Dr.

Kemal UÇAK
EEE 3508 Digital Control Systems
Project
2022-2023 Spring Term
Deadline: 02.06.2023

Question 1(Stability Analysis):

Give detailed information about Jury’s stability test. What are the conditions for Jury’s stability test?

Question 2 (Stability Analysis):

Let us consider the following characteristic equations

P1  z  = z 4 - 1.2z 3 + 0.07z 2 + 0.3z - 0.08

P2  z  = z 4 - 0.6z 3 + 0.81z 2 + 0.67z - 0.12

a) Examine the stability of the P1,2  z  via Bilinear transformation.

b) Evaluate the stability using P1,2  z  Jury’s stability test.
c) Obtain the roots of the P1,2  z  .

Question 3 (Steady state error constants):

Consider the discrete system given in Figure 1.

T=1
δT
r t  c t 
+ 1 - e-sT K
s s  s + 1
-

Figure 1. Closed-loop system.

a) Obtain closed-loop system transfer function T  z  = ?

b) Determine the stability interval( K min  K  K max ) for closed-loop system given in Figure 1 using
Bilinear transformation.
c) Determine the position( K p ), velocity( K v ) and accelaration( K a ) error constants for closed-loop system
illustrated in Figure 1.
K max
d) Apply step, ramp and parabolic input signal to the closed-loop system in Figure 1 for K 
2
.(Matlab)
Question 4 (Relationship between “s-domain” and “z-domain”)(Draw both by hand and Matlab):

In figure 2, constant damping ration curve, constant frequency curve and constant time constants are given. Draw
the equivalents of given curves in z-domain by hand and also via Matlab.( Ts  0.3 sec )

jw jw jw
s - plane s - plane s - plane
j5
j5

45
σ σ σ
25 25

 j5
25

a  b  c

Figure 2. Fundamental curves in s-domain.

a) Find and draw the z-plane equivalent of the given curves in s-domain illustrated in Figure 2 by taking
Ts  0.3 sec

b) Write an m-file code in Matlab to obtain and draw z-domain equivalent of given curves in s-domain

Question 5(Root Locus):

Consider the closed-loop system illustrated in Figure 3.

T=4
δT
r t  c t 
+ 1 - e-sT K
s s  s + 1
-

Figure 3. Closed-loop system.

Obtain open-loop system transfer function G  z  = ?

a) Determine the poles, zeros and candidate breakaway and breakin points.

b) Sketch the root locus diagram in z-domain for the closed-loop system depictured in Figure 1.

Question 6 (Controller Design via Root Locus)

Consider the following closed-loop control system illustrated in Figure 2.

2
 T = 0.2sec
δT Controller ZOH System
r t  c t 
+ 1 - e-sT 2
s s + 2
-
Dz G s 

Figure 2. Closed-loop control system

Design a D  z  controller such that tsettling  2sec ,   0.5 , ess  0 .


 a   z 1 - e  -aT

a) Obtain the G  z  transfer function. (Hint: Z  = )

  z - 1  z - e 
 s s + a  

-aT

b) Determine the closed-loop system poles in s-domain and z- domain. ( z = esT )

c) Illustrate the pole-zero distribution of G  z  .

d) Design a D  z  controller such that tsettling  2sec ,   0.5 , ess  0 via angle and magnitude condition.

e) Illustrate the control signal applied to the system, system output in response to a step function via Matlab
Simulink.

Question 7(Ziegler- Nichols Tuning Method):

1
Consider the open-loop system G  s  = e-0.5s .
 s + 1
6

e) Plot the system output when a step function is applied to the system via Matlab Simulink. Determine
K -Ls
first order time delay model of the system G FOTD  s  = e .
τs + 1
K -Ls
f) Determine the sampling time interval for G FOTD  s  = e .
τs + 1
g) Design a discrete PID controller by applying the Ziegler-Nichols tuning method.
h) Plot the closed-loop system response via Matlab simulink.

Question 8 (Generalized Controller Design):

1
Consider the open loop system GH  z   .
 z  0.75 z  1
2

3
 a) Design a controller that assigns the closed-loop system poles to z1,2  0.25  j 0.25 and the rest poles to
z 0.
b) Illustrate reference signal, closed-loop system output and control signal produced by controller via
Matlab.

c) Design a prefilter so as to eliminate the impacts of the controller zeros. Illustrate the system output via
Matlab.
d) Compare the results obtained in (b) and (c) via Matlab.

Question 9 (Generalized Controller Design)(Free Pole Case)

1
Consider the open loop system GH  z  = .
 z - 0.3
2

a)Design a Dz controller such that

 ess  0 for step inputs

 There exist a closed-loop pole set at z1,2  0.5  j 0.5 .
 The order of the Dz is r=1

b) Illustrate reference signal, closed-loop system output and control signal produced by controller via Matlab in
response to step and ramp input.

c)Design a prefilter so as to eliminate the impacts of the controller zeros. Illustrate the system output via Matlab.

d) Compare the results obtained in (b) and (c) via Matlab.

Significant Notes related to the preparation of assigments:

1)Assigment should be a main cover including the following informations

- Name Surname of the student and lecturer
- Informations about the term, lecture, lecture code etc.
- Number of the assignment etc.

2) Assignments should be prepared in computer environment. Therefore, you can use programs
like MS word etc.

3) The preparation of the assignment meticulously is of great importance.

4) Dont forget to add block diagrams utilized in Matlab simulink, figures plotted via Matlab and
Matlab m-file codes to your assignments.

5) Dont forget to uploaded MATLAB codes to DYS system