ae TRIBHUVAN UNIVERSITY INSTIT OF ENGINEERING Lev Examination Control Division | Prog 2067 Mangsir { Reguiar /Ba Full Marks | Pass Marks , 32 Candidates are required to give their answers in their own words as far as practicable, v Y Attempt All questions. Y The figures in the margin indicate Full Marks, ¥ A normal graph paper will be provided. V Assume suitable data if necessary. 1. a} Explain digital control system along with the functions of each block. [10] b) Write short notes on sample and hold circuit, (51 2. a) Starting from the z transform of unit step function, determine the z transform of fal Ket { 1 ‘ ») Given x(s) = ——;————. and T = 1. Obtain x(z) by using convolution @) (s+1)7(s+3)(+2) integral in left half plane. (8) 3. 2) Derive an exoression for the transfer function of zero order hold. [6] b) Realize the following transfer function by ladder programming. [10] 2 +42? +10Z+7 XQ) Fa372s117218 +327 +1iZ+18 4, Consider the system shown below. ° “ 16] R@) 1, = gn 2 digital Pl controller such that the dominant closed loop poles have a damping io of 0.35 and number of samples per cycle of damped oscillation is 10, Also find Kv for the designed system. +7Z31 5. a) Represent X(Z) in observable canonical form 2 42Z 8) 6. b) Determine the state transition matrix for the system given by: (8) x(k+1) = Gx(k)+Hu(k) yk) = Cx(k)+Du(k) Where, Lc=h obp=i aBack Fai! Viars Pass Masks Time” v Candida:es are required to cive their answers in their own words as far as prac ¥ attempt All questions. V The figures in the margin indicate Full Marks. ¥ Anormal be. V Assume suitable data if necessary. (8) a) What is data acquisition system? Describe different blocks of data acquisition system. [4«2} b) Write short notes on: i) Digital to Analog conversion ii) Data hold circuit (8} 2. a) Consider the system shown below 1 xs 7 _ Jaa] ? Sree [2 > v9 2 If transfer function of FOH is “1 and T= 1. Determine “2 Ts X(z) -1 b) Find the inverse Z-transform of X(z) = ——~——*—_ by inversion (1-271 +1.627 + 0.6427) integral method. (3) 3. a) Derive an expression for the transfer function of first order hold. (3) b) Realize the following transfer function by series programming (8) {16} 4. Consider the system shown below: Design a digital controller such that the dominant close loop poles-of the system w: damping ratio ‘z’ of 9.55, Ir is required that the peak time of the response be Assume that the santpling period T be 0.2. Also obtain Ky forthe designed system.3 5, a) Represent X(z) = = b) Determine pulse transfer function matrix for the following state space representation (3) x(x+1) = Gx(k) + Buk) yk) = Cx(k) + Du(k) Where, o[s Abe[be Et po-f]Back Examination Coatroi Div Bass Marks 2068 Magh ry Five questions. Question No. 4 is compulsory he margin indicate Full Marks 1. 8) Briefly describe digital control system with the help of block diagram. Also mention the advantages of digital control system over analog. [4] ») Compare different types of sampling operations used for sampling of continuous ‘ime signal. [6] 2. a) Solve the following difference equation: [8] X(K +2) ~1.379 x(K + 1) = 0.3679x(K) = 0.3679 w(K + 1) + 0.2642u(K) where, w(K) is input which has initial values. >) Obtain Z transform of curve x(t) shown in figure below. (8) x(t) : L a) What do you mean by convolution? Obtain Z-transform of x/s) the convolution integral in the left half ‘s” plane. [8] b) Realize system having pulse sransfer function, G(zj= 272M E719) Le (2-52 =258) as 8: 4, Design a digital comcoller for the system shown in Sgure below that dominant closed Joop poles of the system will have damcing ratio of 0 that the of the response tp $ 1.2 sec, Assume sampling time T 19) Controller5, a) Represent system having pulse transfer function G(2) = canonical form. b) Determine pulse transfer function matrix for the system which is describe by state 3] p [ oF [Thao and [> space representation as: fxk+D]_[3 1 feels a] sik] +1 (4a) 6. Write short note on: a) Data acquisition system b) Stability analysis in Z-domain c) Phase-lead/phase-lag compensator d) Advantage of digital filter oetal Control System (E5653) oe Candidates are required to give their answers in their own words as far as practicable. aAttenipt All questions The figures in the margin indicate Full Marks Assume suitable data if necessary. 4 444 a) What are the advantages of digital control system over analog? (4) 4) Explain data acquisition system with its block diagram representation. Also state advantages of digital control system. [6+2] 2. a) Solve the following difference equation by use of Z-transform method. x(k+2)+1.379-x(k+1)+0.3679, x(k)=0.3679-u(k) where u(k) is step input and x(0)=0, x(1)=0.3679 (8) b) Find the z-transform of x(t) = e™ sinot [4] ©) Find the inverse Z-transform of the function x(z) = ay rea] 3. a) Determine the transfer function of zero order hold circuit. [8] b) Determine the stability of system having characteristic equation using jury test. [8] P(z)=22' +72? +1027 +424+1=0 c) How s-plane can be converted into z-plane and vice versa? 4 4, a) Derive the pulse transfer function of digital PID controller. [8] b) Design a digital controller such that the compensated system should have damping ratio = 0.5 and settling time = 2 second of the following system using root locus Pa approach. 1 ce) ne G8) | s@+n 5. a) Obtain the state space representation of the following pulse transfer function in observable canonical form. ia Y(2) 36827! +0.26427 Ue) 1-13682"+0.3682 (9) b) Check the stability of given system by Liapnuov Stability test fae 0. 17x] xp(k+)] [+05 -1] [x00Examination Control Di 2071 Maga Candidates are required to give their answers in th ¥ Atreript All questions Y The figures in the margin indicate Full Marks, v “Assume suitable data if necessary. ir own words as far as practicable. how tracking mode and hold What do you mean by sample and hold circuit? Exp! mode are employed in digital control system. | b) Draw a schematic block diagram for Digital Control System st Explain the function of each biock in detail. (8) a) ignal and blocks. a) Obtain the z-transform [42] i) x(t) = coswt ; t20 : fons 1<0 iD XO" aD ca) (41 | 1x -1)" | b) Find ROC for x0-(2) w0o4(: 3) ul), | for t>= 0 and u(k) = 0 fort <0 where u(k) ©) Consider the difference equation x(k +2) = 1:3679.(k + 1) + 0.3679.x(K) = 0.3679-u(k+ 1) + 0.2642.u(k) [Where x(k isthe output and x(k) = 0 fork 0 where u() isthe input andi given by | Determine the output x(k) 3, 2) Consider the digital filter defined by [8] 242.2271+0.22" 140427 —0.1227 Realize this filter in ladder scheme. 1b). Write short notes on: (any 80) i) Mapping from S-plane to Z-plane ii) Impulse sampling #8) General procedure for obtaining pulse transi 6@)= [4x2] fanetion4. a) b) ? Explain. Jury stability test in digital control system ystem should have damping 10} What is Design a digital controller such that the compensated s ratio = 0.5 and settling time = 2 seconds of the system using root locus approach. 3 co) Derive the pulse transfer function of the given state space representation form {8} x(k + 1) = G x(k) + H ude) and y(k) = © x(K) + D ul) Consider the following system: (8] Y@) z+l Ug) 2 +1.32+04 : Obtain the state space representation diagonal canonical form. of the above pulse transfer function in the eedates are required to give their answers in their own words as far 2 practicable. ¥ Candi v Attempt All questions. Y The figures inthe margin indicate Full Marks. Y “Assume suitable data if necessary. 4) Explain the process of data acquisition conversion and distribution system applied in discrete time system. Explain about reconstruction of origins! signal from sampled signal with the help of figure and necessary. ©) What are the advantages 2. a) Solve the following differential equation: x(k) — 2x = 1) + x(k - 2) = uC; where x0) = function. b) What are the example. ©) Obtain the inverse 2-transform ofthe following X() by usin X(@)=@2'+2)/ @-27 @-D 3. a) Evaluate the closed loop pulse transfer ‘obtain the continuous time output C(s) of the system. RG@) ES) ae | / »| G2) HO) of digital control system over analog control system? 0 for k < 0 and u(k) is unit step methods of inverse z-transform? Explain each of them using suitable g suitable method. function of the system shown below. Hence CO) b) Explain the stability ofthe following characteristics equation by using Jury test: P(z)=2'— 1.22) + 0.072 + 0.32-0.08=0 4, a) Construct the block diagram for the following pulse- i Kea behets lowing pulse-transfer function system (a digital Gi) = @-9.62)/(1 +052") 6) (6] (41 (6) (61 4) {8]5 b) Draw root locus plot for the given system below. coy RCs) c) Explain PID controller in realized in discrete time domain? Discuss the role of P, 1 5) and D parts. Obtain the state space representation of the following pulse transfer function by ite a observable conical form: ¥(z)/ X(Z) = 0.3682" + 0.2642) / (1 - 1.3682" + 0.3687) b) Obtain the pulse transfer function matrix for the system represented by the following state space equation. x(K + 1) = G.x(K) + H.u(K) y(K) = Cx(K) + D.u(K)23 SRISHUV. 1 UNIVERSITY ‘Exam, UN NGINEERING Candidates are required to give their answers Attempt All. questions. The figures in the margin indicate Full Marks Assume suitable data if necessary. SARK -m? Explain a) Why sample and hold circuits are important in discrete time control syster operation of sample and hold circuit in detail b) Define problems associated with quantization. How can it be improved? 2. a) State Complex Translation theorem. Obtain the z-transform of e™“ sin wt by using Complex Translation theorem. for-4| RO) 628) 4) 4] 4] (8) (8) [4]by Design a digital controller for the system shown below. Use the Bode diagram "plane. The design specifications are that the phase margin be 55°, the 10dB and the static velocity error constant be 5 sec. Tv 0.1 sec approach in gain margin be at sampling period is spe J Digit 2, (2) Controller R@) 5, a) Obtain the state space representation of the following pulse transfer function (8] ¥(z)_ 0.36827" +:0.264274 UG). 1—1.36827 + 0.3682-7 i) Controllable canonical form ii) Observable canonical form fer function(when the b) Obtain the discrete-time state and output equations and pulse trans sampling period T=1) of the following continuous-time system: [8) gG)-20. Us) s(s+2) which may be represented in state space by the equations: x ]_fo 1 Tu,fo t= + x} lo -2heJ°U x =[1 o]”' vt wee4. 100 a) With the help of discrete time control system block diagram. explain data acquisition. conversion and distribution system. ) Define the term tracking mode and hoid mode in simple an¢ old citcuit. 0,1,2,3.4 when X(z) is given by a) Find x(k) iork loz+5 @De-D X= of x(k+2)/(k) when sequence variable approaches “nfaly a) Examine the sabili test. p(z)= 24-1. b) Consider the digital filter defined by of given system with characteristics equation by Jury stability 0.072 +1.52-0.06 = 0 242221+0.227 G@= = oan 0.122 Realize this Alter in the parallel scheme and ladder scheme. a) Consider the digital control system as shown in figure below, where the plant is of the fist orde: and has a dead time of 5 second, By choosing reasonable sampling time T, Design a digital Pl controller such that the dominent ciosed loop poles ha damping ratio ¢ of 0.5 and the number of samples per cyci 19, After the controller is designed, determine the step input, [Digital Pr | r= | eft Controller i‘ ices | om ps sSog 4] (8) (3)erent forms: Controliabie canonical form ii) Observable canonical form ii) Diagonal canonical form b) State space representation of a system is given by: (6) Ix, fe Teoh Is] o -2}x,]7 U1 Obtain the pulse transfer function matrix. a_— a ee ee ee 2 gman kam A o | INSTITUTE OF ENGINEERING | Level BE | Exantination Control Division | Programme | 11 2073 Magh Year /Part | 101/11 bs Subject; - Digital Control System (EE6!2) Candidates are required to give their answers in their own words as far as practicable. Attempt All questions, Fu 1, a) Explain the process of data acquisition, conversion and distribution system applied in discrete time system, b) Define the term tracking and hold mode in sample and hold circuit. (4 c) Obtain the z-transform of x(t) for which time response is given by (J x(t) 1.0 0.5 Figure : Continuous time Signal 2. a) Obtain the inverse z-transform of the following system using partial fraction expansion method. [6] , 2(l-e"") x)= Fe=e) b) Find X(K) when x(k+2)=x(k+1)+x(k),x(0)=0 and x(1)=1 and show that the limiting value of x(k-+1)/x(k) = 1.6180 when k tends to infinity. [8] 3. a) Solve the following difference equation and hence obtain x(k). (8) X(K +2)+3X(K +1) +2X(K) =0, Given that X(0) = 0,X(1) =1 b) Determine pulse Transfer function ea of the given system as shown in figure (®)and (b). [4x2] xO xs) ww , 70 Y@) re ) figure (2) X(s) x) figure (b)4, a) Consider the digital filter defined by (6) Realize this filter in the parallel scheme. b) Using the root locus method in z-plane determine a digital controller for a system shown in below so that the dominant closed loop poles of the compensated system will have damping ratio of 0.5 and number of sample per cycle of damped sinusoidal oscillation to be 8. Assume that the sampling period T as 0.2 sec. Digtal ‘ero order Re) Controtier hold 5. a) Consider the following system: [8] Obtain the state space representation of the above pulse transfer function in the controllable canonical form and observable canonical form. [8] b) Check the stability of given system by Liapnuov stability test. PeetihLts S] neeTRIBHUVAN UNIVERSITY Exam, INSTITUTE OF ENGINEERING Level BE Full Marks Examination Control Division Programme Pass Maris 2073 Bhadra Year /Part Il iL Time 3 hes. Subject: - Digital Control System (£5652) Y Candidates are required to give their answers in their own words as far as practicable. ¥ Attempt All questions. The figures in the margin indicate Full Marks. Y Assume suitable data if necessary: 1. a) With the help of block diagram, explain the principle feature of discrete time control rl system. Show that the minimum sampling rate required to recover a signal whose band - b) spectrum is limited to Wm is equal to 2Wmn- ©) Obtain the inverse transform of the function x(z)= = Saize [4] (+ 0.6065) 2. a) Solve the following difference equation and hence determine the output x(k) [8] x(k+2)— x(k +1) +0.25x(k) = uk +2) Where, x(0) = Land x(1)=2 u(k)= 0,1 b) Determine the pulse transfer function of the system shown below. [8] RO) + Es) 4 ce) >| PD Controller ZOH i + >| a > kp = O.2;h, = 0.2 Rp {ZOH= Transfer Function of Zero Order Hold Circuit] 3. a) Check the stability of system having characteristic equation as follows using jury criterion. [8] P(z)=2z‘ +7z° +1027 +42+1=0 b) Realize the given digital controller by ladder programming whose transfer function is [8] 82) +727 +10z+6 42° +627 +9z+104, a) Explain one of the method for mapping plane to z plane [6 5) Design a digital controller such that the compensated system should have damping iz ratio $=0.5 and settling time t, = 2 see using root locus approach. (2 5. a) Obtain the state space representation of the system shown in figure below in Jordan canonical form: (8) Y(z) 5 Uz) (z+1)°(z+2) b) State space representation ofa system is given by (8) 0 17%,),f0 ) Compare different types of sampling operations used for sampling of continuous time signal. [4] ©) Write the advantages of digital control system over analog control system. [4] 2. a) Obtain the inverse z-transform of Et (-N)@. x(2)= (4 using Inversion integral method, b) Obtain X(z) by the use of convolution Integral in the Left Half of s-plane of the ‘transfer function. (4) ee S841) ©) Solve the fotlowing difference equation using z transform method. Also determine the value of x(k +2}/x(k + 1) as k approaches to infinity. 8] x(k + 3)-2.2x(k + 2) + 1.57x(k + 1) -0.36x(k) = u(k) where, u(k) = } forall k > 0, and x(0) = x(1) = x(2)= 0. X(8) 3. a) Obtain the closed loop transfer function of the system shown in figure below. Assume proportional gain (k,) = 1, Integral gain (ki) = 0.2. {8} Derivative gain (ks) = 0.2. [Take T = 1 sec] we vam eC) "BLOX PO? gel zou | awn N J b) Realize the given digital controller by Ladder Programming (8) 227 +2.2240.2 Gig) eee = Fe 0da~0.of the characteristic equation given by 4, a) Examine the — stability P(2)=2) ~1.12?—0.1240.2=0 (1 b) Design a digital Pl controller such that the dominant closed loop poles have damping ratio & = 0.5, sampling period T = 1, and “ 5 and dead time of 2 sec. Also find w: v2 KV and ess in response to unit ramp input -9--a- HE} 5. a) Obtain the state space representation of the system shown below in Jordan canonical 2 (4) form: Y@) 5 UG) (2+1)P(z+2) b) Obtain the state space representation of the following pulse transfer function by observable canonical form: (61 Y(2) __ (0.36827! +0.2642) XZ) (1-1.3682' + 0.368277) ¢) Derive the pulse transfer function of the given state space representation form x(k +1) =G x(k) +H.x(k) and y(k)=C x(k)+D u(k) (6)22 —_TRIBHUVAN UNIVERSITY INSTITUTE OF ENGINEERING Examination Control Division 2075 Baisakh Subject: - Digital Control System (EE652) Candidates are required to give their answers in their own words as far as practicable. Attempt All questions. The figures in the margin indicate Full Marks, Assume suitable data if necessary, S488 ) With the help of block diagram, explain digital control system in detail. Also mention the advantages of digital control system over analog, [8] 'b) Derive the transfer function of ZOH and also find the Pulse transfer function, (3) [a+4] 2, a) Find the z-transform of the following: : eal egal . 0, t<0 © xWO=s-Fe-9e-4)_ 0-40, Ba b) “Solve the difference equation: X(k+2)+1.379X(k+1)+0.3679X(K)=0.3679u(k) where u(k) is step input and x(0)=0, x(1)0.3679. 3. a) Explain with suitable diagram how constant damping ratio line in s-plane is mapped into z-plan? (4) b) Realize the digital filter by ladder programming. (8) 1282"? +2242? +1062"! +11 1282 +1602 +3421 41 ©) Examine stability of characteristic equation. 4 [8] G@)= P(2)=z2°-L.lz? -0.12+0.2=0 4, A control system block diagram shown in figure below is of satellite communication system. Design a lead compensator D(z) to stabilize a satellite position. The sampling rate of digital controller is 10 samples per second. Consider design criteria: (i) damping ratio must be greater than 0.6, (ji) damped natural frequency should not exceed 1 Hz. ie. 4 <0.10,, and the time constant for the closed loop control system should be less than 0.5 second with 5% criterion for settling time. L164 is >| D(z) >[Zou} >) 2% 4 >5, a) Obtain the state space representation of the following pulse transfer function in controllable canonical form. ‘4 423 4327 +5244 223 +527 +2243 Obtain Pulse transfer function matrix of the following state space representation: 10} x(k +1) = Gx(k) + Hk) y(k) = Cx(k) + Du(k) b) -al 1 0 ht Where G=|-22 0 1], He=[h2|, C=[l 0 oO] -a3 0 0 h3 And D = bo erry