MODEL ANSWER Exam Model: 4629

Zagazig University,Faculty of Engineering Midterm Exam Date: 11/11/2016

Academic Year: 2017/2018 Exam Time: 60 min.
Specialization: Computer & Systems Eng. No. of Pages: 5
Course Name: Digital Control No. of Questions: 4 (20 items)
Course Code: CSE421 Full Mark: [60]
Examiner: Dr. Mohammed Nour
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⊲ Please answer all questions. Use 3 decimal digits approximation.
⊲ Mark your answers for all questions in the Answer Sheet provided.
⊲ In last page, some supplementary identities you may need.
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Question 1
1.Ballast Coding is used to synchronize the sampling and control process. Which of the following
[2 p]
does not apply for this method:

a) completely implemented in software.

b) software interrupt mechanism is used.
c) adds dummy code to compensate for required sampling interval.
d) very sensitive to changes in code and/or CPU clock rate.

1.Ballast Coding does not use any software (or hardware) interrupt mechanisms as it is fully imple-
mented in software.

[2 p] 2.For the two systems A and B represented by the following difference equations:

A : y(k + 2) = y(k + 1)y(k) + u(k), B : y(k + 5) = y(k + 4) + u(k + 1) − u(k),

a) A is homogeneous and B is linear. b) A is time-variant and B is homogeneous.

c) both systems are linear and time-invariant. d) both systems are time-invariant and homogeneous.


[4 p] 3.The z-transform of the sequence: 0, 2−0.5 , 1, 2−0.5 , 0, 0, · · · is: (note: sin(45◦ ) = √1 )
2

z2 + z + 1 z4 − 1 z z4 − 1
a) √ b) c) √ √  d) √ √
z 3 [z 2− 2 z + 1]
 
2z 2
2z − 2z + 2 2 z3 z2 − 2 z + 1

3.From z-transform definition we can write:

√
 1 1 1 z2 + 2 z + 1
Z 0, 2 −0.5
, 1, 2−0.5
, 0, 0, · · · = √ + 2 + √ = √
2z z 2z 3 2 z3

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MODEL ANSWER Exam Model: 4629

Since this answer is not given, then we try using z-transform proprieties to get:
 −0.5 
0, 2 , 1, 2−0.5 , 0, 0, · · · = 0, 2−0.5 , 1, 2−0.5 , 0, −2−0.5 , −1, −2−0.5 , 0, · · ·

+ 0, 0, 0, 0, 2−0.5 , 1, 2−0.5 , 0, −2−0.5 , −1, −2−0.5 , 0, · · ·
= f (k) + g(k)
( (
kπ kπ



sin 4 , k>0 sin 4 , k>4
where f (k) = g(k) =
0, k≤0 0, k≤4
 sin(π/4)z sin(π/4)z
Z 0, 2−0.5 , 1, 2−0.5 , 0, 0, · · · = − z −4 2
z 2 − 2 cos(π/4)z + 1 z − 2 cos(π/4)z + 1
2−0.5 z 4 − 1


z4 − 1
= 3 2 = √ √
z [z − 20.5 z + 1]
 
2 z3 z2 − 2 z + 1

z
[4 p] 4.The inverse transform of the function: F (z) = is:
z2 + 0.3 z + 0.02

a) {0, 1, −0.3, 0.07, · · · } b) {1, −0.3, 0.07, · · · } c) {0, 1, 0.3, 0.02, · · · } d) {1, 0.3, 0.02, · · · }

4.since the answer is required in expansion form, we use the long division method as:

z −1 − 0.3z −2 + 0.07z −3 + · · ·
z2 + 0.3z + 0.02 ) z
z + 0.3 + 0.02z −1
− 0.3 − 0.02z −1
−0.3 − 0.09z −1 − 0.006z −2
0.07z −1 + 0.006z −2
..
.

from which we have:

z
F (z) = = z −1 − 0.3z −2 + 0.07z −3 + · · · ⇒ f (k) = {0, 1, −0.3, 0.07, · · · }
z2 + 0.3z + 0.02

z − 0.1
[3 p] 5.The inverse transforms of the function: F (z) = is:
z 2 + 0.04z + 0.25
a) sin(1.611k + 0.196) b) cos(1.611k + 0.196)

c) −0.4δ(k) + 2.057(0.5)k sin(1.611k + 0.196) d) −0.4δ(k) + cos(1.611k + 0.196)

5.since the answer is required in closed form, we use the partial fraction method as:

F (z) z − 0.1 0.4 0.4z + 1.016

= 2
=− + 2
z z (z + 0.04z + 0.25) z z + 0.04z + 0.25
2
0.4z + 1.016z
= −0.4 + 2
z + 0.04z + 0.25

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MODEL ANSWER Exam Model: 4629

From the z-transform table, we can use the identities:

n o e−α sin(ωd )z
Z e−αk sin(kωd ) =
z 2 − 2e−α cos(ωd )z + e−2α
n o z[z − e−α cos(ωd )]
Z e−αk cos(kωd ) = 2
z − 2e−α cos(ωd )z + e−2α
√
e−α = 0.25 = 0.5, cos(ωd ) = −0.04 ⇒ ωd = 1.61 rad
0.4 z 2 + 0.02z + 1.008z 0.4 z 2 + 0.02z + 2.018 (0.4996) z



0.4z 2 + 1.016z
F (z) = 2 = =
z + 0.04z + 0.25 z 2 + 0.04z + 0.25 z 2 + 0.04z + 0.25
Z −1{F (z)} = {f(k)} = −0.4δ(k) + (0.5)k [0.4 cos(1.611k) + 2.018 sin(1.611k)]
= −0.4δ(k) + 2.057(0.5)k sin(1.611k + 0.196)

n
X
[3 p] 6.If the discrete output yk of a system is related to its input uk by yn = uk , the transfer function
k=0
Y (z)/U (z) of this system is:

1 z
a) b) c) 1 d) z −1
1 − z −1 z2 − 1

6.We can write:

n
X n−1
X
yn = uk ⇒ yn−1 = uk
k=0 k=0

By subtracting, we obtain
yn − yn−1 = un
Taking z-transform for both sides and equating, we get:

Y /(z) 1
=
U (z) 1 − z −1

[3 p]7.Consider a causal, LTI system with xn and yn as input and output, resp., described by the difference
equation yn = a yn−1 + b xn . For which values of a and b is the system bounded-input bounded-output
stable?

a) a > 1 & b < 1 b) a < 1 & b > 1. c) |b| < 1 any a. d) |a| < 1, any b

7.The transfer function of the system is given by:

b
H(z) =
1 − a z −1
which has a pole at z = a. A causal LTI system is stable if and only if all the poles of H(z) lie inside
the unit circle. It follows that |a| < 1. Since b is not related to any pole, so it does not affect the
stability.

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MODEL ANSWER Exam Model: 4629

Question 2
For the next questions, consider the next root Locus chart:
1 0.5/T
0.6/T 0.4/T
0.8 0.7/T 0.1 0.3/T
0.2
0.6 0.3
0.8/T 0.4 0.2/T
0.5
0.4 0.6
0.7
0.9/T 0.8 0.1/T
0.2
Imaginary Axis

0.9
/T
0 /T

-0.2
0.9/T 0.1/T

-0.4
0.8/T 0.2/T
-0.6
0.7/T 0.3/T
-0.8
0.6/T 0.4/T
0.5/T
-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

[3 p] 8.The system represented by this root locus has a transfer function G(z) given by:

K(z 2 − 1.6 z + 0.7) K(z − 0.6) z − 0.4π/T (z 2 − 0.1π/T z + 0.6)

a) b) 2
c) d)
z − 0.6 z − 1.6 z + 0.7 (z 2 − 0.1π/T z + 0.6) z − 0.4π/T

8.From the root locus chart:

• open-loop Zeros are at 0.6
• open-loop Poles are at 0.8 ± j 0.25
However, we cannot find the system gain, so leave it as K. Therefore:
z − 0.6 z − 0.6
G(z) = K =K 2
(z − 0.8 − j 0.25)(z − 0.8 + j 0.25) z − 1.6 z + 0.7

[3 p] 9.Using the given chart, the appropriate poles location that results in ωn > 0.63 rad/s , ζ > 0.8
(assuming T = 1 s) are:

a) 0.33 ± j 0.17 b) 0.17 ± j 0.33 c) 0.6 ± j 0.2 d) 0.2 ± j 0.6

9.For T = 1 s, then ωn > 0.63 ≃ 0.2 π

We can choose any poles that are within the shaded area and on the root locus:

CSE421: Digital Control Midterm Exam–2017/2018 page 4 of 5

MODEL ANSWER Exam Model: 4629

1
�
0.5�/T
0.6�/T 0.4�/T
0.8 0.7�/T 0.1 0.3�/T
0.2
0.6 0.3

0.4
0.8�/T
� 0.4
0.5
0.6
0.2�/T

0.7
0.9�/T 0.8 0.1�/T
0.2
Imaginary Axis

0.9
�/T
0 �/T

-0.2
0.9�/T 0.1�/T

-0.4
0.8�/T 0.2�/T
-0.6
0.7�/T 0.3�/T
-0.8
0.6�/T 0.4�/T
0.5�/T
-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

We select poles at 0.33 ± j 0.17

Question 2
The following diagrams represent systems with poles (indicated by x’s) but no zeros. The unit step
response of two systems y1k and y2k is shown on the right plots.
10

5
m1
y2k

f1
0
h1
g1,2 −5
1
-2 2
h1
y1k

0.5
m2 f2
0
0 2 4 6 8 10
sample k

[3 p] 10.The system with the response given by y1k has the poles:
a) f1 , f2 b) g1 , g2 c) h1 , h2 d) m1 , m2

10.
• The response y1k is exponentially decreasing without oscillations, so its roots must be all real
and inside the unit circle. Therefore, its roots are g1,2 .

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MODEL ANSWER Exam Model: 4629

[3 p] 11.The system with the response given by y2k has the poles:

a) f1 , f2 b) g1 , g2 c) h1 , h2 d) m1 , m2

11.
• The response y2k is exponentially increasing with oscillations, so its roots must be all complex
conjugate and outside the unit circle. Therefore, its roots are f1,2 .

12.In the following sampled system, D(s), G(s), and H(s) represent the system continuous subsystems.
[3 p]
R(s) and Y (s) are input and output respectively:

R(s) U(s) U*(s) Y(s) Y*(s)

D(s) G(s)
+ T
- T
H(s)

The discrete response Y (z) of this sampled system is:

G(z) DR(z) G(z) D(z) R(z)
a) Y (z) = b) Y (z) =
1 + D(z)HG(z) 1 + D(z) H(z) G(z)
G(z) D(z) R(z) G(z) DR(z)
c) Y (z) = d) Y (z) =
1 + DHG(z) 1 + DHG(z)

12.From the block diagram:

U (s) = D(s) R(s) − D(s) H(s) G(s) U ∗ (s)

Then sampling gives:

U ∗ (s) = [DR]∗ (s) − [DHG]∗ (s) U ∗ (s)
Solving for U ∗ (s), we obtain:
[DR]∗ (s)
U ∗ (s) =
1 + [DHG]∗ (s)
The analog output is:
G(s) [DR]∗ (s)
Y (s) = G(s) U ∗ (s) =
1 + [DHG]∗ (s)
The discrete output Y (z) is:
G(z) DR(z)
Y (z) =
1 + DHG(z)

z
[3 p] 13.The final value for the function F (z) = is:
z 2 + 0.3 z + 2
a) 0 b) 3.3 c) 1/3.3 d) undefined

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MODEL ANSWER Exam Model: 4629

√
13.The denominator has complex conjugate poles with magnitude 2 > 1. Therefore, the correspond-
ing time sequence is unbounded and the final value theorem does not apply. hence, the final value for
this function is undefined.

z
[3 p] 14.The steady state DC gain of the system with transfer Function H(z) = is:
z 2 − 0.7 z + 0.1
a) 0 b) 0.4 c) 2.5 d) undefined

14.The steady state DC gain of the system is calculated as:

z 1
K = H(1) = = = 2.5
z 2 − 0.7 z + 0.1 z=1 1 − 0.7 + 0.1

[3 p] 15.For a system with the following characteristic equation:

F (z) = z 5 − 0.25 z 4 + 0.1 z 3 + 0.4 z 2 + 0.3 z − 0.1
The Jury Table constructed to determine this system stability will have:
a) 5 rows b) 6 rows c) 7 rows d) 8 rows

15.The Jury table will have 2n − 3 rows (always odd). Since n = 5, this characteristic equation will
result in 7 rows.

[3 p] 16.The filth row of that Jury Table will be:

a) −0.986 0.528 0.713 − 0.528 b) 0.905 0.331 0.100 0.466
c) 0.812 − 0.2752 0.2288 d) 0.466 0.100 0.331 0.905

16.The Jury table for this characteristic equation is constructed as:

Row z0 z1 z2 z3 z4 z5
1 −0.1 0.3 0.4 0.1 −0.25 1
2 1 −0.25 0.1 0.4 0.3 −0.1
3 −0.99 0.22 −0.14 −0.41 −0.275
4 −0.275 −0.41 −0.14 0.22 −0.99
5 0.9045 0.3306 0.1001 0.4664
6 0.4664 0.1001 0.3306 0.9045
7 0.812 −0.2752 0.2288

Question 3
In a unity feedback discrete system, its open loop transfer function is given as:
k 0.084z 2 + 0.17z + 0.019


G(z) = 3
z − 1.5z 2 + 0.553z − 0.05

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MODEL ANSWER Exam Model: 4629

[3 p] 17.The system characteristic equation is:

a) G(z) = 0 b) G(z) H(z) = 0

c) 1 + G(z) = 0 d) z 3 − 1.5z 2 + 0.553z − 0.05 = 0

17.For this unity feedback system, its characteristic equation is:

k(0.084z 2 + 0.17z + 0.019)

P (z) = 1 + =0
(z 3 − 1.5z 2 + 0.553z − 0.05)
= z 3 + (0.084k − 1.5)z 2 + (0.17k + 0.553)z + (0.019k − 0.05) = 0

[3 p] 18.The bilinear transformation used to transform the interior of the z-plane unit circle into the left-
hand s-plane is:

1−w 1+w
a) b) c) z = esT d) z = e−sT
1+w 1−w

18.Transforming P (z) into w-domain:

 3  2  
w+1 w+1 w+1
Q(w) = + (0.084k − 1.5) + (0.17k + 0.553) + (0.019k − 0.05) = 0
w−1 w−1 w−1
= (0.003 + 0.27k)w3 + (1.1 − 0.11k)w2 + (3.8 − 0.27k)w + (3.1 + 0.07k) = 0

[3 p] 19.The third row of the Routh–Hurwitz array will be:

0.01 k 2 − 1.55 k + 4.17

a) b) 1.1 − 0.11 k 3.1 + 0.07 k
1.1 − 0.11 k
c) 3.1 + 0.07 k d) 0.003 + 0.27 k 3.8 − 0.27 k

19.We can now construct the Routh–Hurwitz array as:

ω3 0.003 + 0.27 k 3.8 − 0.27 k

ω2 1.1 − 0.11 k 3.1 + 0.07 k
0.01 k 2 − 1.55 k + 4.17
ω1
1.1 − 0.11 k
ω0 3.1 + 0.07 k

[3 p] 20.Based on Routh–Hurwitz Criterion, this system is stable for k selected as:

a) k > −44.3 b) k > −0.011 c) −0.011 < k < 2.74 d) −44.3 < k < 10

20.The system will be stable if all the elements in the first column have same sign. Thus the conditions

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MODEL ANSWER Exam Model: 4629

for stability, in terms of k, are:

0.003 + 0.27k > 0 ⇒ k > −0.011

1.1 − 0.11k > 0 ⇒ k < 10
2
0.01k − 1.55k + 4.17 > 0 ⇒ k < 2.74 & k > 140.98
3.1 + 0.07k > 0 ⇒ k > −44.3

Combining above four constraints, the stable range of k can be found as:

−0.011 < k < 2.74

Supplementary Material
Note: you may need some or none of these identities:
Zf f ðk 1 nÞg 5 zn FðzÞ 2 zn f ð0Þ 2 zn21 f ð1Þ . . . 2 zf ðn 2 1Þ

f ðNÞ 5 L im f ðkÞ5 L imð12z21 ÞFðzÞ5 L imðz21ÞFðzÞ

f1 ðiÞf2 ðk 2 iÞ 5 F1 ðzÞF2 ðzÞ

ejx = cos x + j sin x,

z-1
)

ejx + e−jx ejx − e−jx

Zfαf1 ðkÞ 1 βf2 ðkÞg 5 αF1 ðzÞ 1 βF2 ðzÞ

cos x = , sin x =
2 2j
p
j tan −1 (y/x)
Zf f ðk 1 1Þg 5 zFðzÞ 2 zf ð0Þ

x + j y = x2 + y 2 e
f ð0Þ 5 L imf ðkÞ 5 L im FðzÞ
Zfkm f ðkÞg 5 2z dzd FðzÞ
X

i50

z-1
k

ωn2
z-N
Zf f ðk 2 nÞg 5 z2n FðzÞ

m

p
G(s) = 2 , ω = ω 1 − ξ2
Zfa2k f ðkÞg 5 FðazÞ
Zf f1 ðkÞ f2 ðkÞg 5 Z

d n
s + 2ξωn s + ωn2


k-N

π−β ωd π
k-0

Tr = , β = tan−1 , Tp = ,
Formula

ωd ξωn ωd
3 4 √
2
Ts = = , Mp = e−ξπ/ 1−ξ
ξωn 5% ξωn 2%
Initial Value Theorem
Final Value Theorem

   
T Td Td
k 0 = Kp 1 + + , k1 = −Kp 1 + 2 ,
Multiplication by

Ti T T
Time Advance

Discrete-Time

Differentiation
Convolution

Exponential
Time Delay

 
Td
Property

Complex
Linearity

k 2 = Kp
T
n o Zh
Ah
Φ=e =L −1
(sI − A) −1
,Γ = eAt Bdt
No.

7
1

8
3

t=0

CSE421: Digital Control Midterm Exam–2017/2018 page 9 of 5

CSE421: Digital Control

MODEL ANSWER
/ / : ‫اﻟﺘﺎرﻳﺦ‬ : ‫اﺳﻢ اﻟﻄﺎﻟﺐ‬
Continuous Laplace
No. Time Transform Discrete Time z-Transform
0 1 2 3 4 5 6 7 8 9

‫رﻗﻢ اﻟﺠﻠﻮس‬
‫آﺣﺎد‬ 1 δ(t) 1 δ(k) 1
‫ﻋﺸﺮات‬ z
2 1(t) 1 1(k)
‫ﻣﺌﺎت‬ z21
s
‫آﻻف‬
3 t 1 kT zT
sampling t gives
0 1 2 3 4 5 6 7 8 9 s2 ðz21Þ2

‫ﻧﻤﻮذج اﻻﺧﺘﺒﺎر‬
kT, z{kT} = T z{k}
‫آﺣﺎد‬
4 t2 2! (kT)2 zðz 1 1ÞT 2
‫ﻋﺸﺮات‬
s3 ðz21Þ3
‫ﻣﺌﺎت‬
‫آﻻف‬ 5 t3 3! (kT)3 zðz2 1 4z 1 1ÞT 3
s4 ðz21Þ4
a b c d ‫ﺧﺘﻢ اﻟﻜﻨﺘﺮول‬
1 6 e2αt 1 ak z
by setting a 5 e2αT.
2 s1α z2a
Midterm Exam–2017/2018

3 α
7 1 2 e2αt 1 2 ak ð1 2 aÞz
4 sðs 1 αÞ ðz 2 1Þðz 2 aÞ
5
6 8 e2αt 2 e2βt β 2α ak 2 bk ða 2 bÞz
7 ðs 1 αÞðs 1 βÞ ðz 2 aÞðz 2 bÞ
8
9 te2αt 1 kTak az T
9
ðs1αÞ2 ðz2aÞ2
10
11 10 sin(ωnt) ωn sin(ωnkT) sinðωn TÞz
12 s2 1 ω2n z2 2 2cosðωn TÞz 1 1
13
11 cos(ωnt) s cos(ωnkT) z½z 2 cosðωn Tފ
14
s2 1 ω2n z2 2 2cosðωn TÞz 1 1
15
16 12 e2ζωn t sinðωd tÞ ωd e2ζωn kT sinðωd kTÞ e2ζωn T sinðωd TÞz
17 ðs1ζωn Þ2 1 ω 2d z2 2 2e2ζωn T cosðω 22ζωn T
d TÞz 1 e
18

Exam Model: 4629

19 13 e2ζωn t cosðωd tÞ s 1 ζωn e2ζωn kT cosðωd kTÞ z½z 2 e2ζωn T cosðωd Tފ
20 ðs1ζωn Þ2 1 ω2d z2 2 2e2ζωn T cosðω d TÞz 1 e
22ζωn T

21
14 sinh(βt) β sinh(βkT) sinhðβTÞz
22
s2 2 β 2 z2 2 2coshðβTÞz 1 1
23
page 10 of 5

24 15 cosh(βt) s cosh(βkT) z½z 2 coshðβTފ

25 s2 2 β 2 z2 2 2coshðβTÞz 1 1