ( S ) 
( S  1)( S  2)( s  10)
Is operating with a damping ratio of 0.2. Design a PI controller and compare the specifications
of uncompensated and compensated system.
12. Derive the velocity form of the PID control algorithm and draw the PID controller accordingly.
(Dec 2011)
13. Derive the position and velocity forms of a digital PI and PD controllers. (May 2012)
14. (i)Write the equations of digital position and velocity forms of P, PI and PID controllers.
(ii) Write a note on reduced state observers. (May/ June 2013)
15. Derive the position and velocity forms of a digital PID controller with neat
illustration.(Nov/Dec 2013)
16. 1
A plant has a nominal model given by G0 ( s )  . Synthesize a continuous time PID
( s  1) 2
controller where the closed loop poles are the roots of the polynomial s2+3s+4. (Dec 2014)

17. (i)A PID controller is described by the following relation between input e(t) and output u(t):
 t
1  (May/June2014, Dec 2017)
de(t )
u t   K e(t )   e(t )dt  TD 
 Ti 0 dt 

Discretize the above equation using backward-difference approximation for the derivative term
and trapezoidal summation for the integral term. Also obtain the pulse transfer function
U(z)/E(z)
(ii)Draw the block diagram of a regulator system with a state observer and explain.

18. Derive the position and velocity forms of a digital PID controller with neat illustration. (Dec
2016)
19. Consider the control system shown in fig. Design a suitable digital controller that includes an
integral control action such that the dominant closed loop poles will have a damping ratio ζ
=0.5. Let the number of samples per cycle of damped sinusoidal oscillation be 8 and the
sampling period T=0.2 sec. After the controller designed, determine the static velocity error
constant Kv.

20. Consider the digital control system shown in figure , design a lead compensator D(z) to satisfy
the following specifications, Kp =4, PM=50º, GM ≥10 dB. Assume the sampling period T =0.1
sec. (April 2017)

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21. For the system shown in figure, design a PID controller such that the compensated system
satisfies the following specifications PM = 55 º, GM ≥10 dB, and steady state error to unit ramp
input zero. (April 2017)

UNIT V STATE SPACE ANALYSIS

Part-A
1. Obtain the closed form solution of state difference equation
The state equation is x(k  1)  Fx(k )  gu(k )
The solution for this equation in closed form is
x ( k )  F k x(0)  F k 1 gu (0)  F k  2 gu (1)    F 0 gu ( k  1); F 0
k 1
x(k )  F k x(0)   F k 1i gu(i )
i 0
2. Define state variables.(April 2017)
State: the state is the condition of a system at any time instant.
State variable: a set of variables which describe the state of the system at any time instant are
called state variables.
The discrete time state variable model of a system can be described by x(k + 1) = Ax(k) +
Bu(k) y(k) = Cx(k) + Du(k) where A, B are either the descriptions of an all digital system or
obtained by sampling the continuous time process
3. Draw the signal flow graph of the discrete time system described by the state model.

= + u

y(k) = x1 (k)
4. What is state transition matrix of discrete time system?
Consider the following state model of a discrete time system: x(k + 1) = Ax(k) + Bu(k). When
the input is zero, solution of the homogeneous state equation x(k + 1) = Ax(k) can be written as
x(k) = Ak x(0), where Ak = φ(k) is the state transition matrix.
5. Write the solution of discrete time system.

6. When the losses occur in controllability and Observability?

Losses of controllability and Observability due to sampling may occur only when the
continuous time system has oscillary modes and the sampling interval is half the period of
oscillation of an oscillatory mode or an integer multiple of that period.
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7. List the properties of state transition matrix
i) Ф(0) = eA0 = I
ii) Ф-1(t) = Ф(-t)
iii) Ф(t1+t2) = Ф(t1) +Ф(t2)
8. What is state transition matrix? (Dec 2016)
In control theory, the state-transition matrix is a matrix whose product with the state vector
at an initial time gives at a later time . The state-transition matrix can be used to obtain the
general solution of linear dynamical systems.
9. Draw the block diagram of state space equation.
The state discrete equation is x(k+1) = Fx(k) + u(k) ; y(k) = c x(k)
u(k) + x(k+1) x(k) y(k)
g z-1 c
-

F
10. How the controllability of the discrete system is checked?
The necessary and sufficient condition for the system x(k+1) = F x(k) + g u(k); y(k) = c x(k) to
be completely controllable is that the n x n controllability matrix
 n 1

Qc  g Fg F g  F g has the rank equal to n.
2

11. Define the Observability of the discrete system is checked?

The necessary and sufficient condition for the system x(k+1) = F x(k) + g u(k); y(k) = c x(k) to
be completely Observable is that the n x n Observability matrix
Qo  c cF cF  cF n 1  has the rank equal to n.
2 T

12. What is control law?

The control is the feedback of a linear combination of all the state variables. This can be
defined as u = - K x = - [ K1 K2 . . . . .Kn ] [ x1 x2 . . . . xn ]T
13. What is state and state variable? (Dec 2011)
It is a smallest set of variable such that the knowledge of these variables completely determines
the behavior of the system for any time.
14. What are the drawbacks in transfer function model analysis? (Dec 2011)
 Transfer function is defined under zero initial conditions.
 Transfer function approach can be applied only to linear time invariant systems.
 It does not give any idea about the internal state of the system.
 It cannot be applied to multiple input multiple output systems.
 It is comparatively difficult to perform transfer function analysis on computers.

15. What is state transition matrix?(May 2012)

In control theory, the state-transition matrix is a matrix whose product with the state vector x at
an initial time t0 gives x at a later time t. The state-transition matrix can be used to obtain the
general solution of linear dynamical systems. It is also known as matrix exponential.

16. What is the significance of pulse transfer function? (May 2012)

By using the z-transformation, a linear discrete-time system may be represented by a transfer
function called the pulse transfer function. The z-transform of the output signal can then be
expressed as the product between the system's pulse transfer function and the ztransform of the
input signal.

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17. Draw the schematic that depicts the interconnection of DT and CT systems.

18. Under what condition does loss of controllability and/or observability occur due to
sampling?(Dec 2012)
It is very unlikely that the sampling interval chosen for a plant control system, would be
precisely the one resulting in loss of controllability and/or observability.In fact from the rule if
thumb, a sampling interval of about one tenth of the period of oscillation of an oscillatory mode
and not just half. Discretization with an equidistant time pattern and a zero-order hold is almost
exclusively used in practice.
19. State the Jordan Canonical form. (May/June 2013)
In the Jordan Canonical form, the poles of the transfer function form a string along the main
diagonal of the matrix. This canonical form follows directly from the partial fraction expansion
of the transfer function.
20. Define controllability and observability. (May/June 2013, Dec 2017)
A system is said to controllable at time t0 if it is possible by means of an unconstrained control
vector to transfer the system from any initial state x(t0) to any other state in a finite time interval
of time.
A system is said to observable at time t0 if, with the system in state x(t0), it is possible to
determine this state from the observation of the output over a finite time interval.
21. Define transfer function. (Nov/Dec 2013)
It is define as the ratio of the Laplace transform of the output variable to the Laplace transform
of the input variable assuming all the initial conditions at zero.
22. State Cayley Hamilton technique. (Nov/Dec 2013)
The Cayley-Hamilton theorem states that every n x n matrix A satisfies its own characteristics
equation. The characteristics equation is not, however , necessarily the scalar equation of least
degree that A satisfies. The least-degree polynomial having A as a root is called the minimal
polynomial.
23. State the conditions for complete observability.

Complete observability. A discrete system is complete observable if for any initial time ko,
any initial state x(ko) can be determined from knowledge of the output y(k) and input u(k) for
ko ≤ k ≤ kN , where kN is some finite final time.

24. What is state transition matrix? Write the properties of it. (Dec 2017)
State transition matrix
In control theory, the state-transition matrix is a matrix whose product with the state vector
x at an initial time t0 gives x at a later time t. The state-transition matrix can be used to
obtain the general solution of linear dynamical systems. It is also known as matrix
exponential.
Properties of state transition matrix
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A0
iv) Ф(0) = e = I
v) Ф-1(t) = Ф(-t)
vi) Ф(t1+t2) = Ф(t1) +Ф(t2)
25. Write the state model of discrete-time system. (May/June 2014)
State Equation: x(k+1) = F x(k) + g u(k); Output Equation: y(k) = c x(k) + d u(k)
26. Define the term observability. (May/June 2014)
For the linear system x(k+1) = F x(k) + g u(k); y(k) = c x(k) + d u(k), if the knowledge of the
input u(k); k € [0, N-1] and the output y(k); k € [0, N-1] with N a finite positive integer, suffices
to determine the state x(0) ≡ x0 the state x0 is said to be observable . If all initial states are
observable, the system is said to be completely observable. Otherwise, the system is said to be
unobservable.
27. Define controllability and observability.(May 2016)
A system is said to controllable at time t0 if it is possible by means of an unconstrained control
vector to transfer the system from any initial state x(t0) to any other state in a finite time
interval of time.
A system is said to observable at time t0 if, with the system in state x(t0), it is possible to
determine this state from the observation of the output over a finite time interval.
28. Compare classical control system with state space. (April 2017)
State space:
a) The state space analysis is applicable to any type of systems. They can be used for
modelling and analysis of linear and nonlinear systems, time variant and time invariant
systems and multi input multi output systems.
b) The state space analysis can be performed with initial conditions.
c) The variables used to represent the system can be any variables in the system.
d) Using this analysis the internal states of the system at any time instant can be predicted.
Classical control:
 Transfer function is defined under zero initial conditions.
 Transfer function approach can be applied only to linear time invariant systems.
 It does not give any idea about the internal state of the system.
 It cannot be applied to multiple input multiple output systems.

Part-B (Unit –V)

1. 2 0  0 1
For the given following matrices, find the state-transition matrix A1    A 
0 2   1 0
(Dec 2011)
2. A feedback system has a closed loop transfer function

Construct state models for this system and give block diagram representation for state model.
3. A discrete time system has a transfer function

Construct state models for this system and give block diagram representation for state model.
4. A discrete time system is described by the difference equation
y(k+2)+5y(k+1)+6y(k) = u(k)
y(0) = y(1) =0 and T=1 Sec

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(a) determine a state model
(b) Find state transition matrix
( c) For input u(k) =1; k ≥1, find the output y(k).
5. Compute A= (ii) A=
6. Compute the solution of following state equations.

(i) = x; x(0) =

7. Consider a linear system described by the transfer function

Test controllability and observability.

8. A discrete time system is described by the difference equation
16 y(k + 3) − 20 y(k + 2) + 8 y(k + 1) − y(k) = 5 u(k + 2) − 7 u(k + 1) + 2 u(k); T=1 Sec
(a) determine a state model
(b) Find state transition matrix

9. A discrete time system is described by the difference equation

16 y(k + 3) − 20 y(k + 2) + 8 y(k + 1) − y(k) = 5 u(k + 2) − 7 u(k + 1) + 2 u(k);
T=1 Sec
(a) determine transfer function
(b) determine output y(k)
(c) test controllability and observability
10. Find the transfer function of the system with state space representation
0 1 0 0 

q  Aq  Bu   0 0 1  q  0u , y  Cq  Du  5 1 0q  0 u
 (Dec 2011)
 3  4  2 1
11. Define and explain the concept of controllability and observability in design of digital control
systems. (Dec 2011)
12. Compute the state model of the sampled data control system as shown in fig. (May 2012)

13. (i)Check whether the given system is completely controllable. (May 2012)
 x1   0 1 0   x1  0
 x    0 0 1   x2   0u
 2     
 x3   6  11  6  x3  1
(ii)Examine the observability of the given system. (May 2012)

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 x1  0 1 0   x1  0
 x   0 0 1   x2   0u
 2 
 x3  0  2  3  x3  1
14. Obtain variable model in Jordan canonical form for the system with transfer function
Y (s) 2s 2  6s  5
 .Also find the response y(t) to a unit-step input using state variable
U ( s ) s  12 ( s  2)
model. (Dec 2012)
15. 0 2
(i)Using Caley Hamilton technique find eAt for A    (Dec 2012)
  2  4
(ii) Investigate the controllability and observability of the system defined by (Dec
2012)
1  2 1  1
x(k  1)    x( k )   u (k )
1  1   0 0 
1 0
y (k )    x(k )
0 1
16. Draw the state diagram for the discrete-data system modeled by the following dynamic
equations
x(K+1)=Ax(K)+Bu(K)
y(K)=Cx(K)
Find the transfer function C(z)/U(z) and also determine the characteristic equation of the
system if
 1 1 0 
A , B  1 and C  1 0 (Nov/Dec 2013)
  0. 5 0. 2   
17. Obtain the transfer function of the system defined by (Dec 2014)
 x1   1 1 0  x1  0  x1 
 x    0  1 1  x   0u and y  1 0 0 x 
 2   2     2
 x3   0 0 2  x3  1  x3 

18. A discrete time system has state equation given by (Dec 2014)
0 1
X (k  1)    X (k )
  5  1
Use Cayley Hamilton approach to find out its state transition matrix.
19. (i)Obtain the companion form realizations for the following transfer function (May/June
2014)
Y ( z ) 3z 2  z  3

U ( z) z 2  1 z  2
3 3
(ii) Obtain the Jordan canonical form realization for the following transfer function
Y ( z ) 3z 2  4 z  6
 3
U ( z)  1
z  
 3

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20. (i) Investigate the controllability and observability of the following system. (May/June 2014)
 1 1  0 
xk  1    x ( k )   u ( k )
 1  1 1
y(k )  1 1x(k )
(ii)Obtain the state transition matrix for the following discrete system
 0 1
xk  1    x(k )
0.24  1
21. (i) Convert the transfer function into state space representation.
(ii) Find the state transition equation of the systems with initial states at x(0) has
A= (Dec 2016)
22. (i) Illustrate Cayley Hamilton theorem for the matrix A=
(ii) Find the state controllability of a discrete data control system described by state equation.

; (Dec 2016)

23. A discrete time system has state equation given by

X(k+1) =
Use Cayley Hamilton approach to find out its state transition matrix. (May 2016)
24. A discrete time system has transfer function T(z)
Determine the state model in (i) Phase variable form and (ii) Jordon canonical form. (May
2016)
25. 0.4  0.2 z 1  0.6 z 2
A digital filter is defined as G ( z )  . Realize it using programming and
1  0.6 z 1  0.8 z  2
parallel programming. (Dec 2017)
26. (i) Consider the state variable model (Dec 2017)
 0 1 0
xk  1   1 3  x(k )   u (k )
 8 4  1
 1 
y (k )   1 x(k ) . Find the pulse transfer function of the system.
 2 
(ii) Obtain the state transition matrix for the following discrete system. (Dec 2017)
0 0 1

xk  1   1 2 3  x(k ) .
 1  2  3
27. 1.65( z  0.1)
Convert the transfer function into state space representation.
z  0.7 z 2  0.11z  0.005
3

(April 2017)
28. (i) Find the controllability of a discrete data control system described by the state equation.
(April 2017)
(ii) Define and explain the concept of controllability and observability in design of digital
control systems.
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