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    2022EPMN308Final (7806)

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    2022EPMN308Final (7806)

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    2022EPMN308Final[7806]

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    7 views2 pages

    2022EPMN308Final (7806)

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    of 2

    Cairo University Digital Control Systems (EPMN 308)

    Faculty of Engineering Final Exam


    EEE Program Spring 2022

    Answer ALL Questions (Full Mark 40 points)____ Time Allowed : 2 Hours


    Question 1 (10 points)

    Consider the block diagram in Fig. 1. Assume the sampling interval to be 0.2 secs.
    𝒀
    a- Let 𝒌 = 𝟏. Find 𝑹. (5 points)
    𝒀
    b- If 𝒌 = 𝟏, calculate the closed loop poles of 𝑹. (1 point)
    𝒀
    c- Let 𝒌 ≥ 𝟎, use the z-plane root locus to find the range of 𝒌 that ensures stability of 𝑹. (4 points)

    𝟏 𝒛 𝟏 𝒛 𝟏 𝒛
    (Hint: 𝓩 {𝒔 } = 𝒛−𝟏, 𝓩 {𝒔𝟐 } = 𝑻 (𝒛−𝟏)𝟐 and 𝓩 {𝒔+𝒂} = 𝒛−𝒆−𝒂𝑻 )

    + e(t) e*(t) u(t) 𝑘 y(t)


    r(t) 1 − 𝑒 −𝑇𝑠
    𝑠 𝑠(𝑠 + 3)
    - T

    Fig. 1

    Question 2 (10 points)

    i. Explain how to perform an experiment to calculate the PID parameters using the ultimate
    sensitivity method. Then, justify why the experiment could be destructive. (2 points)
    (𝑧+0.9)
    ii. A system has the transfer function 𝐺(𝑧) = 0.05 (𝑧−1)(𝑧−0.9). The sampling interval is 1 sec. The

    system will operate in a negative unity feedback configuration with a cascaded controller 𝐶(𝑧).
    a. Use the root locus to find 𝐶(𝑧) such that the closed loop system has a damping ration 0.5
    and a settling time of 10 seconds. (5 points)
    b. Calculate the steady state error of the closed loop system if the input is a unit step. (1 point)
    c. Show how to compute (at each sample) the control signal corresponding to 𝐶(𝑧) using a
    microcontroller. (2 points)

    Page 1/2
    Question 3 (8 points)

    Consider the following system (Without Simplification),

    i- Choose appropriate states to describe the system. Obtain the state space representation. (1 points)
    ii- Using the transformation matrix, Transform the obtained state space into controllable canonical
    form. (4 points)
    iii-Get the discrete transfer function of the system. Obtain the system poles. (2 points)
    iv- What is the steady state value of the output considering pulse input and zero initial condition?
    (1 point)
    Question 4 (12 points)
    Consider the following system,
    0.8 0.5 0.4 0
    𝑥(𝑘 + 1) = [ 0 0.9 0 ] 𝑥(𝑘) + [1] 𝑢(𝑘) ، 𝑦(𝑘) = [1 0 2]𝑥(𝑘) + [0]𝑢(𝑘)
    0.1 0 0.8 0
    i- The control signal is given as 𝑢(0) = 𝑢(1) = 2 ، 𝑢(2) = 1 ، and the intial condition
    1
    𝑥(0) = [0] . Calculate the system states 𝑥(𝑘) for 𝑘 = 1 𝑡𝑜 3. (3 points)
    0
    ii- If it is required to achieve 𝑥(6) = 𝑥(0) , calculate the required control sequence 𝑢(𝑘). Comment
    on your result. (4 points)
    iii-Design a state feedback to achieve closed loop dominant pair of poles at 0.6 ± 𝐽0.2. (Place the
    undominant pole at the z-plane origin) (3 points)
    0.1
    iv- An observer is designed with a gain 𝐿 = [ 0 ] , calculate the observer poles location. Is the
    0.5
    observer stable? Is this design appropriate for the system? Why? (2 points)

    Page 2/2

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