Scribd Logo
Upload

Welcome to Scribd!

  • 11 views

    Test 3 Memo 2023

    Uploaded by

    chidochashe monalisa
    The document contains a test paper for a control systems course. It includes 3 questions assessing an outcome related to converting between s-domain and z-domain transfer functions, finding system matrices in observer canonical form and assigning closed loop poles, and determining stability conditions for a digital control system. The questions require calculations and explaining steps. Additional instructions are provided for the test.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Test 3 Memo 2023

    Uploaded by

    chidochashe monalisa
    11 views3 pages
    The document contains a test paper for a control systems course. It includes 3 questions assessing an outcome related to converting between s-domain and z-domain transfer functions, finding system matrices in observer canonical form and assigning closed loop poles, and determining stability conditions for a digital control system. The questions require calculations and explaining steps. Additional instructions are provided for the test.

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    The document contains a test paper for a control systems course. It includes 3 questions assessing an outcome related to converting between s-domain and z-domain transfer functions, finding system matrices in observer canonical form and assigning closed loop poles, and determining stability conditions for a digital control system. The questions require calculations and explaining steps. Additional instructions are provided for the test.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    11 views3 pages

    Test 3 Memo 2023

    Uploaded by

    chidochashe monalisa
    The document contains a test paper for a control systems course. It includes 3 questions assessing an outcome related to converting between s-domain and z-domain transfer functions, finding system matrices in observer canonical form and assigning closed loop poles, and determining stability conditions for a digital control system. The questions require calculations and explaining steps. Additional instructions are provided for the test.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 3

    Department of Electrical and Electronic Engineering Science

    Course: B.lng: Electrical and Electronic Engineering

    Module: Control Systems 4A (BHSEEA4, BHS4A)

    Assessment: Test 3

    Test Content: Outcome B

    ECSA Outcomes Assessed: NA

    Examiner: Prof. Y Sun Moderator: Dr. Dzobo

    Date: 2 May, 2023

    Number of Pages: 4

    Duration: 90 minutes

    Marks: 40

    Additional Instructions:

    • No textbooks or notes may be used.

    • Calculators may be used.

    • Please label your answers clearly.

    • Use correct SI units where appropriate.

    • Write your student number below and hand you your question paper with
    your answer sheet.

    Student Number: ________________________________________

    Name (optional): ________________________________________

    1|Page
    ANSWER ALL QUESTIONS

    QUESTION 1 [12]
    Convert the following s-domain compensator to the z-domain compensator using the Tustin method
    and a sampling frequency of 1Hz.

    1
    𝐷(𝑠) =
    (𝑠 − 2)(𝑠 + 4)

    1) Multiply out your final transfer function and ensure that the highest power of z in the denominator
    has a coefficient of 1.

    2) Calculate the 𝑢(𝑘) from 𝐷(𝑧).

    Answer:
    2(z−1)
    Substitute 𝑠 = 𝑇(𝑧+1) where T=1/1=1✓✓

    1 1 1
    (𝑧+1)2 (𝑧+1)2 (𝑧 2 +2𝑧+1) ∗𝑧 2 + ∗𝑧+
    𝐷(𝑧) = (2(𝑧−1)−2𝑧−2)(2(𝑧−1)+4(𝑧+1))
    = (−4)(6𝑧+2)
    =
    −24𝑧−8
    = 24 12
    1 ✓✓✓✓
    24
    −𝑧−
    3

    1 1 1 1
    𝑈(𝑧) ∗𝑧 2 + ∗𝑧+ (1+2∗𝑧 −1 +𝑧 −2
    𝐷(𝑧) =
    𝐸(𝑧)
    = 24 12
    1
    24
    = 24
    1−3𝑧 −1
    ✓✓
    −𝑧−
    3

    1 1 1 1
    𝑢(𝑘) = − 𝑢(𝑘 − 1) − ∗ 𝑒(𝑘 + 1) − ∗ 𝑒(𝑘) − ∗ 𝑒(𝑘 − 1) ✓✓✓✓
    3 24 12 24

    Question 2: [20]
    Consider a system with the following transfer function
    3
    𝐺(𝑠) = 𝑠2 −3.

    1) Find ( 𝐹, 𝐺, 𝐻) for this system in the observer canonical form.

    2) Compute 𝐾 so that the closed-loop poles assigned to 𝑠 = −1 ± 𝑗.

    3) Is the closed-loop system of part 2) observable?

    Answer:
    𝑏1𝑠+𝑏2
    1) For a transfer function, 𝐺(𝑠) =
    𝑠2 +𝑎1𝑠+𝑎2

    The observer canonical form becomes:

    2|Page
    𝐹 = [−𝑎1 1
    −𝑎2 0
    ] = [03 01], 𝐺 = [𝑏1
    𝑏2
    ] = [03], 𝐻 = [1 0], ✓✓✓✓✓✓

    2) det(𝑠𝐼 − (𝐹 − 𝐺𝐾)) = 0, then 𝑠 2 + 3𝑘2𝑠 − 3 + 3𝑘1 = 0✓✓✓✓

    (𝑠 − (−1 + 𝑗))(𝑠 − (−1 − 𝑗)) = 0 then 𝑠 2 + 2𝑠 + 2 = 0✓✓✓✓

    From the previous two equations, k1=5/3, K2=2/3. ✓✓

    3) The system is in observer canonical form, hence, it is guaranteed to be observable✓✓, to check


    𝐻
    ∝= [𝐻𝐹 ] = [10 01] 𝑠𝑜 det ∝= 1 ≠ 0, so it is observable. ✓✓

    Question 3: [8]
    Consider the following digital control system with a sampling time of F=1Hz

    For what values of K is the system above stable?

    Answer:

    The closed loop transfer function:


    1
    𝑌(𝑧) = 𝑧−1 ∗ (𝑅(𝑧) + 𝑘𝑌(𝑧)) ✓✓

    1 𝑅(𝑧)
    (1 − 𝑧−1) 𝑌(𝑧) = 𝑧−1
    ✓✓

    𝑌(𝑧) 1 𝑧−1 1
    𝑅(𝑧)
    = 𝑧−1 ∗ 𝑧−1−𝑘 = 𝑧−(𝑘+1)✓✓

    System has pole at z=k+1

    For stability, use require |𝑧| ≤ 1, −1 ≤ 𝑘 + 1 ≤ 1, so , −2 ≤ 𝑘 ≤ 0✓✓

    3|Page

    You might also like