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5(z 2)
(z 0.1)(z 0.8)
using: (a) the modified Routh-Hurwitz test and (b) the Jury test.
7. Determine the range of values for K under which the discrete-time system of the figure
(T = 1s) is stable using: (a) the modified Routh-Hurwitz test and (b) the Jury test.
X(s)
E(s)
E (s)
K
Gzoh (s)
1
s(s+1)
Y (s)
Alberto Ortiz
8. Check, using the Jury test, the stability of a system whose dynamics is given by the
following difference equation:
y(k + 2) + 0.8y(k + 1) + 0.07y(k) = 2x(k + 1) + 0.2x(k)
9. Determine the overshoot and the settling time for the following discrete-time closed-loop
system with T = 0.1s:
X(s)
E(s)
E (s)
1
s(s+3)
Gzoh (s)
Y (s)
10. Determine the overshoot and the settling time for the following discrete-time closed-loop
system with T = 0.1s:
X(s)
E(s)
E (s)
C(z) =
4
z0.1
1
s(s+3)
Gzoh (s)
Y (s)
11. Determine the poles of a second-order discrete-time system with T = 0.2s so that Mp =
5% and tp = 2s.
12. Determine the static error expressions and constants for the closed-loop configurations
shown in the figure:
(a)
E(s)
X(s)
Y (s)
G1 (s)
G2 (s)
H(s)
(b)
E(s)
X(s)
Y (s)
Y (s)
G1 (s)
G2 (s)
H(s)
13. Determine the static errors for the configurations of exercise 12 for a sampling period of
T = 1s and the following transfer functions:
G1 (s) =
s1
,
s+5
G2 (s) =
3
,
s+7
H(s) =
1
s+1
14. Find the steady-state error for a sampled unit step and a sampled unit ramp, assuming
T = 0.02s.
X(z)
E(z)
0.35z
z1
Gzoh (s)
s+8
s+5
Y (z)
Alberto Ortiz
15. Find the steady-state error for the system shown in the figure:
D(s)
Gd (s)
E(s)
X(s)
E (s)
C (s)
U (s)
Gzoh (s)
Y (s)
G(s)
where the sampling period is 0.03s, the transfer functions involved are:
Gd (s) =
2
,
s+1
G(s) =
4(s + 2)
esT 0.95
and C (s) =
,
s(s + 3)
esT 1
and the inputs are X(s) = 0 and D(s) = 1/s (unit-step disturbance).
16. Reduce the following discrete-time transfer function up to third order:
G(z) = 0.5
17. Construct the root locus for the following characteristic equations:
(a) z 2 + (0.15K 1.5)z + 1 = 0
(b) z 2 + (0.4 + 0.14K)z + (0.5 + 0.5K) = 0
18. Determine the root locus for the discrete-time system of the figure for: (a) T = 0.1s, (b)
T = 2s and (c) removing the sampler and the ZOH, and replacing the digital controller
by a continuous-time controller C(s) = K/s. Find the system poles for a gain K = 2 in
all three cases.
X(s)
E(s)
E (s)
C(z) =
KT z
z1
Gzoh (s)
G(s) =
1
s+1
Y (s)
19. Determine the resonant peak, the resonant frequency and the bandwidth for the following
closed-loop discrete-time system with T = 1s:
X(z)
E(z)
G0 (z) =
0.2(z+0.8)
z 2 0.8z+0.2
Y (z)
20. Determine the gain and phase margins for the following closed-loop discrete-time system:
X(w)
G0 (w) =
150
(w+2)(w+10)
H(w) =
7
w+7
Y (w)
Alberto Ortiz
21. Determine the gain and phase margins for the following closed-loop discrete-time system
with T = 0.1s:
X(z)
E(z)
G0 (z) =
0.0952z
(z1)(z0.905)
Y (z)
22. Determine the gain margin, the phase margin and the bandwidth for the following closedloop discrete-time system with T = 0.2s:
X(s)
E(s)
E (s)
Gzoh (s)
G(s) =
7
s+5
Y (s)