NAME SURNAME: 10.06.

2021

STUDENT NUMBER: Duration: 5 hours

T.C.
ZONGULDAK BULENT ECEVIT UNIVERSITY
DEPARTMENT OF ELECTRICAL-ELECTRONIC ENGINEERING
EEM 454
DISCRETE CONTROL SYSTEMS
FINAL EXAM HOMEWORK

QUESTION 1.
a) Obtain the state space representation of the following pulse-transfer function in the controllable
canonical form

𝑌(𝑧) 𝑧 −1 + 2𝑧 −2
=
𝑈(𝑧) 1 + 4𝑧 −1 + 3𝑧 −2

b) Obtain the state space representation of the following pulse-transfer function in the observable
canonical form

𝑌(𝑧) 𝑧 −2 + 4𝑧 −3
=
𝑈(𝑧) 1 + 6𝑧 −1 + 11𝑧 −2 + 6𝑧 −3

QUESTION 2. The closed loop block diagram of the unmanned surface vehicle system (mathematical
model) is given in figure 1. The forward speed of the surface vehicle is controlled by a discrete-time PID
controller. The forward speed of the vehicle is controlled by generating the reference force information
for the right and left thrusters of the unmanned underwater vehicle with the controller.

a) While the PID controller is discrete time, surface vehicle model is continuous time. In order to
overcome the discrete-continuous time difference in the closed-loop block diagram, explain with
the reasons why you will apply an operation by referring to the question-marked block in the
given closed-loop block diagram below.

Figure 1. The closed loop controller block diagram of unmanned sea-surface vehicle
 b) In the closed loop controller block diagram given in figüre 1, the forward speed value of the
vehicle w.r.t time is given in Figure 2.a and Figure 2.b for different controller gains. Explain what
can be said for the change of system behavior (transient + steady state) by showing it in the
figüre (from figüre 2.a to 2.b). In order to achieve this change in the system behavior, explain
what can be said about the values of the controller gains, together with the reasons.

Şekil 2.a Amplitude-time graph of the Şekil 2.b Amplitude-time graph of the
forward speed of the vehicle: The response forward speed of the vehicle: The response
in the coefficients Kp1,Kd1,Ki1 in the coefficients Kp2,Kd2, Ki2

QUESTION 3. Consider the Transfer function of the system in the closed-loop block diagram given in
1
Figure 1 as . The closed-loop poles have a damping ratio of 0.5, a natural frequency of 4 rad/s, and a
𝑠2
sampling period of 0.2 seconds. For the system with these behaviors, design the 'PD' Digital Controller
with the Root Locus method. Clearly show each step and all necessary formulas. (Before the controller
design, Think and help : what kind of operation you applied in the question mark block given in figure 1
and how you made your selection)

Başarılar ☺

Dr. Öğr. Üyesi Seda Karadeniz Kartal