Dr Lee Peng Hin : Computer Control Systems AY2009/2010 1
EE6203 Computer Control Systems
Continuous Assessment Assignments
Dr. Lee Peng Hin
EEE - S1 - B1a - 09; Tel : 67904474; E-mail : ephlee@ntu.edu.sg
Due date for submission : 28 October 2009
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1. A system is defined by the following difference equation,
c(k + 4) + c(k + 2) − c(k + 1) + 0.7c(k) = 3.5u(k)
Define state variables,
x1(k) = c(k), x2(k) = c(k + 1), x3 (k) = c(k + 2), x4(k) = c(k + 3)
obtain a state-space representation for the system.
2. The state-space representation of a continuous-time linear system is given by
•
x(t) = Ax(t) + Bu(t)
y(t) = Cx(t)
with
−0.2 −0.0096 1
A= ; B= ; C= 1 0
1 0 0
Find the ZOH-equivalent if the sampling period T = 0.5 sec.
3. The block diagram of an open-loop discrete-time model system is as shown in figure 1.
(a) If the sampling period T = 1 second, find an expression for x(N) as a function of
x(0) and u(k) for k = 0, 1, 2, . . . , N − 1 if the system matrices of the state-space
representation for the continuous-time system are given by
0 1 0
A= ; B=
0 −2 1
(Hint: You need to find the ZOH equivalent first since the continuous-time system
is given.)
Dr Lee Peng Hin : Computer Control Systems AY2009/2010 2
(b) Find the transfer function X(z)/U(z) for part (a).
4. A discrete-time system is given by
1 2 3
x(k + 1) = x(k) + u(k)
1 2 4
y(k) = 5 6 x(k)
a) Determine a coordinate transformation, i.e. find Q in the following,
wQ (k) = Q−1 x(k)
that transforms the system into the controllable canonical form (CCF). Hence, using
Q, find the state-space representation which is in the CCF form.
b) Determine a coordinate transformation, i.e. find P in the following,
wp (k) = P−1 x(k)
that transforms the system into the observable canonical form (OCF). Hence, using P ,
find the state-space representation which is in the OCF form.
5. A continuous-time system is as shown in figure 2. Let M = 600, Ks = 10.
(a) Obtain a state-space representation for the continuous-time system with the state-
variables as indicated and y(t) = x1(t).
(b) The system is sampled with a zero-order hold and the sampling period is 1 sec.
Obtain a zero-order hold equivalent of the continuous-time state-space model.
(c) Find the gain matrix K such that the control law
u(k) = −Kx(k) + kr r(k)
yields desired closed-loop characteristic equation as
α(z) = z 2 + 0.06z + 0.01 = 0
Dr Lee Peng Hin : Computer Control Systems AY2009/2010 3
What are the desired equivalent s-plane poles and what is the damping ratio?
(d) Obtain the closed-loop transfer function Y (z)/R(z) and the final value of y(k) as
k → ∞, expressing your answer in terms of kr , for a unit-step input r(k).
6. The dynamic equations of a digital process are given as
1 4 0
x(k + 1) = x(k) + u(k)
0 2 1
y(k) = 1 2 x(k)
Assuming that the state variables are unaccessible, a full-order state observer
x̄(k + 1) = Ax̄(k) + Bu(k) + Lo (y(k) − Cx̄)
is to be designed.
(a) The state feedback control is u(k) = −Kx(k) where
K = k1 k2
Find the elements of the observer gain Lo in terms of k1 and k2 so that the dynamics
of the observer are the same as that of the closed-loop state feedback digital process,
i.e. same characteristics polynomial.
(b) Design Lo such as to give deadbeat response in the error vector. Verify that your
design is indeed deadbeat.
7. Consider the system
0 0 1
x(k + 1) = x(k) + u(k)
−0.5 1 0
and the performance index
∞
1 T T
J= x (k)Qx(k) + u (k)Ru(k)
2 k=0
where
1 0
Q= , R=1
0 0.55
By solving the discrete time algebraic Riccati equation by hand, determine the optimal
control law to minimise the performance index.
