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11 views7 pages

ME561 F23 Homework5

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ME 561/EECS 561 Fall 2023

Homework 5
Prof. Vasudevan

Assigned: 10/03/2023
Due: 10:00 pm on 10/09/2023

Submission Details
This homework problem set consists of 5 problems. Use this PDF only as a reference for the
questions. All answers should be submitted via Gradescope before the deadline.

1
Problem 1: [12 point(s)]
Find the modified Z transform of the following functions by hand.
1.1 [6 point(s)]
20
E(s) =
(s + 2)(s + 5)

1.2 [6 point(s)]
5
E(s) =
s(s + 1)

2
Problem 2: [12 point(s)]
Find the Z transform of the following functions by hand. The results from 1 may be helpful.
2.1 [6 point(s)]

20e−0.3T s
E(s) =
(s + 2)(s + 5)

2.2 [6 point(s)]

5e−0.6T s
E(s) =
s(s + 1)

3
Problem 3: [21 point(s)]
Consider the following system in Fig. 1. (Note that epsilon in the diagram is equivalent to e.

Figure 1: Split sample-and-hold system.

E−T s = e−T s )
3.1 [9 point(s)] Find the output c(kT ) by hand for the system for e(t) equal to a unit-step func-
tion.
3.2 [6 point(s)] Explain the effect of the sampler and data hold on c(kT ) in the upper path.
3.3 [6 point(s)] Sketch by hand the unit step-response c(t) of the system, do not use plotting
software like MATLAB. This sketch can be made without mathematically solving for C(s).

4
Problem 4: [30 point(s)]
Consider the following system with sampling period T = 1s.

4.1 [2 point(s)] List those transfer functions in the block diagram that contain the transfer func-
tion of a data hold.
4.2 [8 point(s)] Suppose
z−1 s(s + 1)
D(z) = , G1 (s)G2 (s) = (not including data hold) , u(t) = t
z s2 + 2s + 2
and we use a zero-order hold. Solve for y(t) by hand.
4.3 [6 point(s)] Find the pulse transfer function of the whole system by hand.
4.4 [6 point(s)] Using the pulse transfer function, find y∗ (t) by hand.
4.5 [6 point(s)] Sketch by hand y(t) and y∗ (t).
4.6 [2 point(s)] The dc gain is defined as the steady-state output when the input is the Heaviside
function. What is the dc gain of the system?

5
Problem 5: [25 point(s)]
In this problem, we will compute the pulse transfer function in two different ways. Consider the
simplified quarter car model depicted in the Fig. 2. Here v is the longitudinal speed of the car.

Figure 2: Simplified quarter car model

The mass m represents a fourth of the mass of the car. The stiffness k and damping b represent the
spring and shock. The term r(t) is the road excitation, and serves as an input to the system. Using
the states p = z − r and w = ż, the dynamics can be written as

" # " #" # " #


ṗ 0 1 p −1
= + ṙ(t)
ẇ −k/m −b/m w b/m

The velocity of the car body is considered as the output


h i " p#
y= 0 1
w

For this problem consider the values

m = 300[kg] k = 18000[N/m] b = 1200[N · s/m]

Suppose we want to know the response of the system given the input u = ṙ(t). In the Fig. 3, D(z)
is the digital filter, and G(s) is the transfer function of the system. For the sake of simplicity, let’s
assume D(z) = 1, and sampling period T = 1s. Answer the following questions:
5.1 [6 point(s)] Find the (analog) transfer function G0 (s) = GZOH · G(s).
5.2 [6 point(s)] Find the Z transform of G0 (s).

6
Figure 3: Signal flow of system

5.3 [7 point(s)] Find the discrete-time, state space representation of the system. Remember in
homework 1, we proved:
Z T !
Ad = e , Bd =
AT
e dv B, Cd = C
Av
0

5.4 [6 point(s)] Find the transfer function of the discretized system.

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