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Course: Digital Control (CS416) Sheet No.: 1 Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

This document contains a 14-question assignment sheet for a Digital Control course. The questions cover topics related to numerical integration, differentiation, z-transforms, difference equations, and digital filter structures. Students are asked to derive equations, find transfer functions, take z-transforms, solve difference equations, and analyze digital filter implementations. The assignment is due on November 3rd and students have 2 hours to complete it.

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Ahmed Nour
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58 views7 pages

Course: Digital Control (CS416) Sheet No.: 1 Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

This document contains a 14-question assignment sheet for a Digital Control course. The questions cover topics related to numerical integration, differentiation, z-transforms, difference equations, and digital filter structures. Students are asked to derive equations, find transfer functions, take z-transforms, solve difference equations, and analyze digital filter implementations. The assignment is due on November 3rd and students have 2 hours to complete it.

Uploaded by

Ahmed Nour
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Minia University

Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

1- The rectangular rules for numerical integration are illustrated in Fig. P2.2-1. The
left-side rule is depicted in 𝐹𝑖𝑔. 𝑃2.2 − 1(𝑎), and the right-side rule is depicted
in 𝐹𝑖𝑔. 𝑃2.2 − 1(𝑏). The integral of 𝑥(𝑡) is approximated by the sum of the
rectangular areas shown for each rule. Let 𝑦(𝑘𝑇) be the numerical integral of
𝑥(𝑡), 0 < 𝑡 < 𝑘𝑇.

a. Write the difference equation relating 𝑦(𝑘 + 1), 𝑦(𝑘), 𝑎𝑛𝑑 𝑥(𝑘) for the
left-side rule.
b. Find the transfer function 𝑌(𝑧)/𝑋(𝑧) for part (a).
c. Write the difference equation relating 𝑦(𝑘 + 1), 𝑦(𝑘), 𝑎𝑛𝑑 𝑥(𝑘 + 1) for
the right-side rule.
d. Find the transfer function 𝑌(𝑧)/𝑋(𝑧) for part (c).
e. Express 𝑦(𝑘) as a summation on 𝑥(𝑘) for the left-side rule.
f. Express 𝑦(𝑘) as a summation on 𝑥(𝑘) for the right-side rule.

2- The trapezoidal rule (modified Euler method) for numerical integration


approximates the integral of a function 𝑥(𝑡) by summing trapezoid areas as shown
in Fig. P2.2-2. Let 𝑦(𝑡) be the integral of 𝑥(𝑡).
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

a. Write the difference equation relating 𝑦[(𝑘 + 1)𝑇], 𝑦(𝑘𝑇), 𝑥[(𝑘 + 1)𝑇],
and 𝑥(𝑘𝑇) for this rule.
b. Show that the transfer function for this integrator is given by
𝑇
𝑌(𝑧) ( )(𝑧+1)
2
=
𝑋(𝑧) 𝑧−1

3- The transfer function for the right-side rectangular-rule integrator was found in
𝑌(𝑧) 𝑇𝑧
Problem 1 to be = We would suspect that the reciprocal of this
𝑋(𝑧) 𝑧−1
transfer function should yield an approximation to a differentiator. That is, if
𝑦(𝑘𝑇) is a numerical derivative of 𝑥(𝑡) 𝑎𝑡 𝑡 = 𝑘𝑇,
𝑦(𝑧) 𝑧 − 1
=
𝑥(𝑧) 𝑇𝑧
a. Write the difference equation describing this differentiator.
b. Draw a figure similar to those in 𝐹𝑖𝑔. 𝑃2.2 − 1 illustrating the
approximate differentiation
4- Find the z-transform of the number sequence generated by sampling the time
function 𝑒(𝑡) = 𝑡 every 𝑇 second, beginning at 𝑡 = 0. Can you express this
transform in closed form?
5- Write as a series the z-transform of the number sequence generated by
sampling the time function 𝑒(𝑡) = 𝜀 −𝑡 every 𝑇 seconds can you express this
transformation as closed form?
a. Evaluate the coefficients of the series of a at 𝑇 = 0.05𝑠.
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

b. The exponential 𝑒(𝑡) = 𝜀 −𝑏𝑡 is sampled over 𝑇 = 0.2𝑠. yielding the z


transform 𝐸(𝑧) = 1 + 0.5𝑧 −1 + (0.5)2 𝑧 −2 + (0.5)3 𝑧 −3 + ⋯ evaluate b.
6- A function 𝑒(𝑡) is sampled, and the resultant sequence has the z-transform
(𝑧 3 − 4𝑧)
𝐸(𝑧) = 4
𝑧 − 0.9𝑧 3 + .8

a. Find the z-transform of 𝑒 (𝑡 − 2𝑇) 𝑢 (𝑡 − 2𝑇).


b. Find the z-transform of 𝑒 (𝑡 + 2𝑇) 𝑢(𝑡).
c. Find the z-transform of 𝑒 (𝑡 − 𝑇) 𝑢(𝑡 − 2𝑇)
7- Form the z-transform table:
𝑧(𝑧 − cos(𝑎𝑇))
𝒵[cos(𝑎𝑘𝑇)] = 2
𝑧 − 2𝑧𝑐𝑜𝑠(𝑎𝑇) + 1
a. Find the conditions on the parameter a such that 𝒵[𝑐𝑜𝑠 𝑎𝑘𝑇] is first
order (pole-zero cancellation occurs)
b. Give the first-order transfer function in part a

8- Find the z-transform, in closed form, of the number sequence generated by


sampling the time function 𝑒(𝑡) every 𝑇 seconds beginning at 𝑡 = 0. The
function e(t) is specified by its Laplace transform 𝑇 = 1𝑠.
2(1 − 𝑒 −5𝑠 )
𝐸(𝑠) =
𝑠(𝑠 + 2)
9- Solve the given difference equation for 𝑥(𝑘) using:
a. The sequential technique.
b. The z-transform.
c. Will the final-value theorem give the correct value of 𝑥(𝑘) as 𝑘 → ∞?

𝑥(𝑘) − 3𝑥(𝑘 − 1) + 2𝑥(𝑘 − 2) = 𝑒(𝑘)


Were
𝑒(𝑘) = 1 𝑓𝑜𝑟 𝑘 = 0,1 𝑎𝑛𝑑 0 𝑓𝑜𝑟 𝑘 >= 2
𝑥(−2) = 𝑥(−1) = 0
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

10- Given
3 1
𝑦(𝑘 + 2) − 𝑦(𝑘 + 1) + 𝑦(𝑘) = 𝑒(𝑘)
4 8

where 𝑦(0) = 𝑦(1) = 0, 𝑒(0) = 0, 𝑎𝑛𝑑 𝑒(𝑘) = 1, 𝑘 = 1, 2, 𝑐 .


a. Solve for 𝑦(𝑘) as a function of 𝑘 and give the numerical values of
𝑦(𝑘), 0 … 𝑘 … 4.
b. Solve the difference equation directly for 𝑦(𝑘), 0 … 𝑘 … 4, to verify the
results of part(a).
c. Repeat parts (a) and (b) for 𝑒(𝑘) = 0 for all 𝑘, and 𝑦(0) = 1, 𝑦(1) = −2.
11- Given the MATLAB code

that solves the difference equation of a digital controller.


(a) Find the transfer function of the controller.
(b) Find the z-transform of the controller input.
(c) Use the results of parts (a) and (b) to find the inverse z-transform of the
controller output.
(d) Run the program to check the results of part (c)
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

12- Find the inverse z- transform using the three methods (power series, partial
fraction, integral formula):
0.5𝑧
a. (𝑧−1)(𝑧−0.6)
0.5(𝑧+1)
b. (𝑧−1)(𝑧−0.6)
𝑧(𝑧−0.7)
c. (𝑧−1)(𝑧−0.6)
13- Given in Fig. P2.8-1 are two digital-filter structures, or realizations, for
second-order filters.
a. Write the difference equation for the structure of Fig. P2.8-1(a),
expressing 𝑦(𝑘) as a function of 𝑦(𝑘 − 𝑖) 𝑎𝑛𝑑 𝑒(𝑘 − 𝑖).
b. Derive the filter transfer function 𝑌(𝑧)/𝐸(𝑧) for the structure by taking
the z-transform of the equation in part (a).
c. Write the difference equation for the structure of Fig. P2.8-1(b). Two
equations are required, with one for 𝑓(𝑘) and one for 𝑦(𝑘).
d. Derive the filter transfer function 𝑌(𝑧)/𝐸(𝑧) for the 1D structure by
taking the z-transform of the equations in part (c) and eliminating 𝐹(𝑧).
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours
Minia University
Faculty of Engineering
Computers and Systems Engineering Department
Course: Digital Control (CS416) Sheet No.: 1
Date: 27/10/2021 Due: 3/11/2021 Time: 2 Hours

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