Code No: RR322204 Set No.

1
III B.Tech Supplimentary Examinations, Aug/Sep 2008
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(Instrumentation & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Given the transfer function

4(z−1)(z 2 +1.2z+1)
G(z) = (z+0.1)(z 2 −0.3z+0.8) , Obtain

(a) a series realization diagram and [8]

(b) a parallel realization diagram, using pure delay elements z −1 . [8]

2. Consider the discrete control system represented by the following transfer function
G(z) = 1−z1+0.8z
−1
−1 +0.5z −2

Obtain the state representation of the system in the observable canonical form.
Also find its state transition matrix. [16]

3. Investigate the controllability and observability of the following system

       
x1 (k + 1) 1 −2 x1 (k) 1 −1
= + u(k)
x2 (k + 1) 1 −1 x2 (k) 0 0
     
y1 (k) 1 0 x1 (k)
=
y2 (k) 0 1 x2 (k)
[16]

4. Show that the transfer function U(s) / E(s) of the PID controller shown below.
  
U (s) T1 + T2 1 T1 T2 · s
= Ko 1+ +
E(s) T1 (T1 + T2 ) T1 + T2

Assume the gain k is very large compared with unity, or k >>1as shown in the
figure 4 [16]

Figure 4

5. Control a system, defined by

.

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Code No: RR322204 Set No. 1
X = AX + Bu Y = CX
where,
   
0 1 0  
A = B = C = 1 0
−2 −3 2

It is desired to have eigenvalues at -3.0 and -5.0 by using a state feedback control
u = - KX. Determine the necessary feedback gain matrix k and the control signal
u. [16]

6. (a) State and explain the minimum - time problems. Describe its performance
index. [6]
(b) Let f (X) = -x1 x2 and let g(X) =x21 + x22 − 1. What are the potential candi-
dates
 forminima
 of f subject
 to the constraint g=0?. Show that the points
1 1 1 1
√ , √
2 2
and − √2 , - √2 actually provide the minima. [10]

7. (a) Explain the concepts of variational calculus.

(b) Explain the formulation of Variational Calculus using Himiltonian method.
[8+8]

8. (a) Explain the minimal D.O. realization algorithm

(b) The state space triple for a multivariable control system is given by
   
0 0 −1 0 0 0 1 0
 1 0 2 0 0 0   0 1 
   
 0 1 0 0 3 0   0 1 
A=  0 0 −2 0 −4 0  ; B =  1 1  ;
  
   
 0 0 0 1 −1 0   0 1 
0 0 1 0 −1 −1 0 1
 
0 0 1 0 0 0
C=
0 0 2 0 1 0

Find the corresponding transfer matrix without calculating inverse of any

matrix of order more than 2. [8+8]

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Code No: RR322204 Set No. 2
III B.Tech Supplimentary Examinations, Aug/Sep 2008
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(Instrumentation & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) Obtain the Z-transform of

i. f1 (t) = a1 (1 − e−at ) where ‘a’ is a constant [4]


ii. f2 (t) = 9k 2k−1 − 2k + 3 k≥0 [4]
(b) Show that
(h!)z
 
z k (k − 1) ..... (k − h + 1) ak−h = (z−a)h+1
. [8]

2. (a) Obtain a state space presentation of the following system:

Y (z) z −1 +2z −2
U (z)
= 1+0.7z −1 +0.12z −2 [9]
Choose state variation state matrix as a diagonal matrix.
(b) State and prove the properties of the state transition matrix of discrete time
system [7]

3. Investigate the stability of the following system and calculate the range of K, over
which the system is stable. Select the sampling period T = 0.4 sec(figure3) [16]

Figure 3
4. What is a dead beat response? Explain the characteristic of the poles of the transfer
function of a system that has a dead beat response. [16]

5. A discrete time
 regulator system has  the plant equation
2 −1 4
X(k + 1) = X(k) + u(k)
  1
−1 3
y(k) = 1 1 X(k) + 7u(k)
Design a state feedback control algorithm with u(k) = -KX(k) which places the
closed loop characteristic roots at ±j0.5. [16]

6. (a) What are the major theoretical approaches for design of optimal control. Ex-
plain one of the approaches in detail.
(b) Find the qextremalfor the functional
Rt1 •
1+x2
j(x) = x
dt x(0) + 0; x(t1 ) = t1 − 5 [8+8]
0

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Code No: RR322204 Set No. 2
7. (a) State and explain the Pontryagin’s minimum principle.
(b) Find the points in the three-dimensional euclidean space that minimizes the
function
f (x1 , x2 , x3 ) = x21 + x22 + x23
and lie on the intersection of the surfaces
x3 = x1 x2 + 5
x1 + x2 + x3 = 1 [8+8]

8. (a) Derive the transfer matrix relation from state space representation.
[6]
(b) The state space triple (A, B, C) of a system is given by
   
0 1 0 0 0  
1 1 0
A= 2  3 0 ; B =  1 0 ; C =
0 0 1
1 1 1 0 1

Calculate the input and output decoupling zeros, if any. Is the matrix A
cyclic? Find out the transfer matrix T(s). [10]

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Code No: RR322204 Set No. 3
III B.Tech Supplimentary Examinations, Aug/Sep 2008
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(Instrumentation & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. For the digital control system shown below determine C(z) and C(s). (figure 1) [16]

Figure 1
2. Obtain the Jordan canonical form realization for the following transfer function

3z 2 − 4z + 6
G(z) =
3
z − 31
[16]

3. Explain Liapunov stability criterion for the linear time variant systems.
[16]

4. Write notes on the following:

(a) Digital controller design using Bilinear transformation. [6]

(b) Difference equation solution using Z-transform method. [5]
(c) Dead beat response. [5]

5. Write notes on the following

(a) Pole placement design of multi input- multi output system by state feedback
(b) Pole placement design by incomplete feedback [8+8]

6. Consider the system

ẋ1 = x2 + u1
ẋ2 = u2
Find the optimal control u*(t) for the functional
R4
J = 21 (u21 + u22 )dt .
0
Given x1 (0)=x2 (0) = 1; and x1 (4)=0. [16]

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Code No: RR322204 Set No. 3
7. (a) With suitable diagrams illustrate the one point is fixed end, terminal time
t1 free and x(t1 ) is specified problem and derive the necessary conditions of
variational calculus.
(b) For the system
d2 y
dt2
=u
with |u| ≤ 1, find the control which drives the system from an arbitrary initial
state to the origin in a condition satisfying |y| ≤ 0.5 in the minimum time.
[8+8]

8. (a) With step-by-step procedure explain the observable realization algorithm.

(b) The transfer matrix of a system is
  −1
s+1 0 s2 0
T (s) = R(s)P −1
(s) =
1 1 −1 s − 1

Obtain controllable realization in the state space form. Is the realization

expected to be minimal? [8+8]

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Code No: RR322204 Set No. 4
III B.Tech Supplimentary Examinations, Aug/Sep 2008
DIGITAL AND OPTIMAL CONTROL SYSTEMS
(Instrumentation & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. A slowly changing continuous-time signal f(t) is sampled every T seconds.

(a) Assuming that the changes in f(t) are very slow compared to the sampling
frequency, show that in the z-domain,
1−z −1
T
corresponds to differentiation. Obtain a block diagram of this differentiator
using a pure delay element z −1 . [8]
(b) What is an equivalent integrator in the z-domain? Draw a graph of the output
in each case when the input is a unit step sequence. [8]
2. For the following discrete control system represented by
z −1 (1+z −1 )
G(z) = (1+0.5z−1 )(1−0.5z−1 )
Obtain the state representation of the system in the controllable canonical form.
Also find its state transition matrix. [16]
3. Define controllability and observability of discrete time systems. For the following
system,

Y (z) z −1 (1 + 0.8z −1 )
=
U (z) 1 + 1.3z −1 + 0.4z −2

Determine whether the system is observable and controllable.

[16]
4. What is a dead beat response? Explain the characteristic of the poles of the transfer
function of a system that has a dead beat response. [16]
5. (a) Draw the schematic diagram of a state feedback control system and explain
how stability can be improved by state feedback.
(b) State and explain the necessary and sufficient conditions for arbitrary pole
placement. [8+8]
6. (a) State and explain the minimum - time problems. Describe its performance
index. [6]
(b) Let f (X) = -x1 x2 and let g(X) =x21 + x22 − 1. What are the potential candi-
dates forminima
  of f subject
 to the constraint g=0?. Show that the points
1 1 1 1
√ , √
2 2
and − √2 , - √2 actually provide the minima. [10]

7. (a) State and explain the constrained optimization problem.

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Code No: RR322204 Set No. 4
(b) Consider the system
ẋ1 (t) = x2 (t)
ẋ2 (t) = −x2 (t) + u(t)
Find the optimal control u*(t) which has to minimize
Rt1
J = 12 (x21 + u2 )dt
t0
and the control inequality constrains are given by
|u(t)| ≤ 1 for t ∈ [t0 , t1 ]
[8+8]

8. (a) Derive the transfer matrix relation from state space representation.
[6]
(b) The state space triple (A, B, C) of a system is given by
   
0 1 0 0 0  
1 1 0
A= 2  3 0 ; B= 1 0 ; C=
  
0 0 1
1 1 1 0 1

Calculate the input and output decoupling zeros, if any. Is the matrix A
cyclic? Find out the transfer matrix T(s). [10]

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