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Computer-Controlled Systems
Solutions Manual
Karl J. Åström
Björn Wittenmark
Department of Automatic Control
Lund Institute of Technology
October 1997
Preface
This Solutions Manual contains solutions to most of the problems in the fourth
edition of
Åström, K. J. and B. Wittenmark (1997): Computer controlled Systems –
heory and Applications, Prentice Hall Inc., Englewood Cliffs, N. J.
Many of the problems are intentionally made such that the students have to
use a simulation program to verify the analytical solutions. This is important
since it gives a feeling for the relation between the pulse transfer function and
the time domain. In the book and the solutions we have used Matlab/Simulink.
Information about macros used to generate the illustrations can be obtained by
It is also important that a course in digital control includes laboratory exercises.
The contents in the laboratory experiments are of course dependent on the available equipment. Examples of experiments are
Illustration of aliasing
Comparison between continuous time and discrete time controllers
State feedback control. Redesign of continuous time controllers as well as
controllers based on discrete time synthesis
Controllers based on input-output design
Control of systems subject to stochastic disturbances.
Finally we would like to thank collegues and students who have helped us to test
the book and the solutions.
Karl J. Åström
Björn Wittenmark
Department of Automatic Control
Lund Institute of Technology
S-220 00 Lund, Sweden
Solutions to Chapter 2
Problem 2.1
−ax + bu
The system is described by
Sampling the system using (2.4) and (2.5) gives
e−ah x( kh) + 1
x( kh + h)
y( kh)
cx( kh)
− e−
u( kh)
a
ah
The pole of the sampled system is exp( ah). The pole is real. For small values
of h the pole is close to 1. If a > 0 then the pole moves towards the origin when
h increases. If a < 0 then the pole moves along the positive real axis.
Problem 2.2
a. Using the Laplace transform method we find that
e
e B ds
b. The system has the transfer function
G ( s)
( s + 1)( s + 2)
Using the Table 2.1 gives
H ( q)
− e− − 1 − e−
− e− 2 q − e−
One state space realization of the system is
then
e Ah
e B ds
and
H ( q)
C ( qI
(q
h ( q + 1)/2 h( q 1) ( q 1)
h3 ( q2 + 4q + 1)
6( q 1)3
Problem 2.3
a.
e Ah
y( k)
− 0.5 y(k − 1)
6u( k
b as
e
a
eas b ds
6a
ln 0.5 ⇒ a
eah
ax( t) + bu( t)
as
e b ds
x( t)
y( t)
x( t)
(continuous time system)
ah
0.5x( kh) + 6u( kh)
y( kh)
x( kh)
(discrete-time system)
eah
x( kh + h)
b ah
e
a
x( kh) +
u( kh)
x( kh + h)
y( kh) 1 1 x( kh)
Eigenvalue to Φ :
det( sI Φ)
0 ⇔ ( s + 0.5)( s + 0.3)
Both eigenvalues of Φ on the negative real axis ⇒ No corresponding continuous system exists.
y( k) + 0.5 y( k
−0.5 y(k) + 6u(t)
y( k + 1)
H ( q)
6u( k
one pole on the negative real axis.
⇒ No equivalent continuous system exists.
Problem 2.4
Harmonic oscillator (cf. A.3 and 3.2a).
Φ x( k) + Γ u( k)
C x( k)
x( k + 1)
y( k)
Φ( h)
Γ( h)
a.
Pulse transfer operator
H ( q)
C ( qI
Y ( z)
y( k)
where θ ( k
H ( z) U ( z)
(k
− 1)θ (k − 1) + θ (k − 1)
1) is a step at k
G ( s)
Y ( s)
s( s2 + 1)
y( kh)
[see Probl. 2.2]
y( t)
θ (k
The same way as a. ⇒ y( t) 1 cos t, and y( kh) 1 cos π k Notice that
the step responses of the continuous time and the zero-order hold sampled
systems are the same in the sampling points.
Problem 2.5
Do a partial fraction decomposition and sample each term using Table 2.1:
G ( s)
H ( q)
− 36 q − 1 + 1 1 − e− − 27 q − e−
12 ( q − 1)
8 q− e
−e
s2 ( s + 2)( s + 3)
Problem 2.6
Integrating the system equation
gives
x( kh + h)
e
e
e As B δ ( s
x( kh) +
− kh)u(kh)ds
x( kh) + Bu( kh)
Problem 2.7
The representation (2.7) is
x( kh + h)
y( kh)
Φ x( kh) + Γ u( kh)
C x( kh)
and the controllable form realization is
z( kh + h)
y( kh)
where
Φ z( kh) + Γ u( kh)
C z( kh)
From Section 2.5 we get
This gives the following relations
(1)
(2)
(3)
(4)
Equations (1)–(4) now give
1/(2h)
Problem 2.8
The pulse transfer function is given by
z( z 0.5) 0
C ( zI − Φ)−1 Γ
H ( z)
z( z
2( z
z( z
Problem 2.9
The system is described by
a
The eigenvalues of A is obtained from
(λ + a)(λ + d)
which gives
λ 2 + ( a + d)λ + ad
−a + d ±
(a
The condition that a b c, and d are nonnegative implies that the eigenvalues, λ 1
and λ 2 , are real. There are multiple eigenvalues if both a d and bc 0. Using
the result in Appendix B we find that
e Ah
eλ 1 h
and
e
This gives
λ 1 eλ 2 h
−λ e
eλ 1 h eλ 2 h
(λ 1 λ 2 ) h
− α ah
To compute Γ we notice that α 0 and α 1 depend on h. Introduce
α 0 ( s) ds
e
sα 1 ( s) ds
then
eλ 1 h
eλ 1 h
eλ 2 h
Problem 2.10
a.
Using the result from Problem 2.9 gives
eλ 1 h
eλ 2 h
Further
and
(β 0 I + β 1 A) B
The pulse transfer operator is now given by
H ( q)
C ( qI − Φ)−1 Γ
which agrees with the pulse transfer operator given in the problem formulation.
Problem 2.11
The motor has the transfer function G ( s)
tation is given in Example A.2, where
exp( Ah)
e−h
1 − e−h
e B ds
( sI − A)−1
s( s + 1) 1
− e−
h + e− − 1
1/( s( s + 1)). A state space represen-
e−s
e−s
This gives the sampled representation given in Example A.2.
a.
The pulse transfer function is
H ( z)
C ( zI
z e−h
0 −1 1 e−h
1 + e−h z 1
h + e−h 1
0 1 e−h
( z e−h)( z 1) 1 e−h z e−h
h + e−h 1
− − 1)z + (1 − e− − he− )
(h + e
( z − e− )( z − 1)
( h + e− − 1) z + (1 − e− − he− )
z − (1 + e− ) z + e−
The pulse response is
h( k )
e Ah
e Akh
This gives
− e−
h − e− −
− e− −
1 − e− −
( k 1) h
e−( k−1) h
0 1 e−h
h + e−h 1
( k 1) h
( k 1) h
+ h + e−h
+ e−kh
An alternative way to find h( k) is to take the inverse z-transform of H ( z).
A difference equation is obtained from H ( q)
y( kh + 2h)
− (1 + e− ) y(kh + h) + e− y(kh)
( h + e− − 1)u( kh + h) + (1 − e− − he− )u( kh)
1 and z exp(−h). The second pole will move from 1 to
The poles are in z
the origin when h goes from zero to infinity.
The zero is in
1 e−h he−h
f ( h)
h + e−h 1
The function f ( h) goes from
−1 to 0 when h goes from zero to infinity. See Fig. 2.1.
Problem 2.12
Consider the following transfer operators of infinity order.
G ( s)
e
(τ < h)
u( t
0 ⋅ x + 1 ⋅ u( t
(infinite order)
Pole and zero
Sampling period h
Figure 2.1 The pole (solid) and zero (dashed) in Problem 2.11.d as function of the
sampling period.
a.
Discrete time system is given by (cf. CCS p. 38–40).
Φ x( k) + Γ 0 u( k) + Γ 1 u( k
x( k + 1)
e Ah
e0
e ds B
e
A( h τ )
e ds B
⇒ x( k + 1)
− 1) (Notice that τ < h)
x( k) + 0.5u( k) + 0.5u( k
State space model:
x( k + 1)
u( k )
1 0.5 x( k) 0.5
u( k )
u( k 1 )
x( k)
y( k) 1 0
u( k 1 )
Φ x( k)+ Γ u( k)
The system is of second order.
The pulse-transfer function is
H ( z)
C ( zI
z( z 1 ) 0 z 1
z( z 1 )
0.5( z + 1)
z( z 1 )
Invers transform of H ( z) using Table 2.3 gives
0.5( z + 1)
z( z 1 )
H ( z)
The poles are z
⇒ h( kh)
1 and the zeros: z
Problem 2.13
a.
This is the same system as in Example 2.6 but with τ
have d 2 and τ ′ 0.5 and we get
Φ x( k) + Γ 0 u( k
x( k + 1)
where
e−1
1.5. In this case we
− 1 ) + Γ u( k − 2 )
1 − e−0.5
e−0.5 − e−1
A state representation is obtained from (2.12)
x( k + 1)
u( k 1 )
u( k )
Γ 0 x( k) 0
1 u( k 2 ) + 0 u( k )
u( k 1 )
x( k)
1 0 0 u( k 2 )
u( k 1 )
y( k)
The pulse transfer function is
H ( z)
z2 ( z Φ)
z2 ( z 0.37)
Some calculations give
h( k )
Γ 0 e−( k−2) + Γ 1 e−( k−3) k ≥ 3
Using Theorem 2.4 and the definition of the z-transform (2.27) we can also
get the pulse response by expanding H ( z) in z−1 , i.e.,
H ( z)
The pulse response is now given by the coefficients in the series expansion.
There are three poles p1
0.37 and one zero z1
0 and p3
Problem 2.14
Sampling the given differential equation using the same procedure as in Problem 2.13 gives
a e−α h
Using the definition of τ ′ and with h
1 it follows that d
Further
4 and
e−α s b ds
− e−
α ( h τ ′)
e−α ( h−τ )
e−α s b ds
e−α ( h−τ
− e−
Straightforward calculations give
e−α ( h−τ
ab3 + b4
and
ab3 + b4
− ln1a ln
where it has been used that
ab3 + b4
− ln a
Problem 2.15
− 0.5 y(k − 1) u(k − 9) + 0.2u(k − 10) ⇔
y( k + 10) − 0.5 y( k + 9) u( k + 1) + 0.2u( k)
( q − 0.5q ) y( k) ( q + 0.2)u( k)
A( q) q − 0.5q
y( k)
Pole excess
1 + 0.2q−1 u( k
y( k)
System order
B ( q)
deg A( q)
A∗ q−1 y( k)
− deg B (q)
deg A( q)
B ∗ q−1 u( k
d (cf. CCS p. 49).
Remark
q−10( q + 0.2)
B ( q)
A( q)
Problem 2.16
FIR filter:
y( k)
+ b n q − n u( k )
b 0 u( k ) + b 1 u( k
⇒ y( k + n)
+ b n u( k
H ( q)
Observable canonical form:
a1 1 0
a2 0 1
an 0
Problem 2.17
+ b n u( k )
+ b n u( k )
n:th order system
b 0 u( k + n) + b 1 u( k + n
⇒ q n y( k)
⇒ H ( q)
B ( q)
A( q)
− 1.5 y(k + 1) + 0.5 y(k)
q y( k) − 1.5qy( k) + 0.5 y( k)
u( k + 1 ) ⇔
y( k + 2)
qu( k)
Use the z-transform to find the output sequence when
y(0)
u( k )
y( 1)
Table 2.2 (page 57):
F1( z)
f ( jh) z− j
− y(0) − y(1)z− − 1.5z Y − y(0)
− u( 0 )
Compute
y(1)
− 0.5 y(−1) + 1.5 y(0) 1 − 0.5 + 0.75 1.25
⇒ z Y − 0.5 − 1.25z− − 1.5z( Y − 0.5) + 0.5Y z( U − 1)
U ( z)
0.5z( z − 1)
U ( z)
( z − 1)( z − 0.5) ( z − 1)( z − 0.5)
(step) ⇒
z − 0.5 ( z − 1) ( z − 0.5)
z − 0.5 ( z − 1)
u( 0 )
Y ( z)
Y ( z)
Table 2.3 (page 59) gives via inverse transformation.
e−1/T
e−k/T
e−1/T
e−( k−1)⋅ln2
(z
⇒ y( k)
0.5e−k⋅ln2
+ 2( k − 1) + e− −
(z
y(1)
y(0)
y( 1)
(h
( k 1) ln2
Checking the result:
y(2)
0.5e−2 ln2 + 2 + e− ln 2
y(2)
u(1) + 1.5 y(1)
− 0.5 y(0)
Problem 2.18:
Verify that
h2 z( z + 1 )
2( z 1)3
( kh)2
F ( z)
(cf. Table 2.3)
( kh)2 z−k
differentiate twice
⇒(multiply by z)
f ( z−1)
( k2 + k) z−k−2
( z 1)3
( z 1)3
− − ( z − 1)
(z
multiplication by z2 gives ⇒ Σ( k2 + k) z−k
⇒ F ( z)
( z 1) z
( z 1)2
( z 1)2
− k ( − k − 1 ) z− −
2( z − 1)
( z − 1)
( z − 1)
f ( z−1)
z( z + 1 )
( z 1)3
h2 z( z + 1 )
2 ( z 1)3
Remark A necessary condition for convergence of f ( z−1) is that f is analytic
for z > 1. In that case there exists a power series expansion and termwise
differentiation is allowed.
Double integrator: The first step is to translate G ( s) to the corresponding pulse
transfer operator H ( z). Use the method of page 58.
The sampled system.
u( k )
Y ( s)
G ( s) ⋅
step ⇒ U ( z)
⇒ Y ( z)
h2 z( z + 1 )
2 ( z 1)3
Y ( z)
Y ( z)
U ( z)
cf. example A1: H ( z)
C ( zI
h2 z( z + 1 ) z 1
2 ( z 1)3
( Table 3.3)
H ( z) U ( z) ⇒
H ( z)
− 1 ⇒ U (s)
h2 ( z + 1 )
2 ( z 1)2
Problem 2.19
a.
The transfer function of the continuous time system is
( s + a)
G ( s)
Equation (2.30) gives
Ress
e−ah
H ( z)
−a
esh
e−ah 1
−ah
e
a
a z
− e−
− e−
s+a
ah
ah
This is the same result as obtained by using Table 2.1.
The normalized motor has the transfer function
s( s + 1)
G ( s)
and we get
esh 1
Res
z e
s( s + 1)
H ( z)
H ( z)
( z − 1)( e− − 1) + h( z − e− )
( z − e− )( z − 1)
( e− − 1 + h) z + (1 − e− − he− )
( z − e− )( z − 1)
e−h 1
z e−h ( 1)2
Compare Problem 2.11.
Problem 2.21
Consider the discrete time system
is lead if β < α
z+ a
arg
eiω h + b
eiω h + a
arctan
arg
cos ω h + a + i sin ω h
− arctan
a + cos ω h
Phase lead if
arctan
> arctan
a + cos ω h
a + cos ω h
We thus get phase lead if b < a.
0 we can use the series expansion of ( esh 1)/s
To compute the residue for s
and get
Time
Figure 2.2 Simulation of the step response of the system in Problem 2.22 for b −0.9
(upper solid), −0.75 (upper dashed), −0.50 (dash-dotted), 0 (dotted), 0.5 (lower solid),
and 1 (lower dashed).
Problem 2.22
A state space representation of the system is
x( k + 1)
y( k)
1 b x( k)
−0.9 −0.75 −0.5 0 0.5 and 1 is shown in Fig. 2.2.
Simulation of the system for b
Problem 2.23
A state space representation of G ( s) is
−ax + (b − a)u
The assumption that the system is stable implies that a > 0. Sampling this
system gives
b a
u( kh)
x( kh + h) e−ah x( kh) + (1 e−ah)
a
y( kh)
x( kh) + u( kh)
The pulse transfer operator is
H ( q)
− a)(1 − e− )/a + 1
q − e−
q − e−
b− a
1 − e−
− e−
(b
ah
ah
ah
where
ah
a
a
ah
− e− − 1
ah
The inverse is stable if
a
− e− − 1 < 1
(1
a
Since a > 0 and (1
− e−
ah
− e−
ah
) > 0 then
ah
2a
1 e−ah
For b > 0 we have the cases
b ≤ 2a
The inverse is stable independent of h.
b > 2a
Stable inverse if ah < ln( b/( b
Problem 2.28
y( k)
y( k
− 1) + y(k − 2)
y(0)
− 2a)).
y(1)
The equation has the characteristic equation
which has the solution
y( k)
Using the initial values give
The solution has the form
√5 (√5 + 1)
√ (√5 − 1)
Problem 2.29
The system is given by
2q−10 + q−11 u( k)
y( k)
Multiply by q11. This gives
The system is of order 11 (
(2q + 1) u( k)
deg A( q)) and has the poles
(multiplicity 9)
and the zero
y( k)
Problem 2.30
The system H1 has a pole on the positive real axis and can be obtained by sampling
a system with the transfer function
s+a
G ( s)
H2 has a single pole on the negative real axis and has no continuous time equivalent.
The only way to get two poles on the negative real axis as in H3 is when the
continuous time system have complex conjugate poles given by
π /ω where
Further we must sample such that h
We have two possible cases
G1 ( s)
G2 ( s)
Sampling G1 with h
π /ω gives, (see Table 2.1)
(1 + α )( q + α )
( q + α )2
H ( z)
where
e−ζ ω 0 h
i.e., we get a pole zero concellation. Sampling G2 gives H ( z)
0. This implies
that H3 cannot be obtained by sampling a continuous time system. H4 can be
rewritten as
H4 ( q ) 2 +
q( q 0.8)
The second part can be obtained by sampling a first order system with a time
delay. Compare Example 2.8.
Problem 2.31
We can rewrite G ( s) as
G ( s)
Using Table 2.1 gives
H ( q)
0.02 we get
H ( q)
(q
− e−
− e−
− e−
− e−
− 0.9802)(q − 0.9418)
Problem 2.32
x + u( t
eh−τ (1
e
se
e
he
eh
e
−1 + e −
1 + ( h − τ − 1) e −
e −
0 −1 + e
(h − τ )e − e −
1 + (τ − 1) e
eh−τ ( 1 + eτ )
e − −1
( h − τ ) eh−τ − eh−τ + 1
e
se 0
e
se
e A( h−τ )
( s 1)2
− h + τ ) + ( h − 1) e
The pulse transfer operator is given by
H ( q)
C ( qI
− Φ)− (Γ
where
Solutions to Chapter 3
Problem 3.1
Jury’s criterion is used to test if the roots are inside the unit circle.
a.
The roots are inside the unit circle since the underlined elements are positive.
(The roots are 0.75 ± 0.58i.)
One of the underlined elements is negative and there is thus one root outside the
unit circle. (The roots are 2.19 and 0.40 ± 0.25i.)
There are two roots outside the unit circle. (The roots are 0.35 and 0.82 ± 0.86i.)
One root is outside the unit circle. (The roots are
e.
−5 −0.5, and 0.5.)
The table breaks down since we can not compute α 1 . There is one of the underlined
elements that is zero which indicates that there is at least one root on the stability
boundary. (The roots are 0.7 and 0.5 ± 0.866i. The complex conjugate roots are on
the unit circle.)
Problem 3.2
The characteristic equation of the closed loop system is
z( z
− 0.2)(z − 0.4) + K
The stability can be determined using root locus. The starting points are z 0 0.2
and 0.4. The asymptotes have the directions ±π /3 and π . The crossing point
of the asymptotes is 0.2. To find where the roots will cross the unit circle let
z a + ib, where a2 + b2 1. Then
( a + ib)( a + ib
− 0.2)(a + ib − 0.4) − K
− ib and use a + b 1.
a − 0.6a − b + 0.08 + i(2ab − 0.6b) − K ( a − ib)
Multiply with a
Equate real and imaginary parts.
a2
− 0.6a − b
b(2a
−K a
− 0.6a − 1 − a + 0.08 −a(2a − 0.6)
4a − 1.2a − 0.92 0
The solution is
a
This gives K 2a − 0.6 0.70 and −1.30. The root locus may also cross the unit
circle for b 0, i.e. a ±1. A root at z −1 is obtained when
−1(−1 − 0.2)(−1 − 0.4) + K 0
0 then
a2
Figure 3.1
Re
The root locus for the system in Problem 3.2.
There is a root at z
1 when
1(1
− 0.2)(1 − 0.4) + K
The closed loop system is thus stable for
The root locus for K > 0 is shown in Fig. 3.1.
Problem 3.3
Sampling the system G ( s) gives the pulse transfer operator
H ( q)
The regulator is
u( kh)
where K > 0 and τ
a.
When τ
K uc ( kh
− τ ) − y(kh − τ )
K e( kh
0 then regulator is
u( kh)
K e( kh)
and the characteristic equation of the closed loop system becomes
The system is thus stable if
When there is a delay of one sample (τ
h) then the regulator is
e( kh)
u( kh)
and the characteristic equation is
K h + z( z
The constant term is the product of the roots and it will be unity when the
poles are on the unit circle. The system is thus stable if
Consider the continuous system G ( s) in series with a time delay of τ seconds.
The transfer function for the open loop system is
e
Go ( s)
The phase function is
arg Go ( iω )
and the gain is
Go ( iω )
The system is stable if the phase lag is less than π at the cross over frequency
Go ( iω c )
The system is thus stable if
The continuous time system will be stable for all values of K if τ
0 and
h. This value is about 50% larger than the value
for K < π /(2h) when τ
obtained for the sampled system in b.
Problem 3.4
The Nyquist curve is Ho ( eiω ) for ω
Ho ( eiω )
[0 π ]. In this case
eiω
Re
Figure 3.2
0 then Ho (1)
The Nyquist curve for the system in Problem 3.4.
2 and for ω
arg Ho
π then Ho ( 1)
−arctg
The argument is π /2 for ω
π /3(cos ω
values for the real and imaginary parts.
−2/3. The argument is
− 0.5). The following table gives some
ReHo
The Nyquist curve is shown in Fig. 3.2.
Problem 3.5
Consider the system
x( k) + u( k)
0 1 x( k)
x( k + 1)
y( k)
We have
y(1)
x2 (1)
y(2)
x2 (2)
x1 (1) + x2 (1)
x1 (1)
Further
x(2)
x(3)
+ ⋅ ( 1)
Φ x(1) + Γ u(1)
The possibility to determine x(1) from y(1), y(2) and u(1) is called observability.
Problem 3.6
a.
The observability matrix is
The system is not observable since det Wo
The controllability matrix is
det Wc
2 and the system is reachable.
Problem 3.7
The controllability matrix is
For instance, the first two colums are linearly independent. This implies that Wc
has rank 2 and the system is thus reachable. From the input u′ we get the system
x( k + 1)
x( k) + u′ ( k)
In this case
rankWc
1 and the system is not reachable from u′ .
Problem 3.8
a.
x( k + 1)
x(1)
x(2)
u( 0 )
u( 1 )
x( k) + 1 u( k)
1 + u( 0 ) 3 + u( 0 )
0 3 + u( 0 )
3 3 + u( 0 ) + u( 1 ) u( 1 )
⇒ x(2)
Two steps, in general it would take 3 steps since it is a third order system.
not full rank ⇒ not reachable, but may be controlled.
1 1 1 is not in the column space of Wc and can therefore not be reached
from the origin. It is easily seen from the state space description that x3 will be
0 for all k > 0.
Problem 3.11
The closed loop system is
y( k)
a.
Hcl ( q)uc( k)
u c ( k)
K where K > 0 we get
y( k)
− 0.5q + K u (k)
Using the conditions in Example 3.2 we find that the closed loop system is
stable if K < 1. The steady state gain is
Hcl (1)
With an integral controller we get
Hcl ( q)
q( q
1)( q 0.5) + K q
q( q2
The system is stable if
and
and we get the condition
The steady state gain is Hcl (1)
Problem 3.12
The z-transform for a ramp is given in Table 2.3, also compare Example 3.13, and
we get
U c ( z)
( z 1)2
Using the pulse transfer functions from Problem 3.11 and the final value theorem
gives
lim e( k)
− y(k)
( 1 − H ( z)
lim uc ( k)
U c ( z)
if K is chosen such that the closed loop system is stable.
Time
Figure 3.3 The continuous time (solid) and sampled step (dots) responses for the system
in Problem 3.13.
a.
To use the final value theorem in Table 2.3 it is required that (1 z−1 ) F ( z)
does not have any roots on or outside the unit circle. For the proportional
controller we must then look at the derivative of the error, i.e.
lim e′ ( k)
z − 0.5z + K ( z − 1)
The derivative is positive in steady-state and the reference signal and the
output are thus diverging.
For the integral controller we get
lim e( k)
− 1 z(z − 1.5z + 0.5 + K − K ) z
z( z − 1.5z + 0.5 + K ) ( z − 1)
Problem 3.13
Consider the system
G ( s)
0.1 and the undamped natural frequency is
The damping of the system is ζ
1. The step response of the system will have an oscillation with the frequency
− ζ √0.99 rad/s
The sampled system will not detect this oscillation if h k2π /ω . The frequency
Fig. 3.3 shows the continuous time and the sampled step responses when h
6.3148. To formalize the analysis we can sample the system with h
2π /ω . The pulse transfer function is (Table 2.1)
ω will then have the alias ω ′
H ( q)
(1
− α )(q − α )
(q − α )
where α
exp( 0.1h). There is a pole zero cancellation and only the first order
exponential mode is seen at the sampling points.