22419 Control por Computador

Grado en Ingeniera Electronica Industrial y Automatica

Homework: Analysis of discrete-time control systems
October 29, 2013
1. Check the stability of a discrete-time system whose characteristic equation is P (z) =
z 3 1.3z 2 0.08z + 0.24 = 0 using the modified Routh-Hurwitz test.
2. Check the stability of a discrete-time system whose characteristic equation is F (z) =
z 3 + z 2 + 0.5z + 0.25 = 0 using the Jury test.
3. Check the stability of a discrete-time system whose characteristic equation is F (z) =
z 2 + z + 0.25 = 0 using the Jury test.
4. Determine the range of values for K under which the discrete-time system whose characteristic equation is F (z) = z 3 + z 2 + z + K = 0 is stable using the modified Routh-Hurwitz
test.
5. Find the stable range for a gain K in the forward path of a discrete-time control system
1
whose plant is given by G(s) = s+3
and a zero-order hold with T = 0.02s using the Jury
test.
6. Check the stability of a discrete-time system whose transfer function is
G(z) =

5(z 2)
(z 0.1)(z 0.8)

using: (a) the modified Routh-Hurwitz test and (b) the Jury test.
7. Determine the range of values for K under which the discrete-time system of the figure
(T = 1s) is stable using: (a) the modified Routh-Hurwitz test and (b) the Jury test.
X(s)

E(s)

E (s)
K

Gzoh (s)

1
s(s+1)

Y (s)

Alberto Ortiz

8. Check, using the Jury test, the stability of a system whose dynamics is given by the
following difference equation:
y(k + 2) + 0.8y(k + 1) + 0.07y(k) = 2x(k + 1) + 0.2x(k)
9. Determine the overshoot and the settling time for the following discrete-time closed-loop
system with T = 0.1s:
X(s)

E(s)

E (s)

1
s(s+3)

Gzoh (s)

Y (s)

10. Determine the overshoot and the settling time for the following discrete-time closed-loop
system with T = 0.1s:
X(s)

E(s)

E (s)
C(z) =

4
z0.1

1
s(s+3)

Gzoh (s)

Y (s)

11. Determine the poles of a second-order discrete-time system with T = 0.2s so that Mp =
5% and tp = 2s.
12. Determine the static error expressions and constants for the closed-loop configurations
shown in the figure:
(a)

E(s)

X(s)

Y (s)
G1 (s)

G2 (s)

H(s)

(b)

E(s)

X(s)

Y (s)
Y (s)

G1 (s)

G2 (s)

H(s)

13. Determine the static errors for the configurations of exercise 12 for a sampling period of
T = 1s and the following transfer functions:
G1 (s) =

s1
,
s+5

G2 (s) =

3
,
s+7

H(s) =

1
s+1

14. Find the steady-state error for a sampled unit step and a sampled unit ramp, assuming
T = 0.02s.
X(z)

E(z)

0.35z
z1

Gzoh (s)

s+8
s+5

Y (z)

Alberto Ortiz

15. Find the steady-state error for the system shown in the figure:
D(s)
Gd (s)
E(s)

X(s)

E (s)

C (s)

U (s)
Gzoh (s)

Y (s)
G(s)

where the sampling period is 0.03s, the transfer functions involved are:
Gd (s) =

2
,
s+1

G(s) =

4(s + 2)
esT 0.95
and C (s) =
,
s(s + 3)
esT 1

and the inputs are X(s) = 0 and D(s) = 1/s (unit-step disturbance).
16. Reduce the following discrete-time transfer function up to third order:
G(z) = 0.5

(z 0.7)(z 0.1)(z 2 0.1z + 0.001)(z 0.51)(z 2 0.7z + 0.15)

(z 0.9)(z 2 1.6z + 0.79)(z 0.15)(z 0.5)(z 2 0.65z 0.14)z

17. Construct the root locus for the following characteristic equations:
(a) z 2 + (0.15K 1.5)z + 1 = 0
(b) z 2 + (0.4 + 0.14K)z + (0.5 + 0.5K) = 0
18. Determine the root locus for the discrete-time system of the figure for: (a) T = 0.1s, (b)
T = 2s and (c) removing the sampler and the ZOH, and replacing the digital controller
by a continuous-time controller C(s) = K/s. Find the system poles for a gain K = 2 in
all three cases.
X(s)

E(s)

E (s)
C(z) =

KT z
z1

Gzoh (s)

G(s) =

1
s+1

Y (s)

19. Determine the resonant peak, the resonant frequency and the bandwidth for the following
closed-loop discrete-time system with T = 1s:
X(z)

E(z)

G0 (z) =

0.2(z+0.8)
z 2 0.8z+0.2

Y (z)

20. Determine the gain and phase margins for the following closed-loop discrete-time system:
X(w)

G0 (w) =

150
(w+2)(w+10)

H(w) =

7
w+7

Y (w)

Alberto Ortiz

21. Determine the gain and phase margins for the following closed-loop discrete-time system
with T = 0.1s:
X(z)

E(z)

G0 (z) =

0.0952z
(z1)(z0.905)

Y (z)

22. Determine the gain margin, the phase margin and the bandwidth for the following closedloop discrete-time system with T = 0.2s:
X(s)

E(s)

E (s)
Gzoh (s)

G(s) =

7
s+5

Y (s)