Dig Sheet 6

Assiut University 4th year , Computer & System Sec.
Elect. Eng. Dept. 2nd Semester , 2019/2020.

Faculty of Eng. Course : Digital Control " EC 426 "
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Sheet # 6 . The mapping of S-Plane to Z-Plane and stability Analysis Of Discrete-
Time Systems
( 1-6 ) Consider the regions in the S-plane shown in the following figures.
Draw the corresponding regions in the Z-plane. The sampling
period T is assumed to be 0.3 sec. (The sampling frequency
 s =2  /T= 20.9 rad/s.) .
jw
S-plane jw
S-plane
j7 (rad/sec) 30 o
j7
0  (rad/sec)
- j7
0
- j7 
30o
 = - 4.5  = -1  = - 4.5
Figure(A)
Figure(B
))
a . Region in the S-plane bounded by constant w lines and constant
 lines. Find the corresponding time domain specifications for the region
in Figure ( A ) .
b . Region in the S-plane bounded by constant w lines, constant 
lines and constant  lines. Find the corresponding time domain
specifications for the region in Figure ( B ) .
c . Draw the regions in the S-plane , and Z-plane corresponding to
the following time domain specifications ( Assume that T  0.3 sec.) :
i . M p 2  0.043  M p  M p1  0.163 . ii .  n 2  5.0 rad / sec.   n   n1   s / 2 .
iii .  2  0. 5     1  0.8 , and t s 2  1.0  t s  t s1  4.0 sec.
iv. M p 2  0.06  M p  M p1  0.12 , and  n 2  4.0   n   n1  8.0 rad / sec.
v .  2  0. 5     1  1. 0 , t s 2  0.5  t s  t s1  5.0 sec. and t p  t p1  0. 5 sec .
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( 2-6 ) Consider the following characteristic equation:
P ( z )  z 3  2.1z 2  1.44z  0.32  0 .
Determine whether or not any of the roots of the characteristic
equation lie outside the unit circle using : i . Jury’s stability test.
ii .The bilinear-transformation and Routh’s stability criterion.
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( 3-6 )Determine the stability of a digital control system having transfer
Y (z) z 3
function  , using :
R( z ) 1  0.5 z  1  1.34 z  2  0.24 z  3
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i. Jury’s stability test.
ii. The bilinear-transformation and Routh’s stability criterion.
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( 4-6 )Determine whether or not any of the roots of the following chracteristic
equation lies outside the unit circle in the Z-plane using :
P(z)= Z3 –1.3z2 –0.08z + 0.24=0.
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( 5-6 ) Consider the computer-controlled closed-loop system shown .

Determine :
a . The region of stability in the K vs. T space using Jury's test .
b . The critical values of K  K c when T= 0.2 s.
c . The frequency of sustained oscillations and the number of
samples /cycle for the case in part ( b ).
R(s) + K ZOH 1 y(s)
Gp(s)=
R(z)
- T s( s  1) Y(z)
-
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( 6-6 ) Consider the system described by:
y(k) – 0.6 y(k-1) – 0.81y(k-2) + 0.67y(k-3) – 0.12y(k-4)= x(k).
where x(k) is the input and y(k) is the output. Determine the stability of
the system using :

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( 7-6 )Consider the shown digital speed control system . The parameters of the
system are measured in your control Lab. and found to be:
K t  tackgenerator cons tan t  0.0258 V / rad / s. , K m  40 rad / s. / V . ,
and  m  0. 5 s., where Gm ( s )  K m /(1   m s ).
R(s) E(s)
-|- A/D GD(z) D/A Gm(s) Y(s)
Kt
_
Y(z)
Controller Motor Tachogenerator
T
1
a . If G D ( z )  I  controller , K /(1  z ) , where K and the sampling period T
are variable parameters , determine :
i . The region of stability in the K vs. T space using Jury's test .
ii . The critical values of K  K c when T=0.05 , 0.1 , 0.2 and 0.25 s.
iii . The frequency of sustained oscillations and the number of
samples /cycle for each case in part ( ii ).
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b . If G D ( z )  K /(1  z 1 ) , plot the root-locus of the characteristic equation of
the system when 0  K   , T=0.05 , 0.1 , 0.2 and 0.25 s. Indicate the
important informations on the root-locus , and determine K to achieve
  0. 5 for each case.
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( 8-6) Consider the shown digital position control system . The parameters of
the system are measured in your control Lab. and found to be:
K P  potentiometer cons tan t  3.34 V / rad . , K m  40 rad / s. / V . ,
 m  0.5 s., and N=1/32=gear reduction ratio, where Gm ( s )  K m /(1   m s ).
R(s) E(s)
-|- A/D GD(z) D/A Gm(s) N/s Kp Y(s)
_
Controller Motor Gear Potentiometer Y(z)
Box . T
a . If G D ( z )  K ,where K and the sampling period T are variable parameters ,

Determine :
b . If G D ( z )  K , plot the root-locus of the characteristic equation of the
system when 0  K   , T=0.05 , 0.1 , 0.2 and 0.25 s. Indicate the important
informations on the root-locus , and determine K to achieve   0. 5 for
each case.
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( 9-6 ) Consider the shown space vehicle system .
R(s) -|- E(s) K K -|-

1/(sJV ) 1/s Y(s)
P ZOH
_ _ T s
Vehicle
Gain & Y(z)
Potentiometer Gyro KR
T
a . If J v  0. 5 and K P  K R  1 ,and K and the sampling period T are variable

parameters , Determine :
b . If J v  0. 5 and K P  K R  1 , plot the root-locus of the characteristic
equation of the system when 0  K   , T=0.05 , 0.1 , 0.2 and 0.25 s.
3/4
Indicate the important informations on the root-locus , and determine K to
achieve   0. 5 for each case.
c . If J v  0. 5 and K P  K  1 ,and K R and the sampling period T are variable
parameters , determine
i . The region of stability in the KR vs. T space using Jury's test .
ii . The critical values of K R  K RC when T=0.05 , 0.1 , 0.2 and 0.25 s.
d. If J v  0. 5 and K P  K  1 , plot the root-locus of the characteristic equation
of the system when 0  K R   , T=0.05 , 0.1 , 0.2 and 0.25 s. Indicate the
important informations on the root-locus , and determine K to achieve
  0. 5 for each case.
______________________________________________________________________
( 10-6 ) Consider the shown space vehicle system .
Vehicle
R(s)
-|- -|- Y(s)
A/D GD(z) D/A KP 1/(sJV ) 1/s
_ _
Gyro s Y(z)
Controller Potentiometer
KR T
a . If G D ( z )  K , J v  0. 5 and K P  K R  1 ,and K and the sampling period T

are variable parameters , determine :
b . If G D ( z )  K , J v  0. 5 and K P  K R  1 , plot the root-locus of the

characteristic equation of the system when 0  K   , T=0.05 , 0.1 , 0.2 and
0.25 s. Indicate the important informations on the root-locus , and
determine K to achieve   0. 5 for each case.
_____________________________________________________________________
4/4

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Assiut University 4th year , Computer & System Sec.

Elect. Eng. Dept. 2nd Semester , 2019/2020.

( 5-6 ) Consider the computer-controlled closed-loop system shown .

i. Jury’s stability test.

a . If G D ( z )  K ,where K and the sampling period T are variable parameters ,

R(s) -|- E(s) K K -|-

a . If J v  0. 5 and K P  K R  1 ,and K and the sampling period T are variable

a . If G D ( z )  K , J v  0. 5 and K P  K R  1 ,and K and the sampling period T

b . If G D ( z )  K , J v  0. 5 and K P  K R  1 , plot the root-locus of the

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