1 . a) Find out the Z-transform of the sequence 𝑥(𝑛) = 𝑎𝑛+1 𝑢(𝑛 + 1).

Sol. 𝑥(𝑛) = 𝑎𝑛+1 𝑢(𝑛 + 1) = 𝑎𝑛+1 ; 𝑛 ≥ −1

𝑛=∞ 𝑛=∞
𝑍{𝑥(𝑛)} = ∑𝑛=−∞ x(n)𝑧 −𝑛 =∑𝑛=−1 𝑎𝑛+1 𝑧 −𝑛 4
𝑛=∞
= [𝑎𝑛+1 𝑧 −𝑛 ]𝑛=−1 + 𝑎 ∑𝑛=∞ 𝑛 −𝑛
𝑛=0 𝑎 𝑧 =𝑧 + 𝑎 ∑𝑛=0 (𝑎𝑧 −1 )𝑛
1 𝑍2
= 𝑧 + 𝑎 1−𝑎𝑍 −1 = 𝑍−𝑎 6

b) Determine inverse Z-transform of the function 𝑋(𝑧) = log(1 + 𝑎𝑧 −1 )

Sol. 𝑋(𝑧) = log(1 + 𝑎𝑧 −1 )
𝑥(𝑛) = 𝑍 −1 [𝑋(𝑧)]
𝑑
𝑍[𝑛𝑥(𝑛)] = −𝑧 𝑋(𝑧) 2
𝑑𝑧

1 2)
𝑎𝑧 −1
= −𝑧 (−𝑎𝑧 =
(1 + 𝑎𝑧 −1 ) 1 + 𝑎𝑧 −1
𝑧
𝑛𝑥(𝑛) = 𝑍 −1 {𝑎𝑧 −1 𝑧−(−𝑎)} 2

=𝑎(−𝑎)𝑛−1 𝑢(𝑛 − 1)
𝑎
𝑥(𝑛) = 𝑛 (−𝑎)𝑛−1 u(n-1) 6

2. (a) Check the stability of the discrete system of following characteristics equation using Jury’s test.
2𝑍 4 + 7𝑍 3 + 10𝑍 2 + 4𝑍 + 1 = 0

a) F1 ( z )  2 z 4  7 z 3  10 z 2  4 z 1
The necessary condition for stability
F1 (1)  2  7  10  4  1  24  0 satisfied
(1)4 F1 (1)  2  7  10  4  1  2  0 satisfied

Row zo z1 z2 z3 z4
1 1 4 10 7 2
2 2 7 10 4 1
3  3  10  10  1
4  1  10  10  3
5 8 20 20

The necessary condition for stability 4

1  2 satisfied
3  1 satisfied 6
8  20 not satisfied

Therefore, the system is unstable.

b) Determine unit step response of the following sampled data control system.

Sol.
Solution: Open loop transfer function:

 1  e  sT   1  1 
GH ( z )  z    
  s   s  1  s
 
 1  z 1  z  2
1

 s  s  1 
d 
 1  z 1  
z z
 sT
 2  sT 
 ds ( s  1)(z  e ) s 0 s (z  e ) s 1 
 (1)  z  e sT  T ( s  1)e sT  
 1  z  z 
1    1 
 ( s  1) ( z  e )
2 sT 2
z  e T 
 s 0 

 (z 1  T ) 1 
 ( z  1)    T 
 ( z  1) (z  e ) 
2

 ( z  2) 1 
 ( z  1)    for[T  1]
 ( z  1)
2
z  0.367 
 1 ( z  2)  2
 ( z  1)   2
 z  0.367 ( z  1) 
(0.367 z  0.226)
GH ( z ) 
( z  1)( z  0.367)
Forward path transfer function:
  1  e Ts  1 
G ( z )  z   
  s  s  1 
 1 
 (1  z 1 ) z  
 s ( s  1) 
 1 1 
 (1  z 1 ) z   
 ( s  1)( z  e ) s  0 s ( z  e )
sT sT
s 1 

 1 1 
 ( z  1)   
 z  1 z  0.367 
0.633
G( z) 
z  0.367
C ( z) G( z )
Closed loop transfer function = 
R( z ) 1  GH ( z )

0.633
 z  0.367
(0.367 z  0.226)
1
( z  1)( z  0.367)
0.633( z  1)
 2
z  z  0.633
1 z
R ( z )  z u[k ]  
1  z 1 z  1
G( z)
C ( z)   R (z)
1  GH ( z )
0.633( z  1) z 2
 2 
z  z  0.633 z  1
0.633z
 2
z  z  0.633
Taking inverse z transform of C ( z ) we get:

C (n)   Re sidue of C ( z) z n1 at poles of C ( z )

Poles of C ( z ) are at z  0.5  j 0.62

 0.633 z  z n 1 0.633z  z n 1
C (n)  
( z  0.5  j 0.62) z 0.5 j 0.62 ( z  0.5  j 0.62) z  0.5 j 0.62
0.633  (0.5  j 0.62) n 0.633  (0.5  j 0.62) n
 
(0.5  j 0.62  0.5  j 0.62) (0.5  j 0.62  0.5  j 0.62)
0.633  e j 51.1n  e  j 51.1n 
  (0.79) n .2  
1.24  2j 
 1.02  (0.79) n sin  51.11n 

Hence the unit step response of the system is

C (n)  1.02(0.79)n sin(51.11n) 6

𝐾(𝑍+1)
3. Consider transfer function 𝐺(𝑧) = . Draw root locus of the close loop system and
(𝑍−1)2
(𝑍−1)
determine range of stability for gain K from the locus. If a compensator transfer function
(𝑍−0.2)
is added with G (Z) then determine stability range from the root locus.
Solution:
(𝑧+1)
Given TF = [1 + KG (Z)] = [1 + K(𝑧−1)2] …………………... (1)

Now, from equation (1) –

(𝑧−1)2
K = - [ (𝑧+1) ] ……………….. (2)

Therefore, to obtain the breakaway points -

𝑑𝐾 (𝑧+1)2(𝑧−1)− (𝑧−1)2
=-[ (𝑧+1)2
] = 0 …………… (3)
𝑑𝑍

=> 2(Z + 1)(Z - 1) - (Z - 1)2 = 0

=> (Z - 1)[2Z + 2 – (Z - 1)] = 0
=> (Z - 1) (Z + 3) = 0 ………………… (4)
So, Z1 = 1 & Z2 = -3 2
System is unstable for any positive value of gain K. 3

𝐾(𝑍+1)
The compensated transfer function become .
(𝑍−1)(𝑍−0.2)

(𝑍+ 1)
The characteristics equation = [1 + k ] …………… (1)
(𝑍−1)(𝑍− 0.2)

dk/dz=0 gives breakaway and break in point. By making dk/dz=0 z=0.55 , -2.56
The characteristics equation is
(Z - 1)(Z - 0.2) + K(Z + 1) = 0 ………………(2)
=> (Z2 - 0.2Z – Z – 0.2) + KZ + K = 0
=> Z2 + (K – 0.2)Z + (K + 0.2) = 0 …………………(3)
Applying bilinear transformation,
(𝜔+1)
Z=
(𝜔−1)

(𝜔+1)2 (𝜔+1)
(𝜔−1)2
+ (K – 1.2) + (K + 0.2) = 0 ..……. (4)
(𝜔−1)

=> (𝜔2 + 2 𝜔 + 1) + (K – 1.2)( 𝜔 +1)( 𝜔 -1) + (K + 0.2)( 𝜔2 – 2 𝜔 + 1) = 0

=> (𝜔2 + 2 𝜔 + 1) + (K – 1.2)( 𝜔2 - 1) + (K + 0.2)( 𝜔2 – 2 𝜔 + 1) = 0
=> (1 + K – 1.2 + K + 0.2) 𝜔2 + (2 – 2K - 0.4) 𝜔 + (1 – K + 1.2 + K + 0.2) = 0
=> 2K𝜔2 + (1.6 – 2K) 𝜔 + 2.4 = 0
=> K𝜔2 + (0.8 – K) 𝜔 + 1.2 = 0 ……………………(5) 3
To know the range of ‘K’ apply R-H criterion –
𝝎𝟐 K 1.2
𝝎𝟏 (0.8 – K) 0
𝝎𝟎 1.2

Therefore, the given system is stable if

K>0
and (0.8 – K) > 0
=> K< 0.8
Hence, the range of values of ‘K’ is
( 0 < K < 0.8 )

12
4. a)
Determine controllability of the following state equation and justify your answer with the
help of state diagram.
Solution:

5
State equations:

i.e. S𝑋1 (s) =𝑋2 (𝑠)

All the states are linked with the input and therefore controllability is justified. 5
b) Design a state estimator of the following state space system that will place both the estimator
poles at -8.
 x1 (t )   0 1  x1 (t )  0  x (t ) 
 x (t )  20.6 0  x (t )  1u  ; y (t )  1 0 1 .
 2    2     x2 (t )
Solution

a) The given state space system is:

 x1 (t )  0 1  x1 (t )  0 
 x (t )    20.6 0   x (t )   1  [u ]
 2    2   
 x1 (t ) 
y (t )  [1 0]  
 x2 (t ) 
0 1 0
A  ; B    ; C  [1 0]
 20.6 0  1 
Let us consider the state estimator is given as:

e  ( A  mc)e

This can be derived from the following:

 X  AX  BU (1)
Y  CX (2)
and X  AX  BU  m(Y  Y )
Hence
 AX  BU  mY  mY
 AX  BU  mCX  mCX
X  ( A  mc) X  BU  mcX (3)

Subtracting (3) from (1):

X  X  AX  BU  ( A  mC ) X  BU  mCX
 (A  mC)(X  X )
e  (A  mC)e
where e  X  X

Characteristics equation of estimator is given as:

sI  (A mC)

Let

 m1 
m 
 m2 
m  m 0 
mc   1  [1 0]   1 
 m2   m2 0 
 s 0  0 1   m1 0 
 sI  (A  mC)       
0 s   20.6 0   m2 0 
 s  m1  1
 
 m2  20.6 s 
s  m1 1
sI  (A  mC) 
m2  20.6 s
 ( s  m1 ) s  m2  20.6
 s 2  m1s  m2  20.6

Desired poles of estimator are at -8 and -8. 6

Desired characteristics equation is

f ( s)  ( s  8) 2
 s 2  16s  64

Comparing the coefficients of both the equations:

s 2  m1s  m2  20.6
s 2  16s  64
m1  16
m2  84.6
 16 
Hence the state estimator can be designed as given in figure with m   . 4
84.6 

5. a) Obtain solution of linear state equation.

X  AX  BU
 e  At X  Ae  At X  e  At BU
d
 (e  At X )  e  At BU
dt 3
t
 e  At X  X (0)   e  A BUd
0
t
 X  e At X (0)  e At  e  A BUd
0

b) Determine the state transition matrix and unit step response of the following state space
system
 x1 (t )    3 1  x1 (t )  0  x1 (0)  0  x (t ) 
 x (t )   2 0  x (t )  1u  ;   ; y(t )  1 0 1 .
 2    2     x 2 (0) 0  x2 (t )

Solution:
The general solution of the state equation as per equation (3.26) is given by
t
X (t )  e At X (0)   e A(t  ) Bu( )d .
0

Now state transition matrix  (t )  e At  L1 SI  A

1

𝑆 1
(𝑆+2)(𝑆+1) (𝑆+1)(𝑆+2)
=𝐿−1 [ −2 (𝑆+3) ]
(𝑆+1)(𝑆+2) (𝑆+1)(𝑆+2)

2 1 1 1
( − ) ( − )
𝑆+2 𝑆+1 𝑆+1 𝑆+2
=𝐿−1 [ 2 2 2 1 ]
( − ) ( − )
𝑆+2 𝑆+1 𝑆+1 𝑆+2

 (2e 2t  e t ) (e t  e 2t ) 

=  2t . 4
(2e  2e t ) (2e t  e 2t )
 −2(𝑡−𝜏) −(𝑡−𝜏)
Now 𝑥(𝑡) = 0 + ∫0 [ 2𝑒−2(𝑡−𝜏) − 𝑒 −(𝑡−𝜏)
𝑡 𝑒 −(𝑡−𝜏) − 𝑒 −2(𝑡−𝜏) ] [0] 𝑢(𝜏)𝑑𝜏
2𝑒 − 2𝑒 2𝑒 −(𝑡−𝜏) − 𝑒 −2(𝑡−𝜏) 1
0 
Since B    .
1
 e  (t  )  e 2(t  ) 
t
=    (t  ) 2(t  ) u ( ).d
0 2e e 
t
 1  e t  0.5  0.5e 2t 
i.e.  e A( t  )
Bu ( )d   t  2t 
.
0 2  2e  0.5  0.5e 

1 t 1  2t 
 2 e  2e 
i.e. X (t )   .
3 1
  2e t  e  2t 
2 2 

1 t 1  2t 
 2 e  2e 
Therefore output y (t )  1 0 
3 1
  2e t  e 2t 
2 2 

=0.5 − 𝑒 −𝑡 + 0.5𝑒 −2𝑡 12

6) a) Test the stability of the following nonlinear system.

𝑑𝑥2
Sol. 𝑌 = 𝑥1 , 𝑌̇=𝑥2 ; = −𝑥2 − 𝑥23 − 𝑥1 3
𝑑𝑡

The state equation has singular point at 𝑥1 = 𝑥2 = 0. Therefore the energy function 𝑉 ≅ 𝑥12 + 𝑥22 is
positive for all 𝑥1 and 𝑥2 except 𝑥1 = 𝑥2 = 0.
2
𝑑𝑉 𝑑𝑥1 𝑑𝑥2 𝑑𝑉
= 2𝑥1 +2𝑥2 =2𝑥1 𝑥2 +2 𝑥2 (−𝑥2 − 𝑥23 − 𝑥1 ) = - 2𝑥22 - 2𝑥24 , Therefore the is always negative
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
and the system is stable. 5

b) Investigate possibility of limit cycle of the following close loop control system. If
stable limit cycle is predicted determine its amplitude and frequency.
2