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jw
PURWANCHAL UNIVERSITY
VI SEMESTER FINAL EXAMINATION- 2003 S-Plain
LEVEL : B. E. (Electronics & communication)
SUBJECT : BEG338EC,Digital Control System.
j8
Full Marks: 80
TIME: 03:00 hrs Pass marks: 32

Candidates are required to give their answer in their own words as far as
practicable.
All questions carry equal marks. The marks allotted for each sub-questions -j8
σ= - 4.5 σ= - 1
is specified along its side.
Attempt any FIVE questions.
Q. [1] [a] Explain the principle and features of digital control systems - jw
in details. [8]
[b] Explain the properties of Z-transform. Obtain the inverse Z- Q. [5] [a] Explain in detail of pulse Transfer function Matrix. [8]
z −2 [b] Determine the stability of origin of the following discrete-
transform of X(s) = [8]
( )
1 − z −1
3
time system: [8]
Q. [2] [a] Explain the root locus method with example. [8] ⎡ x1 ( K + 1) ⎤ ⎡ 1 3 0 ⎤ ⎡ x1 ( K ) ⎤
−TS ⎢ x ( K + 1)⎥ = ⎢− 3 − 2 − 3⎥ ⎢ x ( K )⎥ [8]
1− e ⎢ 2 ⎥ ⎢ ⎥⎢ 2 ⎥
[b] Given X(s) = G ( s)
S ⎢⎣ x3 ( K + 1) ⎥⎦ ⎢⎣ 1 0 0 ⎥⎦ ⎢⎣ x3 ( K ) ⎥⎦

( )
Prove that X(z) = 1 − z −1 Z ⎢
⎡ G(s) ⎤
[8]
⎣ S ⎥⎦ Q. [6] Write a short note on: [4×4=16]
Q. [3] [a] Explain the control system controller in detail. [8] [a] Signal Sampling.
[b] For the unity feedback control system with open loop transfer [b] Frequency Response Method.
k (0.3679 z + 0.2642) [c] Phase-lag Compensation Design.
function G(s) = Determine the range of k [d] Discretization of the continuous-time States-space
( z − 0.3679)( z − 1)
Equation.
for stability by sing Jury stability Test. [8]
Q. [4] [a] Explain the PID controller design with example. [8]
[b] For given region in S-plane, draw the corresponding regions
in z-plane. Assume that T= 0.4 sec.

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PURWANCHAL UNIVERSITY y(k) = 0.2y(k-1)+0.3y(k-2) = 1.4x(k)+1.5(k-1)
VI SEMESTER FINAL EXAMINATION- 2004 Draw the block diagram for the filter using standard
LEVEL : B. E. (Electronics & communication) programming method. [8]
SUBJECT : BEG338EC,Digital Control System. Q. [4] [a] Consider the discrete time unity feedback control system
Full Marks: 80 with open loop transfer function G(z) = K(0.4z+0.3)/(Z-0.4)(Z-1)
TIME: 03:00 hrs Pass marks: 32 Determine the value of gain K that will cause sustained
oscillation in the output. Also find the frequency of sustained
oscillation .Assume sampling period T = 1 sec. [8]
Candidates are required to give their answer in their own words as far as
practicable. [b] Explain the effects of sampling period on the transit and
All questions carry equal marks. The marks allotted for each sub-questions steady state response of sampled data control system. [8]
is specified along its side. Q. [5] Obtained the state of the following pulse transfer function
Attempt any FIVE questions. system in the diagonal canonical form: [16]
Q. [1] [a] Explain Data Acquisition system and Data distribution system Y(z)/U(z) = (z+4)/(z3+6z2+11z+6)
with necessary figures. [8] Q. [6] Consider the digital control system as in Fig. (6) below plot the
[b] Determine the z-transform of the following continuous time root loci as the gain K is varied form 0 to ∞ .Determine the
sequences: critical value of K for stability.. the sampling period is 0.1 sec i.e
-at
[i] y(t) = x(t-nT) [ii] x(t) = e cos ωt T=0.1, [16]

Q. [2] [a] Solve the following difference equation: R(z) C(z)

K(z+1)/(z-1)(z-0.6065)
X(k-2)-x(k-1)+0.25x(k) = u(k-2) +_
Where x(0)=1, x(k) = 0 for K<0 and u(k) is a unit step
function given by u(k) =1 for k>0.
[b] Consider the zero order hold circuit succeeded by the plant
with transfer function G(s). Explain how you would determine
the z-transform of such combined system. Fig.[6]
Q. [3] [a] Consider the following discrete time control system:
R(t) e(t) C(t)
+_ ZQH 1/(1+S)
t = 1sec

1/S

Fig. 3[a]

Determine the output sequence c(k) if r(t) is the step

Input.
[b] Assume the digital filter described by the following
difference equation:
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PURWANCHAL UNIVERSITY Also obtained the continuous time output.
VI SEMESTER B EXACK-PAPER EAMINATION- 2004 Q. [3] [a] Explain the frequency response method with example.[8]
LEVEL : B. E. (Electronics & communication)
SUBJECT : BEG338EC,Digital Control System. [b] Consider the system described by:
Full Marks: 80
TIME: 03:00 hrs Pass marks: 32 y (k ) − 1.2 y (k − 1) + 0.07 y (k − 2) + 0.3 y (k − 3) − 0.08 y (k − 4) = x(k )
Where x(k) is the input and y(k) is the output of the system.
Examine if all the roots of the characteristics equation of the
Candidates are required to give their answer in their own words as far as above system lie within the unit circle. [8]
practicable.
All questions carry equal marks. The marks allotted for each sub-questions
is specified along its side. Q. [4] [a] State the function of Data Hold circuit. Show that the transfer
Attempt any FIVE questions. function of zero order-hold circuit is
Q. [1] [a] Determine the z-transform of the following continuous time 1 − e − ST
sequences. [8] Gη 0 =
S
[i] y(t) = x[t-nT] [ii] x(t) = e-atcoswt
[b] Obtained the state space representation of the following
[b] Given the differential equation [8]
pulse transfer function in controllable canonical form.
X(k+2) = x(k+1)+x(k)
Where x(0) = 0, x(1) = 1, x(2) = 2, x(3) = 2, x(4) = 3 Y ( s ) 1 + 3 z −1 + 5 z −2 − 4 z −3
= [8]
x(k + 1) 1 + 5 U ( s ) 1 + 2 z −1 + 7 z − 2 + 5 z −3
Prove that k ⎯Lim
⎯→ ∞ =
x(k ) 2
Q. [5] The given plant is of first order with dead time = 2 sec and
sampling period = 1 sec.
Design a digital PI controller such that the dominant closed-
Q. [2] [a] Show that the laplace transform of the impulse sampled
loop poles having damping ratio = 0.5. Number of samples
signal x*(t) is same as the z-transform of the continuous signal
per cycles of damped sinusoidal oscillation is 10. Obtained
x(t) if esT is defined as Z. [8]
the response of the system to a unit-step input. Also obtained
Kv. [16]
C(t)
e -2S
[b] Obtained the discrete time output c(z) of the closed loop r(t) 1- e-TS
+_ GD(z) S+1 C(z)
control system shown below. [8] R(z) S
M (s) E (s) C(s)
R(s) G2(s) G3(s)
+ _ G1(s)
δT

H1(s) H2(s)
δT

Q. [6] Write short note on: [4×4=16]

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[a] Sampling Theorem.
[b] Root Locus Method
[c] Phase-lead Compensator Design.
[d] Features of digital control system.

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PURWANCHAL UNIVERSITY X(k+2)+3x(k+1)+2x(k) = 0 , Given, x(0) = 0 & x(1) = 1.
VI SEMESTER FINAL EXAMINATION- 2005 Q. [4] [a] Obtain the stage transition matrix of the following discrete
LEVEL : B. E. (Electronics & communication) time system. [8]
SUBJECT : BEG338EC,Digital Control System. X(k+1) = Gx(k)+Hu(k)
Full Marks: 80 Y(k) = Cx(k) where,
TIME: 03:00 hrs Pass marks: 32 ⎡ 0 1⎤ ⎡1⎤
G= ⎢ ⎥ H = ⎢ ⎥ C = [1 0]
⎣− 0.16 − 1⎦ ⎣1⎦
Candidates are required to give their answer in their own words as far as Then obtain the state x(k) and the output y(k) when input is u(k)
practicable. =1 for k = 0,1,2 ……assume initial state is given by x(0) =
All questions carry equal marks. The marks allotted for each sub-questions ⎡ x1 (0) ⎤ ⎡ 1 ⎤
⎢ x (0)⎥ = ⎢− 1⎥
is specified along its side. ⎣ 2 ⎦ ⎣ ⎦
Attempt ALL questions. [b] Prove that P(z) = [C Adj (zI-G) H/ (zI-G)]+D [8]
Q. [1] [a] Explain how original signal can be reconstructed form
sampled signal. [8] Q. [5] [a] Consider a digital control system shown in the figure below.
2
[b] Given X(s) = 1/s (s+1) . Obtained X(z) by using Design a digital controller such that dominant closed loop poles
convolution integral theorem. [8] have a damping ration ξ of 0.4 and settling time of 2 se. the
Q. [2] [a] [i] What are the criteria for stability in z-domain . [4] sampling time is assumed to be 2 sec. [8]
[ii] Consider a closed lop system whose open loop transfer R(z) C(z)
digital 1/s(s+1)
function is given as G(z) = (0.3z+0.2)/(z-0.3)(z-1). Determine +_ cotroller ZOH
T
the stability of the system. [4]
[b] Consider the discrete time control system shown in the fig.
2[b] . Obtain the discrete time output in terms of input and
transfer function of the block. [8] Fig. 5[a]
C(s)
R(s)
+_ G1(s) +_ G2(s)
[b] Examine the stability of the following characteristic
equation. [8]
4 3 2
H(s) P(z) = z - 1.2z +0.07z +0.3z - 0.8 = 0
-
Fig. 2[b]

Q. [3] [a] Derive the equation for steady state error due to ramp input
for digital control system.
Draw the root loci for the system given by G(z) = [kz/(z-1)][(1-e-
T
)]. Assume the sampling time T = 0.5 sec.
[b] Solve the following difference equation by the use of z-
transform method. [8]
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PURWANCHAL UNIVERSITY
VI SEMESTER BACK-PAPER EXAMINATION- 2005
LEVEL : B. E. (Electronics & communication) [b] Derive the expression for static position error constant, static
SUBJECT : BEG338EC,Digital Control System. velocity error constant, and static acceleration error constant.
Full Marks: 80 [8]
TIME: 03:00 hrs Pass marks: 32 Q. [4] [a] A control system has the system described by:
Y(k) -0.6y(k-1)-0.81y(k-2)+0.67y(k-3)-0.12y(k-4) = x(k)
Where x(k) is the input and y(k) is the output of the system.
Candidates are required to give their answer in their own words as far as Determine the stability of the system. [8]
practicable. [b] Define the following terms with neat and clean Transient
All questions carry equal marks. The marks allotted for each sub-questions response specification diagram: [8]
is specified along its side. [i] Delay time [ii] Rise time.
Attempt any FIVE questions. [iii] Maximum overshoots [iv] Settling time.
Q. [1] [a] Describe the Sample and hold circuit with block diagram. Q. [5] [a] Plot the root locus diagram for T = 0.5 sec , T = 1 sec, T=2
What is sampling theorem ? [6+2] sec. For digital control system as shown in fig.5[a]. [8]
−TS C(t)
1− e r(t) 1- e-TS
1
[b] Find the z-transform of by using shifting theorem. +_ GD* (s) S+1 C(z)
S (1 + S ) R(z) δT S
[8] Interal conroller
Q. [2] [a] Determine the inverse z-transform of x(z) by using partial
fraction methods: [8]
− aT
Z (1 − e ) Fig.5[a]
X (Z ) =
( Z − 1)( Z − e − aT ) [b] What do you mean by pulse transfer function matrix?
[b] Write the conditions to be stable for the discrete control 1
system, by plotting zeroes and poles is z-plane. What is Bilinear Find pulse transfer function for G(s) =
S ( S + 2)
transformation. [6+2]
Q. [3] [a] Map the given z-plane into s-plane: [8] Q. [6] [a] Design lead compensator by sing bode plot for given figure.
C(t)
2Q
r(t) 1- e-TS
+_ GD* (s) s(S+1) C(z)
S
Ζ= eΤ(
s-jw1) R(z) δT
Interal conroller
e -j
1T

Fig. 6[a]

Make phase margin 50 ˚ and gain margin at least 10 dB. Take

sampling period of 0.2 sec. [10]
[b] Determine the stability of the origin of the system for the
Ζ= eΤ(σ
-jws)
Fig.3[a] following system: [6]
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Q. [7] Write Short notes on (any Four): [4×4=16]
[a] Aliasing and Folding
[b] Zero and Pole Cancellation
[c] State Transition Matrix
[d] Initial and Final Value Theorem.
[e] Phase Lead and Phase Lag Compensator.
[f] Analog to Digital Converter.

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PURWANCHAL UNIVERSITY
VI SEMESTER FINAL EXAMINATION- 2006
LEVEL : B. E. (Electronics & communication) Q. [3] Consider the digital control system shown in fig where plant is of
SUBJECT : BEG338EC,Digital Control System. first order and has a dead time of 2 se. The sampling period T is
Full Marks: 80 assumed to be 1 sec. Design a digital PI controller such that the
TIME: 03:00 hrs Pass marks: 32 dominant closed loop poles have a damping ration ξ of 0.5 and
the number of samples per cycle of damped sinusoidal oscillation
is 10. [16]
C(t)
Candidates are required to give their answer in their own words as far as e -2S
r(t) 1- e-TS
practicable. +_ GD(z) S+1 C(z)
R(z) S
All questions carry equal marks. The marks allotted for each sub-questions
is specified along its side.
Attempt ALL questions.
Z2
Q. [1] [a] Obtain the inverse Z transform of X(z) =
( z + 1) 2 )( z − e − aT ) Q. [4] [a] Obtain the state transition matrix of the following discrete
by inversion integral method. [6] time system. [6]
[b] Consider the different equation [10] X(k+1) =Gx(k) +Hu(k)
X(k+2)= x(k+1)+x(k) where, Y(k) = Cx(k)
X(0) = 0 and x(1) = 1, x(2) = 1, x(3) = 2, x(4)= 3……The series Where,
0,1,1,2,3,5,8,13……is known as Fibonacci series. Obtain the ⎡ 0 1⎤ ⎡1⎤
G=⎢ ⎥ H = ⎢ ⎥ C = [1 0]
general solution x(k) in a closed form . Show that the limiting ⎣− 0.16 − 1⎦ ⎣1⎦
x(k + 1) (1 + 5 ) [b] Obtain the discrete time state and output equations and the
value of as k approaches infinity is , or
x(k ) 2 pulse transfer function (when sampling period T =1) of the
approximately 1.6180. Y (s) 1
following continuous time system. G ( s ) = =
Q. [2] [a] Consider the following characteristic equation P(z) =z3 U ( s ) S ( s + 1)
2
– 1.3 z – 0.08z +0.24 = 0 which may be represented in state space by equations.
Determine whether or not any of the roots of the characteristic [10]
equation lie outside the unit circle in z-plane. ⎡ x&1 ⎤ ⎡0 1 ⎤ ⎡ x1 ⎤ ⎡0⎤
[6] ⎢ x& ⎥ = ⎢0 − 2⎥ ⎢ x ⎥ + ⎢1⎥ 4
[b] Draw root locus diagram in the z-plane for system shown ⎣ 2⎦ ⎣ ⎦⎣ 2 ⎦ ⎣ ⎦
below for the sampling period T= 2 sec. [10] ⎡x ⎤
k C(t) y = [1 0]⎢ 1 ⎥
r(t) 1- e-TS ⎣ x2 ⎦
+_ S(S+1) C(z)
S
R(z) δT Q. [5] [a] Consider the digital filter defined by ,
2 + 2.2 z −1 + 0.2 z −2
G ( s) = [8]
1 + 0.4 z −1 − 0.12 z − 2
Realize the digital filter in Ladder scheme.

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[b] Explain how original signal can be reconstructed from
sampled signal. [8]

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PURWANCHAL UNIVERSITY Q. [4] [a] Obtain a state space representation of the following system.
VI SEMESTER BACK-PAPER EXAMINATION- 2006 Y(z)/U(z) = (z-1 +2z -2 )/(1+0.7z -1 +0.12z -2 ) [4+4]
LEVEL : B. E. (Electronics & communication) [i] in diagonal canonical form.
SUBJECT : BEG338EC,Digital Control System. [ii] in observable canonical form.
Full Marks: 80 [b] Determine the stability of the following discrete time system.
TIME: 03:00 hrs Pass marks: 32 [4]
⎡ x1 (k + 1) ⎤ ⎡ 1 3 0 ⎤ ⎡ x1 (k ) ⎤
⎢ x ( K + 1)⎥ = ⎢− 3 − 2 − 3⎥ ⎢ x (k )⎥
Candidates are required to give their answer in their own words as far as ⎢ 2 ⎥ ⎢ ⎥ ⎢ 2 ⎥
practicable. ⎢
⎣ 3
x ( k + 1) ⎥ ⎢
⎦ ⎣ 1 0 0 ⎥⎦ ⎢⎣ x3 (k ) ⎥⎦
All questions carry equal marks. The marks allotted for each sub-questions [i] Using Jury’s stability test.
is specified along its side. [ii] Using Liapunov stability analysis.
Attempt ALL questions.
Q. [1] [a] Explain discrete time control system with neat block Q. [5] [a] Prove the pulse transfer function of a digital PID controller is
diagram. [8] [8]
[b] Prove that F*(s) = F (z). Obtained the z-transform of G (z) = k +k /(1-z-1)+k (1+z-1)
d p i d
k
x(k ) = ∑ a . h
[4+4]
h =0 [b] Consider a system shown in figure below. Design a digital
Q. [2] [a] By using inversion integral method. Obtain the inverse z- controller such that dominant closed loop poles of the system will
transform of X(z)=(1+6z -2 +z 3 )/(1-z -1 )(z-0.2z -1 ) [4] have damping ratio of 0.5. The number of samples per cycle of
damped oscillation is 8. Assume that the sampling period T is 0.2
sec.
[b] Explain how sampling time T affects the transient response
and steady state of the discrete time control system.[4] R(z) C(z)
digital 1/s(s+1)
+_ cotroller ZOH
Q. [3] [a] Obtained the block diagram for the following pulse transfer T
function system by: [4]
[i] Standard programming [ii] Ladder programming
Y(z)/X(z) = (2-0.6z-1 )/(1+0.5z-1 )
[b] Obtain the closed loop transfer function of the system show
in the figure below. [8] Fig. 5.[b]
R(s) C(t)
+_ G(s)
T

H2(s) H1(s)
T

Fig.3[b]

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PURWANCHAL UNIVERSITY [b] Obtain the inverse z-transform of

VI SEMESTER FINAL EXAMINATION- 2007 z −2
X(z) = by the use of inversion integral method.
LEVEL : B. E. (Electronics & communication) (1 − z −1 ) 3
SUBJECT : BEG338EC,Digital Control System. [6]
Full Marks: 80
TIME: 03:00 hrs Pass marks: 32 Q. [3] [a] Consider the discrete-time unity feedback control system
(with sampling period T =1 sec) whose open loop pulse transfer
Candidates are required to give their answer in their own words as far as function is given by
practicable. G(z) = [k(0.3679z+0.2642)]/[(z-0.3679)(z-I)]
All questions carry equal marks. The marks allotted for each sub-questions Determine the range of K for stability by use of the jury stability
is specified along its side. test. Also calculate the frequency of sustained oscillation.
Attempt any FIVE questions. [8]
Q. [1] [a] Describe the basic block of digital controllers in control [b] Consider the digital control system shown in Fig. 3[b] . Plot
system. [8] the root loci as the gain K is varied from 0 to ∞ . Determine the
[b] Obtain the z-transform of the curve x(t) shown in Fig. 1[b]. critical value of gain k for stability. The sampling period is 0.1
[8] sec or T 0.1. What value of gain K will yield a damping ratio ξ
x(t) of the closed loop poles equal to 0.5?
[8]
R(z) C(z)
+_ K(z+1)/(z-1)(z-0.6065)

1.0
0.5
0.025 Fig. 3[b]
t
0
1 2 3 4 5 6 7 8 9 Q. [4] [a] Design a digital proportional-pulse derivative controller for
the plant whose transfer function is 1/s2 as shown in Fig. [4] . It is
Q. [2] [a] Consider the difference equation: desired that the damping ration ξ of the dominant closed loop
X(k+2)-1.3679x(k+1)+0.3679x(k) = 0.3679 u(k+1)+0.2642 u(k). poles be 0.5 and the undamped natural frequency be 4 rad/sec.
Where x(k) is the output and x(k) = 0 for K ≤ 0 and where u(k) is the sampling period is 0.1 sec or T = 0.1 sec. After the controller
the input and is given by is designed, determine the number of samples per cycle of
u(k) = 0 , k<0 damped sinusoidal oscillation. [16]
u(0) = 1
u(1) = 0.2142
u(2) = -0.2142
u(k) = 0, k = 3, 4, 5………..
Determine the output x(k). [10]
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C(t)
1
r(t) Digital PI 1- e-TS
+_ Controller S2 C(z)
R(z) S
G(s)

y(s) z +1
Q. [5] The system is given as = 2 [8]
u ( s ) z + 1.3z + 0.4
Find the state-space representations in controllable,
observable and diagonal canonical form. [8]

[b] Define pulse Transfer function matrix. Also derive an

expression to represent it. [8]

Q. [6] Write short notes on (any FOUR): [4×4=16]

[a] Sampled and Hold circuit.
[b] Shifting Theorem.
[c] Transient and steady sate response
[d] Frequency response method.
[e] Signal to quantization noise ratio.

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Where x(t) is the unit step function and y(t) is the impulse-
sampled version . Assume that the sampling period is 0.1 sec.
PURWANCHAL UNIVERSITY
VI SEMESTER BACK-PAPER EXAMINATION- 2007 [b] Show that if the characteristics equation for a closed loop
LEVEL : B. E. (Electronics & communication) system is 1+ KB(z)/A(z) = 0, Where A(z) and B(z) do not
SUBJECT : BEG338EC,Digital Control System. contain K , then the breakaway and break-in points can be
Full Marks: 80 determined from the roots of
TIME: 03:00 hrs Pass marks: 32 dK/dz = -[A’(z)B(z)-A(z)B’(z)]/B2(z) =0
where, the primes indicate differentiation with respect to z .

Candidates are required to give their answer in their own words as far as Q. [4] [a] Consider the digital control system shown in fig 4. Design a
practicable. digital controller in the ω plane such that the phase margin is
All questions carry equal marks. The marks allotted for each sub-questions 500,the gain margin is at least 10 dB and the static velocity error
is specified along its side. constant kv is 2 sec-1 Assume that the sampling period is 0.2 sec
Answer the questions. or T= 0.2 sec.
Q. [1] [a] What is the difference between discrete –time signal and k
C(t)
r(t) 1- e-TS
digital signal? Describe three basic operations for converting +_ GD* (s)
S
S(S+1) C(z)
R(z) δT
analog signal into digital signal. [2+6]
[b] Obtain the z-transform of a coskπ with its ROC. [6+2]

Q. [2] [a] Obtain the inverse z-transform of Fig. [4]

X(z)=[z2-z+2]/[(z-1)(z2-z-1)]. By use of the partial fraction
expansion method. [8] Q. [5] [a] Determine the stability of the origin of the following discrete
time system. [8]
[b] Obtained the closed loop pulse transfer function fo the system
shown below. ⎡ x1 (( K + 1)T ) ⎤ ⎡ cos T SinT ⎤ ⎡ x1 (kT ) ⎤
⎢ x (( K + 1)T )⎥ = ⎢− SinT cos T ⎥ ⎢ x (kT )⎥
r(t) e(t)
m(kt) C(t) ⎣ 2 ⎦ ⎣ ⎦ ⎣ 2 ⎦
e(kt) Digital PID zero- n/G Plant
+_ Controller Hold
T= 1
Interal conroller Gn(s) Gp(s) [b] Explain the effect of sampling period on the transient and
steady state response of sampled data control system
[8]
Fig. 2[b]

When the digital controller is a PID controller with kp=1, kD

=0.2 and Gp(s) = 1/[s(s+1)]

Q. [3] [a] Obtain the response y(kT) of the following system

Y(s)/X*(s) =1/[(s+1)(s+2)]
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