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    Indian Institute of Technology Kanpur Department of Electrical Engineering

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    Sasi Teja
    This document contains a midterm exam for a digital control systems course. It includes 6 questions: 1) Derive various z-transforms, the digital PID law from continuous PID, and solve a difference equation using z-transforms. 2) Find the output of a sampled system given a unit step input. 3) Design a PID compensator for a sampled data system using root locus to achieve a settling time less than 2 seconds and 0.5 damping ratio. Sketch the compensated system's root locus.

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    Indian Institute of Technology Kanpur Department of Electrical Engineering

    Uploaded by

    Sasi Teja
    32 views2 pages
    This document contains a midterm exam for a digital control systems course. It includes 6 questions: 1) Derive various z-transforms, the digital PID law from continuous PID, and solve a difference equation using z-transforms. 2) Find the output of a sampled system given a unit step input. 3) Design a PID compensator for a sampled data system using root locus to achieve a settling time less than 2 seconds and 0.5 damping ratio. Sketch the compensated system's root locus.

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    ee653_midsem_2017

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    This document contains a midterm exam for a digital control systems course. It includes 6 questions: 1) Derive various z-transforms, the digital PID law from continuous PID, and solve a difference equation using z-transforms. 2) Find the output of a sampled system given a unit step input. 3) Design a PID compensator for a sampled data system using root locus to achieve a settling time less than 2 seconds and 0.5 damping ratio. Sketch the compensated system's root locus.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    32 views2 pages

    Indian Institute of Technology Kanpur Department of Electrical Engineering

    Uploaded by

    Sasi Teja
    This document contains a midterm exam for a digital control systems course. It includes 6 questions: 1) Derive various z-transforms, the digital PID law from continuous PID, and solve a difference equation using z-transforms. 2) Find the output of a sampled system given a unit step input. 3) Design a PID compensator for a sampled data system using root locus to achieve a settling time less than 2 seconds and 0.5 damping ratio. Sketch the compensated system's root locus.

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    © All Rights Reserved
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    Indian Institute of Technology Kanpur

    Department of Electrical Engineering


    EE653 Digital Control
    Mid Sem Exam MM 60 Duration Two hours 21 Sept 2017

    Q1. Answer following questions:

    a) Derive z-transforms:
    i. k a k [2 marks]
    ii.  (k )   (k  1) where  (k ) is unit step. [2 marks]
     1; for k even
    iii. r (k )   [3 marks]
     1; for k odd
    b) f * (t ) represents sampled data of the signal f (t ) using an impulse sampler. Please
    find Z { f (t )} from the expression of Laplace Transform of f * (t ) . [4 marks]
    t
    de
    c) The continuous time PID law is given as u (t )  K P e  K I  e dt  K D . Derive the
    0
    dt
    U ( z)
    digital PID law from its continuous time expression. [5 marks]
    E( z)
    d) Solve the following difference equation using z-transforms:
    1; for k even
    y (k )  1.7 y (k  1)  0.72 y (k  2)  r (k ) ; where r (k )   and
    0 ; for k odd
    y (2)  y (1)  r (1)  0 . [8 marks]

    e) Using Jury stability test, check if all the roots of the following characteristic equation
    lie within the unit circle: z  z 4  1.368z 3  0.4 z 2  0.08 z  0.002  0 [6 marks]

    f) Roots in s-plane are given in figure 1 with shaded region. Draw the equivalent z-
    plane by mapping s-plane to z-plane: z  e sh . [7 marks]

    Figure 1: S-plane with roots in shaded region


    Q2. For the sampled system shown in figure 2, find the output y (k ) for r (t )  unit step . [12
    marks]

    Figure 2: A Sampled system

    1
    Q3. The sampled data system as given in Figure 3 has G p ( s)  with sampling time T
    s 1
    2

    = 0.2 sec. It is required that the settling time t s  2.0 sec. The required damping ratio is
      0.5 . Design a PID compensator using the root locus approach – in particular, find the
    gain and two zeros of the compensator. Draw the rough sketch of the root locus for the
    compensated system. [16 marks]

    Figure 3: A discrete time control system

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