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Faculty of Engineering Student Number:

First Exam, First Semester: 2010/2011

Mechatronics Department
Course Title: Digital Control Date: 28/11/2010
Course No: 640460/640680 Time: 1 hour
Lecturer: Dr. Tarek A. Tutunji No. of pages: 3

Question 1: (5 marks)
Draw the block diagram of a basic digital control system. Show clearly all blocks
and all signals (continuous and discrete).

r(k) e(k) u(k) u(t) y(t)

Controller D/A Plant
+
-
y(k)
A/D

Computer

The signals are

r(k) discrete-time reference signal

e(k) discrete-time error signal
y(k) discrete-time plant output signal
u(k) discrete-time controller output signal
u(t) continuous-time controller output signal
y(t) continuous-time plant output signal

Note: In the above figure, the plant includes the actuator and the sensor blocks
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Question 2: (5 marks)
Draw the flow chart for a discrete PI controller:
 T  
u (k )  u (k  1)  K 1  e(k )  e(k  1)
 TI  

Start

Set values
K (gain), T (sampling time), Ti (Integral time)

Initialize
u(-1)=0, e(-1)=0
Set Reference Vector r
k=0

k=k+1

Read
y(k)

e(k)=r(k)-y(k)

u(k) = u(k-1) +K [ (1+T/Ti) e(k) - e(k-1)]

Output
u(k)
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Question 3: (8 marks)
Consider the following difference equation

u(k )  3u(k  1)  4u(k  2)  e(k )  2e(k  1)

Where e(k) is the input and u(k) is the output.

a) Calculate the transfer function.

u (k )  3u (k  1)  4u (k  2)  e(k )  2e(k  1)
U ( z )  3 z 1U ( z )  4 z 2U ( z )  E ( z )  2 z 2U ( z )
U ( z) 1  2 z 1 z 2  2z
H ( z)    H ( z )  2
E ( z ) 1  3 z 1  4 z 2 z  3z  4
b) If the input is a unit step, what would U(z) be?
1 k  0
e(k )  1(k )  
0 k  0
 

 ek z
1
E( z)  k
 E ( z )   z k  E ( z ) 
k  k 0 1  z 1
1  2 z 1 1
U ( z)  H ( z) E( z) 
1  3z 1  4 z 2 1  z 1
Or,
 z 2  2 z  z 
U ( z )   2  
 z  3 z  4  z  1 
c) Calculate the impulse response for k=0,..,3

Using the equation

u(k )  e(k )  2e(k  1)  3u(k  1)  4u(k  2)

k e(k) e(k-1) u(k) u(k-1) u(k-2)

0 1 0 1 0 0
1 0 1 1 1 0
2 0 0 -1 1 1
3 0 0 -7 -1 1

d) Is the system BIBO stable?

No, since the output u(k) does not decay to zero
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Question 4: (12 marks)
s 2  s  3.75
G( s) 
Consider the plant:
s  1(s 2  3s  2)
a) What would the plant gain be for  = 0?  ∞

s  j
0 2  0  3.75
 G 0  1.857
3.75
G (0)  
0  1(0 2  3(0)  2) 4
s 2  s  3.75 s2
G s  s   lim 3  lim 3  0
s    s  4 s 2  5s  2 s    s

b) Draw the root locus of the plant

First, we need to calculate the pole and zero locations

1  1  4(3.75
The zeros are at: s 2  s  3.75  0  s   s  1  1.9 j
2
The poles are at s  1s 2  3s  2  0  s  1,1,2

zero at
Root Locus 1+1.9j
2

1.5

0.5 pole double

Imaginary Axis

at -2 pole at -1
0

-0.5

-1
zero at
-1.5 1-1.9j

-2
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
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Use the bode plot below to answer parts c and d

Bode Diagram
10

0
Magnitude (dB)

Mag. dB
-10
Mag. = -10 dB
-20

-30
360

270
Phase = 180
Phase (deg)

180

90
Phase 
0

-90
-2 -1 0 1
10 10 10 10
Frequency (rad/sec) 
c) If the input is u (t )  10 sin5t  20 what would the output be?

The input signal has a frequency of 5 rad/sec. Then, use the bode plots
to find the magnitude and phase.

The magnitude = -16 dB  20 log x = -16 dB  Magnitude is 0.1584

The phase = -30

y (t )  10(0.1584) sin5t  20  30

y (t )  1.6 sin5t  10

d) For the closed loop system, for what range of k will the plant be stable?

+ + k G(s)

Here, we need to find the GM. From the bode plot, the find the frequency that
crosses the 180 in the phase plot and extend the line to find the magnitude which
is -10 dB. Then, 20 log x = -10 dB  x = 0.3162 Then, k = 1/x  k = 3.16