Department of Electrical and Electronic Engineering Science

Course: B.lng: Electrical and Electronic Engineering

Module: Control Systems 4A (BHSEEA4, BHS4A)

Assessment: Test 3

Test Content: Outcome B

ECSA Outcomes Assessed: NA

Examiner: Prof. Y Sun Moderator: Dr. Dzobo

Date: 2 May, 2023

Number of Pages: 4

Duration: 90 minutes

Marks: 40

Additional Instructions:

• No textbooks or notes may be used.

• Calculators may be used.

• Please label your answers clearly.

• Use correct SI units where appropriate.

• Write your student number below and hand you your question paper with
your answer sheet.

Student Number: ________________________________________

Name (optional): ________________________________________

1|Page
ANSWER ALL QUESTIONS

QUESTION 1 [12]
Convert the following s-domain compensator to the z-domain compensator using the Tustin method
and a sampling frequency of 1Hz.

1
𝐷(𝑠) =
(𝑠 − 2)(𝑠 + 4)

1) Multiply out your final transfer function and ensure that the highest power of z in the denominator
has a coefficient of 1.

2) Calculate the 𝑢(𝑘) from 𝐷(𝑧).

Answer:
2(z−1)
Substitute 𝑠 = 𝑇(𝑧+1) where T=1/1=1✓✓

1 1 1
(𝑧+1)2 (𝑧+1)2 (𝑧 2 +2𝑧+1) ∗𝑧 2 + ∗𝑧+
𝐷(𝑧) = (2(𝑧−1)−2𝑧−2)(2(𝑧−1)+4(𝑧+1))
= (−4)(6𝑧+2)
=
−24𝑧−8
= 24 12
1 ✓✓✓✓
24
−𝑧−
3

1 1 1 1
𝑈(𝑧) ∗𝑧 2 + ∗𝑧+ (1+2∗𝑧 −1 +𝑧 −2
𝐷(𝑧) =
𝐸(𝑧)
= 24 12
1
24
= 24
1−3𝑧 −1
✓✓
−𝑧−
3

1 1 1 1
𝑢(𝑘) = − 𝑢(𝑘 − 1) − ∗ 𝑒(𝑘 + 1) − ∗ 𝑒(𝑘) − ∗ 𝑒(𝑘 − 1) ✓✓✓✓
3 24 12 24

Question 2: [20]
Consider a system with the following transfer function
3
𝐺(𝑠) = 𝑠2 −3.

1) Find ( 𝐹, 𝐺, 𝐻) for this system in the observer canonical form.

2) Compute 𝐾 so that the closed-loop poles assigned to 𝑠 = −1 ± 𝑗.

3) Is the closed-loop system of part 2) observable?

Answer:
𝑏1𝑠+𝑏2
1) For a transfer function, 𝐺(𝑠) =
𝑠2 +𝑎1𝑠+𝑎2

The observer canonical form becomes:

2|Page
𝐹 = [−𝑎1 1
−𝑎2 0
] = [03 01], 𝐺 = [𝑏1
𝑏2
] = [03], 𝐻 = [1 0], ✓✓✓✓✓✓

2) det(𝑠𝐼 − (𝐹 − 𝐺𝐾)) = 0, then 𝑠 2 + 3𝑘2𝑠 − 3 + 3𝑘1 = 0✓✓✓✓

(𝑠 − (−1 + 𝑗))(𝑠 − (−1 − 𝑗)) = 0 then 𝑠 2 + 2𝑠 + 2 = 0✓✓✓✓

From the previous two equations, k1=5/3, K2=2/3. ✓✓

3) The system is in observer canonical form, hence, it is guaranteed to be observable✓✓, to check

𝐻
∝= [𝐻𝐹 ] = [10 01] 𝑠𝑜 det ∝= 1 ≠ 0, so it is observable. ✓✓

Question 3: [8]
Consider the following digital control system with a sampling time of F=1Hz

For what values of K is the system above stable?

Answer:

The closed loop transfer function:

1
𝑌(𝑧) = 𝑧−1 ∗ (𝑅(𝑧) + 𝑘𝑌(𝑧)) ✓✓

1 𝑅(𝑧)
(1 − 𝑧−1) 𝑌(𝑧) = 𝑧−1
✓✓

𝑌(𝑧) 1 𝑧−1 1
𝑅(𝑧)
= 𝑧−1 ∗ 𝑧−1−𝑘 = 𝑧−(𝑘+1)✓✓

System has pole at z=k+1

For stability, use require |𝑧| ≤ 1, −1 ≤ 𝑘 + 1 ≤ 1, so , −2 ≤ 𝑘 ≤ 0✓✓

3|Page