Assignment No 4 1. Textbook p.166, 4-14 Repeat only (a) through (c) of 4-13 4-14.

Repeat Problem 4-13 for the case that the filter solves the difference equation m(k + 1) = 0.5e(k + 1) - (0.5)(0.98)e(k) + 0.995m(k) the sampling rate is 10Hz, and the plant transfer function is given by

GP ( s ) =

5 ( s + 1)( s + 2)

(a) Find the system transfer function C(z)/E(z). (b) Find the system dc gain from the results of part (a). (c) Verify the results of part (b) by finding the dc gain of the filter using D(z) and that of the plant using GP(s).

Solution: (a) The filter D(z) can be obtained from the difference equation M(z)(z - 0.995) = E(z)(0.5)( z - 0.98)
D( z ) = M ( z ) 0.5( z 0.98) = E( z) ( z 0.995)

The function G(z) that represents the two blocks D/A and the GP(s) is
G * (s) = [ (1 e Ts ) 5 5 ]* = [ (1 e Ts )]* = [ A( s ) B * ( s )]* = A * ( s ) B * ( s ) s ( s + 1)( s + 2) s ( s + 1)( s + 2)
B ( z ) = 1 z 1 = z 1 z

where,
B * ( s ) = 1 e Ts

A( s ) =

5 s ( s + 1)( s + 2)

A(z ) =

of E ( )

1 residues of A( ) 1 T 1 z e at poles

A( z ) =

5 1 5 1 5 1 + + 1 T 0 1 T ( 1) 1 T ( 2 ) (0 + 1)(0 + 2) 1 z e (1)(1 + 2) 1 z e (2)(2 + 1) 1 z e

A( z ) =

5 1 5 5 1 + 1 1 T 2 (1 z ) 1 z e 2 (1 z 1e 2T ) (0.02263979) z ( z + 0.9048374) ( z 1)( z 0.9048374)( z 0.81873075)

And using T=1/10,

A( z ) =

G(z)=A(z)B(z) The system transfer function then is,

C( z) (0.02263979) z ( z + 0.9048374) ( z 1) 0.5( z 0.98) = E ( z ) ( z 1)( z 0.9048374)( z 0.81873075) z ( z 0.995) (0.011319896)( z + 0.9048374)( z 0.98) C( z) = E ( z ) ( z 0.9048374)( z 0.81873075)( z 0.995)

(b) The dc gain is obtained for a step input E(z) = z/(z-1),

lim( z 1)C ( z ) = lim( z 1)
z 1 z 1

(0.011319896)( z + 0.9048374)( z 0.98) z ( z 0.9048374)( z 0.81873075)( z 0.995) z 1

=5 (c) The dc gain is now obtained using a second method,

D ( z ) z =1 GP ( s ) s = 0 = 0.5(1 0.98) 5 =5 (1 0.995) (0 + 1)(0 + 2)

2. Textbook p.192-194, 5-2 (c), (d), and (e) 5-2. For each of the systems of Figure P5-2, express C(z) as a function of the input and the transfer functions shown.

Solution: (c) Lets see the flow graph,

We write the equations from here, E2 = G1(R - CH1) - C*H2 C = G2G1R - CG2G1H1 - C*H2G2 C(1 + G2G1H1)= G2G1R - C*H2G2
C= G2G1R H 2G2 C* 1 + G2G1H1 1 + G2G1H1 G2G1 R H 2 G2 ] * C * [ ]* C* = [ 1 + G2G1 H 1 1 + G2G1 H 1

C = E2G2

G2G1 R ]( z ) 1 + G2G1 H 1 C ( z) = H 2 G2 1+ [ ]( z ) 1 + G2G1 H 1 [

(d) The flow graph is,

The equations, C = G(R - C*D*H1 - CH2) C(1 + GH2) = GR C*D*GH1

C= GH 1 GR C*D* 1 + GH 2 1 + GH 2
[

GH1 GR C* = [ ] * C * D * [ ]* 1 + GH 2 1 + GH 2

GR ]( z ) 1 + GH 2 C ( z) = GH 1 1 + D( z )[ ]( z ) 1 + GH 2

(e) The flow graph is,

The D/A and G2 are included in G,

G= 1 e Ts G1 s

The equations from the graph, E2 = G1(R-CH) E2 = G1R E2*D*G1GH E2* = [G1R]* E2*D*[G1GH]* C = E2*D*G

E2 * =

[G1 R ] * 1 + D * [G1GH ] * D( z )G ( z )[G1 R]( z ) 1 + D ( z )[G1GH ]( z )

C* = E2*D*G*

C ( z) =

3. Textbook p.197, 5-14 except (c) 5-14. Consider the satellite control system of Figure P5-14. The units of the attitude angle (t) is degrees, and the range is 0 to 360. The sensor gain is Hk = 0.02. (a) Suppose that the input ranges for available A/Ds are 0 to 5 V, 0 to 10 V, 0 to 20 V, 5 V, 10 V, and 20 V. Which range should be chosen? Why? (b) The input signal r(t) is a voltage. Find the required value of r(t) to command the satellite attitude angle (t) to be 70. (d) Let GP(s) = 1/(Js2), the satellite transfer function. Find the system transfer function as a function of the transfer functions D(z), K, and so on. (e) Evaluate the system transfer function for D(z) = 1, T = 1 s, K = 2, and J = 0.1. (f) Verify the results in part (e) using MATLAB.

Solution: (a) Before choosing the A/D we need to know the range of values it may receive as input, 0 < (t) < 360 then also 0 < r(t)/Hk < 360 therefore, -360 < r(t)/Hk - (t) < 360 360Hk = 7.2 V From here the closest next range A/D is 10 V. or -360Hk < r(t) (t)Hk < 360Hk -360 < -(t) < 0

(b) From the previous analysis we know the scale relationship between (t) and r(t), which is Hk, and assuming the systems corrects the satellite until the input error to the A/D is zero, r(t) = (t)Hk = 70(0.02) = 1.4 V (d) To find the system transfer function, we use the flow graph, considering the D/A, the Amplifier and thrustors and the Satellite to be included in the block G

G=

(1 e Ts ) 1 K 2 s Js

From this graph, we get the following equations, E = R Hk E* = R* *Hk * = D*G*(R* - *Hk)
( z ) D ( z )G ( z ) = R ( z ) 1 + D ( z )G ( z ) H k

= E*D*G * = E*D*G*

(e) We evaluate for D(z) = 1, T = 1 s, K = 2, and J = 0.1.

(1 e (1) s ) 1 1 ( 2) ]( z ) (1 z 1 )(20)[ 3 ]( z ) ( z ) s (0.1) s 2 s = = 1 R( z ) (1 e (1) s ) 1 1 1 + (1)[ (2) ]( z )(0.02) 1 + (1 z )(0.4)[ 3 ]( z ) 2 s s (0.1) s (1)[

( z 1) z ( z + 1) (20) ( z ) 10( z + 1) z 2( z 1) 3 = = 2 z 1.8 z + 1.2 R( z ) 1 + ( z 1) (0.4) z ( z + 1) z 2( z 1) 3

(f) Verifying with MATLAB, we get,

% ------------------------------------------% Problem 5-14 p. 197 % ------------------------------------------K=2; Sys=tf([K],[0.1,0,0]); % Satellite + Amplifiers = K/Js^2 dSys=c2d(Sys,1,'zoh'); % G(z) including the zero order hold sensor=0.02; % = Hk clsSys=(dSys)/(1+dSys*sensor); % Matlab allows this type of transfer function algebra closedSys=minreal(clsSys) % Finally after simplifying % % % % % >> closedSys Transfer function: 10 z + 10 ----------------z^2 - 1.8 z + 1.2