1.
Max Marks: 80
2.
3.
4.
1
0
0
1
0 ;
Given the state equation X ( k + 1 ) = F X(k) + Gu(k) , where F = 0
0 0.5 1.5
0 1
G = 1 0 . Find the state transition matrix ( k ) using (a) Cayley-Hamilton
2 1
technique and (b) Similarity transformation.
[8+8]
5.
6.
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Set No. 1
7.
Derive the pulse transfer function of digital PID controller. Also the design procedure of
PID controller.
[16]
8.
1
2 3
Determine the state feedback matrix K such that the state feedback u(k) = - Kx(k),
places the closed loop poles at 0.3j0.3.
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Set No.2
Max Marks: 80
z2
( z 1 )( z 0.2 )
[8+8]
3. a) Solve the following difference equation using the z-transform method:
y(k+2) 1.5 y(k+1) + y(k)=2(k); where y(0)=0 and y(1)=1.
b) Explain the procedure for mapping of s-plane into a z-plane.
[8+8]
4. Obtain a state space representation of the system given in Figure 4. The sampling period T
is 1 second. Also obtain the state transition matrix.
[16]
Figure 4
0 1
1
b) Develop relationship between controllability, observability and transfer functions. [9+7]
6. Discuss how the stability analysis of discrete control system is done using (a) Routh
stability criteria (b) Bilinear transformation.
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[16]
Set No.2
Figure 7
8. a) Explain the procedure of designing a state feedback controller through pole placement.
b) Derive Ackermans formula.
[8+8]
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Set No. 3
Max Marks: 80
1 1
0 - 1
0 1
(i) State controllable and (ii) Observable.
b) Develop relationship between controllability,observability and transfer functions. [9+7]
6.a) Consider a closed loop discrete time system as shown in figure 6(a), where K is the gain
of the plant. It is desired to determine the range of K for which the system is stable. Use
Jurys stability test.
Figure 6(a)
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Set No. 3
b) Write a short note on stability analysis of a closed loop system in the z-plane.
[8+8]
1
2 3
Determine the state feedback matrix K such that the state feedback u(k) = - Kx(k),
places the closed loop poles at 0.5j0.5.
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Set No. 4
Max Marks: 80
1
( 1 e at )
a
(ii)
F ( t ) = t 2 e at
(where a is a constant)
b) Obtain the inverse z-transform of the following:
(i) X ( z ) =
z
[8+8]
z +1
3. a) Determine the pulse transfer function of two cascaded systems, each described by the
difference equation y( k ) = 0.5 y(k - 1) + r(k) .
(ii) X ( z ) =
b) Explain the procedure for obtaining the pulse transfer function of a closed loop transfer
function.
[8+8]
4. Find state model for the following difference equation. Also find its state transition matrix.
y(k+2) + 3y(k+1) + 2y(k) = 5u(k+1) + 3u(k).
[16]
5. Investigate the controllability and observability of the following systems.
1 1
0
a) x( k + 1 ) =
x( k ) + u( k ) and y( k ) = [1 1]x( k )
0 1
1
1 2
1 0
1 0
b) x( k + 1 ) =
x( k ) +
u( k ) and y( k ) =
[8+8]
x( k )
1 1
0 1
0 1
What can you say about controllability and observability of the state model in part (a)
without making any further calculations?
6. a) Explain the mapping between s-plane and z-plane with primary and secondary strips.
b) Using Jurys stability criterion, determine the stability of the following discrete time
system, z3 - 2.3 z2 + 1.7z - 0.4=0.
[8+8]
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7.
Set No. 4
8. a) With a neat schematic diagram, explain the design procedure of full order observer.
b) Derive Ackermans formula.
[8+8]
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