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Exam Digital Control

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10 views2 pages

Exam Digital Control

Uploaded by

talha manzoor
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EE 561: Digital Control Systems

Spring 2017
Midterm Exam
Time: 2 hours

Name:

Roll #:

Question # 1 (100 marks)


Consider a system described in its state space form as follows
      
ẋ1 0 1 x1 0
= + u
ẋ2 −2 −3 x2 1
 
  x1
y= 3 1
x2

(a) 10 marks
Check whether the system is internally stable.

(b) 15 marks
Describe the system in terms of new state variables z1 and z2 as follows
ż = Āz + B̄u
y = C̄z + D̄u
if the new states are related to the old ones as
x1 = z1 − z2
x2 = −z1 + 2z2
Specify the matrices Ā, B̄, C̄ and D̄. Show that this description results in two uncoupled
differential equations in z1 and z2 .
(c) 10 marks
Obtain discretized versions of the two uncoupled differential equations derived above. Ex-
press them as recurrences of z1 (k + 1) and z2 (k + 1). Assume a sampling time of T = 1
seconds and approximate any derivative terms by the centered difference approximation.

(d) 10 marks
Use the relation y = C̄z + D̄u in discrete form, along with the result from part (c) to
calculate the output y(1) and y(2), if z1 (−1) = z2 (−1) = z1 (0) = z2 (0) = 0 and uk = δ(k),
the discrete time impulse. If you want you may use simple recursion.

(e) 10 marks
Along with the relation y = C̄z + D̄u in discrete form, use the result from part (c) to setup
a block diagram of the system using no more than 4 delay elements.

(f ) 30 marks
Use the discrete-time final-value theorem to determine the steady state values of z1 (k) and
z2 (k) if the input u(k) is
1. A unit impulse
2. A unit step
3. A unit ramp
Assume zero initial conditions.

(g) 15 marks
Using the results from parts (b) and (f), determine the steady state output y(k) and the
corresponding error when the input is
1. A unit impulse
2. A unit step
what is the system type?

(Hint: If you have already solved part (f), then it is not necessary to apply the final-value
theorem. There exists a very convenient way to obtain the solution.)

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