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12 views5 pages

ME561 F23 Homework3

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ME 561/EECS 561 Fall 2023

Homework 3
Prof. Vasudevan

Assigned: 09/19/2023
Due: 10:00 pm on 09/25/2023

Submission Details
This homework problem set consists of 4 problems. Use this PDF only as a reference for the
questions. All answers should be submitted via Gradescope before the deadline.

1
Problem 1: [25 point(s)]
For i = 1, 2, 3, find the inverse Z transform of Hi (z) by hand and report hi (0), hi (1), and hi (2). Verify
your solution using the MATLAB function iztrans and submit your MATLAB code.
z(z − 8) 0.75 0.75
H1 (z) = H2 (z) = H3 (z) =
(z − 1)(z − 0.7) (z − 1)(z − 0.7) (z − 1)(z − 0.7)2

2
Problem 2: [30 point(s)]
Consider the system described by the following difference equation:

u(k) − 10u(k − 1) = 0.25y(k) − 1.25y(k − 1) (1)

where u(k) is the system input and y(k) is the output.


2.1 [10 point(s)] Find a state-space representation of the system and derive the transfer function
by hand.
2.2 [5 point(s)] Draw a simulation diagram for the system.
2.3 [10 point(s)] Suppose u(k) = S (k) and y(0) = 4. Using the transfer function you found in
part 2.1, find y(k) by hand.
2.4 [5 point(s)] Write and submit a MATLAB script which computes the value of y(k) for k =1,
2, 5, and 10. Report the value of y(k) for k =1, 2, 5, and 10.

3
Problem 3: [20 point(s)]
Suppose

Z {x(k)}k∈N = X(z).


Prove that
 k  
 = z X(z).

 X 
 
Z  x(n)
 

 

  z−1
n=0 k∈N

4
Problem 4: [25 point(s)]
Consider the discrete state equation of the dynamics h model for lateral vehicle motion with iT> = 0.1s
that you derived in HW1 Problem 4.3. Let pk := y(kT ) ẏ(kT ) ψ(kT ) − ψd (kT ) r(kT ) , qk :=
y(kT ), δk := δ(kT ), and the discrete state equation reads

 pk+1 = Ad pk + Bd δk


qk = Cd pk + Dd δk

where
   
1 0.0584 0.4157 0.0161
 0.2255
0 0.3119 6.8812 0.3386 4.0962 h i h i
Ad =   , Bd =   , C = 1 0 0 0 , D = 0 .
d d
0 0.0030 0.9703 0.0568
 0.1492
0 0.03741 −0.3738 0.2763 2.5265

4.1 [5 point(s)] Compute H(z), the transfer function for the discrete system, using MATLAB.
Only use the MATLAB function ss2tf to verify your solution for H(z). Please submit the MAT-
LAB code.
4.2 [10 point(s)] Derive ∆(z), the Z transform of δ(kT ) = 0.1 sin(kT ) with T = 0.1s by hand.
4.3 [10 point(s)] Compute Q(z), the Z transform of qk , using MATLAB with H(z) from 4.1
and ∆(z) from 4.2. Also, compute q(kT ), the inverse Z transform Z−1 (Q(z)) (k), using MATLAB.
Submit a stem plot of q(kT ) for t ∈ [0, 10]. Submit all MATLAB code.

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