Exam Model: 4629

Zagazig University,Faculty of Engineering Midterm Exam Date: 11/11/2016

Academic Year: 2017/2018 Exam Time: 60 min.
Specialization: Computer & Systems Eng. No. of Pages: 5
Course Name: Digital Control No. of Questions: 4 (20 items)
Course Code: CSE421 Full Mark: [60]
Examiner: Dr. Mohammed Nour
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⊲ Please answer all questions. Use 3 decimal digits approximation.
⊲ Mark your answers for all questions in the Answer Sheet provided.
⊲ In last page, some supplementary identities you may need.
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Question 1
[2 p] 1.Ballast Coding is used to synchronize the sampling and control process. Which of the following
does not apply for this method:
a) completely implemented in software.
b) software interrupt mechanism is used.
c) adds dummy code to compensate for required sampling interval.
d) very sensitive to changes in code and/or CPU clock rate.

[2 p] 2.For the two systems A and B represented by the following difference equations:
A : y(k + 2) = y(k + 1)y(k) + u(k), B : y(k + 5) = y(k + 4) + u(k + 1) − u(k),
a) A is homogeneous and B is linear. b) A is time-variant and B is homogeneous.
c) both systems are linear and time-invariant. d) both systems are time-invariant and homogeneous.

[4 p] 3.The z-transform of the sequence: 0, 2−0.5 , 1, 2−0.5 , 0, 0, · · · is: (note: sin(45◦ ) = √1 )
2

z2 + z + 1 z4 − 1 z z4 − 1
a) √ b) c) √ √  d) √ √
z 3 [z 2 − 2 z + 1]
 
2z 2
2z − 2z + 2 2 z3 z2 − 2 z + 1

z
[4 p] 4.The inverse transform of the function: F (z) = is:
z 2 + 0.3 z + 0.02
a) {0, 1, −0.3, 0.07, · · · } b) {1, −0.3, 0.07, · · · } c) {0, 1, 0.3, 0.02, · · · } d) {1, 0.3, 0.02, · · · }

z − 0.1
[3 p] 5.The inverse transforms of the function: F (z) = is:
z2 + 0.04z + 0.25
a) sin(1.611k + 0.196) b) cos(1.611k + 0.196)
k
c) −0.4δ(k) + 2.057(0.5) sin(1.611k + 0.196) d) −0.4δ(k) + cos(1.611k + 0.196)

n
X
[3 p] 6.If the discrete output yk of a system is related to its input uk by yn = uk , the transfer function
k=0
Y (z)/U (z) of this system is:
1 z
a) b) 2 c) 1 d) z −1
1−z −1 z −1

[3 p] 7.Consider a causal, LTI system with xn and yn as input and output, resp., described by the difference
equation yn = a yn−1 + b xn . For which values of a and b is the system bounded-input bounded-output
stable?
a) a > 1 & b < 1 b) a < 1 & b > 1. c) |b| < 1 any a. d) |a| < 1, any b

CSE421: Digital Control Midterm Exam–2017/2018 page 1 of 5

 Exam Model: 4629

Question 2
For the next questions, consider the next root Locus chart:
1 0.5/T
0.6/T 0.4/T
0.8 0.7/T 0.1 0.3/T
0.2
0.6 0.3
0.8/T 0.4 0.2/T
0.5
0.4 0.6
0.7
0.9/T 0.8 0.1/T
0.2
Imaginary Axis

0.9
/T
0 /T

-0.2
0.9/T 0.1/T

-0.4
0.8/T 0.2/T
-0.6
0.7/T 0.3/T
-0.8
0.6/T 0.4/T
0.5/T
-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

[3 p] 8.The system represented by this root locus has a transfer function G(z) given by:

K(z 2 − 1.6 z + 0.7) K(z − 0.6) z − 0.4π/T (z 2 − 0.1π/T z + 0.6)

a) b) c) d)
z − 0.6 z 2 − 1.6 z + 0.7 (z 2 − 0.1π/T z + 0.6) z − 0.4π/T

[3 p]9.Using the given chart, the appropriate poles location that results in ωn > 0.63 rad/s , ζ > 0.8
(assuming T = 1 s) are:

a) 0.33 ± j 0.17 b) 0.17 ± j 0.33 c) 0.6 ± j 0.2 d) 0.2 ± j 0.6

Question 2
The following diagrams represent systems with poles (indicated by x’s) but no zeros. The unit step
response of two systems y1k and y2k is shown on the right plots.

10

5
m1
y2k

f1
0
h1
g1,2 −5
1
-2 2
h1
y1k

0.5
m2 f2
0
0 2 4 6 8 10
sample k

CSE421: Digital Control Midterm Exam–2017/2018 page 2 of 5

 Exam Model: 4629

[3 p] 10.The system with the response given by y1k has the poles:
a) f1 , f2 b) g1 , g2 c) h1 , h2 d) m1 , m2

[3 p] 11.The system with the response given by y2k has the poles:
a) f1 , f2 b) g1 , g2 c) h1 , h2 d) m1 , m2

[3 p] 12.In the following sampled system, D(s), G(s), and H(s) represent the system continuous subsystems.
R(s) and Y (s) are input and output respectively:

R(s) U(s) U*(s) Y(s) Y*(s)

D(s) G(s)
+ T
- T
H(s)
The discrete response Y (z) of this sampled system is:
G(z) DR(z) G(z) D(z) R(z)
a) Y (z) = b) Y (z) =
1 + D(z)HG(z) 1 + D(z) H(z) G(z)
G(z) D(z) R(z) G(z) DR(z)
c) Y (z) = d) Y (z) =
1 + DHG(z) 1 + DHG(z)

z
[3 p] 13.The final value for the function F (z) = is:
z2 + 0.3 z + 2
a) 0 b) 3.3 c) 1/3.3 d) undefined

z
[3 p] 14.The steady state DC gain of the system with transfer Function H(z) = is:
z2 − 0.7 z + 0.1
a) 0 b) 0.4 c) 2.5 d) undefined

[3 p] 15.For a system with the following characteristic equation:

F (z) = z 5 − 0.25 z 4 + 0.1 z 3 + 0.4 z 2 + 0.3 z − 0.1

The Jury Table constructed to determine this system stability will have:
a) 5 rows b) 6 rows c) 7 rows d) 8 rows

[3 p] 16.The filth row of that Jury Table will be:

a) −0.986 0.528 0.713 − 0.528 b) 0.905 0.331 0.100 0.466
c) 0.812 − 0.2752 0.2288 d) 0.466 0.100 0.331 0.905

Question 3
In a unity feedback discrete system, its open loop transfer function is given as:
k 0.084z 2 + 0.17z + 0.019


G(z) = 3
z − 1.5z 2 + 0.553z − 0.05

CSE421: Digital Control Midterm Exam–2017/2018 page 3 of 5

 Exam Model: 4629

[3 p] 17.The system characteristic equation is:

a) G(z) = 0 b) G(z) H(z) = 0

c) 1 + G(z) = 0 d) z 3 − 1.5z 2 + 0.553z − 0.05 = 0

[3 p] 18.The bilinear transformation used to transform the interior of the z-plane unit circle into the left-
hand s-plane is:
1−w 1+w
a) b) c) z = esT d) z = e−sT
1+w 1−w

[3 p] 19.The third row of the Routh–Hurwitz array will be:

0.01 k 2 − 1.55 k + 4.17

a) b) 1.1 − 0.11 k 3.1 + 0.07 k
1.1 − 0.11 k
c) 3.1 + 0.07 k d) 0.003 + 0.27 k 3.8 − 0.27 k

[3 p] 20.Based on Routh–Hurwitz Criterion, this system is stable for k selected as:

a) k > −44.3 b) k > −0.011 c) −0.011 < k < 2.74 d) −44.3 < k < 10

Supplementary Material
Note: you may need some or none of these identities:
Zf f ðk 1 nÞg 5 zn FðzÞ 2 zn f ð0Þ 2 zn21 f ð1Þ . . . 2 zf ðn 2 1Þ

f ðNÞ 5 L im f ðkÞ5 L imð12z21 ÞFðzÞ5 L imðz21ÞFðzÞ

f1 ðiÞf2 ðk 2 iÞ 5 F1 ðzÞF2 ðzÞ

ejx = cos x + j sin x,

z-1
)

ejx + e−jx ejx − e−jx

Zfαf1 ðkÞ 1 βf2 ðkÞg 5 αF1 ðzÞ 1 βF2 ðzÞ

cos x = , sin x =
2 2j
p
x + j y = x2 + y 2 ej tan (y/x)
−1
Zf f ðk 1 1Þg 5 zFðzÞ 2 zf ð0Þ

f ð0Þ 5 L imf ðkÞ 5 L im FðzÞ

Zfkm f ðkÞg 5 2z dzd FðzÞ
X

i50

z-1
k

ωn2
z-N
Zf f ðk 2 nÞg 5 z2n FðzÞ

m

p
G(s) = 2 , ω = ω 1 − ξ2
Zfa2k f ðkÞg 5 FðazÞ
Zf f1 ðkÞ f2 ðkÞg 5 Z

d n
s + 2ξωn s + ωn2


k-N

π−β ωd π
k-0

Tr = , β = tan−1 , Tp = ,
Formula

ωd ξωn ωd
3 4 √
2
Ts = = , Mp = e−ξπ/ 1−ξ
ξωn 5% ξωn 2%
Initial Value Theorem
Final Value Theorem

   
T Td Td
k 0 = Kp 1 + + , k1 = −Kp 1 + 2 ,
Multiplication by

Ti T T
Time Advance

Discrete-Time

Differentiation
Convolution

Exponential
Time Delay

 
Td
Property

Complex
Linearity

k 2 = Kp
T
n o Zh
Ah
Φ=e =L −1
(sI − A) −1
,Γ = eAt Bdt
No.

7
1

8
3

t=0

CSE421: Digital Control Midterm Exam–2017/2018 page 4 of 5

CSE421: Digital Control

/ / : ‫اﻟﺘﺎرﻳﺦ‬ : ‫اﺳﻢ اﻟﻄﺎﻟﺐ‬

Continuous Laplace
No. Time Transform Discrete Time z-Transform
0 1 2 3 4 5 6 7 8 9

‫رﻗﻢ اﻟﺠﻠﻮس‬
‫آﺣﺎد‬ 1 δ(t) 1 δ(k) 1
‫ﻋﺸﺮات‬ z
2 1(t) 1 1(k)
‫ﻣﺌﺎت‬ z21
s
‫آﻻف‬
3 t 1 kT zT
sampling t gives
0 1 2 3 4 5 6 7 8 9 s2 ðz21Þ2 kT, z{kT} = T z{k}

‫ﻧﻤﻮذج اﻻﺧﺘﺒﺎر‬
‫آﺣﺎد‬
4 t2 2! (kT)2 zðz 1 1ÞT 2
‫ﻋﺸﺮات‬
s3 ðz21Þ3
‫ﻣﺌﺎت‬
‫آﻻف‬ 5 t3 3! (kT)3 zðz2 1 4z 1 1ÞT 3
s4 ðz21Þ4
a b c d ‫ﺧﺘﻢ اﻟﻜﻨﺘﺮول‬
1 6 e2αt 1 ak z
by setting a 5 e2αT.
2 s1α z2a
Midterm Exam–2017/2018

3 α
7 1 2 e2αt 1 2 ak ð1 2 aÞz
4 sðs 1 αÞ ðz 2 1Þðz 2 aÞ
5
6 8 e2αt 2 e2βt β 2α ak 2 bk ða 2 bÞz
7 ðs 1 αÞðs 1 βÞ ðz 2 aÞðz 2 bÞ
8
9 te2αt 1 kTak az T
9
ðs1αÞ2 ðz2aÞ2
10
11 10 sin(ωnt) ωn sin(ωnkT) sinðωn TÞz
12 s2 1 ω2n z2 2 2cosðωn TÞz 1 1
13
11 cos(ωnt) s cos(ωnkT) z½z 2 cosðωn Tފ
14
s2 1 ω2n z2 2 2cosðωn TÞz 1 1
15
16 12 e2ζωn t sinðωd tÞ ωd e2ζωn kT sinðωd kTÞ e2ζωn T sinðωd TÞz
17 ðs1ζωn Þ2 1 ω 2d z2 2 2e2ζωn T cosðω 22ζωn T
d TÞz 1 e
18

Exam Model: 4629

19 13 e2ζωn t cosðωd tÞ s 1 ζωn e2ζωn kT cosðωd kTÞ z½z 2 e2ζωn T cosðωd Tފ
20 ðs1ζωn Þ2 1 ω2d z2 2 2e2ζωn T cosðω d TÞz 1 e
22ζωn T

21
14 sinh(βt) β sinh(βkT) sinhðβTÞz
22
s2 2 β 2 z2 2 2coshðβTÞz 1 1
23
24 15 cosh(βt) s cosh(βkT) z½z 2 coshðβTފ
page 5 of 5

25 s2 2 β 2 z2 2 2coshðβTÞz 1 1