\ UCSI University FACULTY OF ENGINEERING, TECHNOLOGY & BUILT ENVIRONMENT FINAL EXAMINATION Student ID (in Figures) [ [EEL [ I IL LI Student ID (in Words) Course Code & Name EK403 Digital Control System Semester May — August 2016 Instructor/Examinet/Lecturer : Ir. Fahri Heltha Duration 3 hours INSTRUCTIONS TO CANDIDATES: FIVE (5) questions set. Attempt all FIVE (5) questions (Total : 100 marks). This question paper consists of SIX (6) pages, excluding the cover page. Answers to the questions are to be written in the answer booklet. Candidates are’not allowed to bring into the Examination Hall textbooks, lecture notes, files or any equipment and scientific calculator. This question paper must be submitted along with all used and/or unused rough papers and/or graph papers (if any), Candidates are NOT allowed to take any examination materials out of the examination hall. Warning: ‘The University Examination Board of UCSI University regards cheating as a most serious offence and will not hesitate to mete out the appropriate punitive actions according to the severity of the offence committed, and in accordance with the clauses stipulated in the Students’ Handbook, up to and including expulsion from UCSI University.MayrAugust 2016 Final Examination EK#03 Digital Control System Qi(a) Figure Qla shown a block diagram of an analog control system. Apply your knowledge of digital control to convert the analog block diagram control to digital block diagram control. Evaluate, identify and sketch all signal types for each input and output part/block of the system when a step signal is feeding to the system input as a reference. (15 marks) | Gontimuous Controller ae eee ee i. Figure Qla (>) A drug delivery system is shown in Figure Qlb. Design a digital control system block diagram for the drug delivery system. Drug Tank Regulated Drug Pump -—— Drug oF Nutrient LEE EEE a Blood Pressure Computer Figure QIb (5 marks) Page 1 of 6May-August 2016 Final Examination EK403 Digital Control System, 2(a) Block diagram of a control system with sampling in the feedback path is shown in Figure Qa, Investigate the analog and sampled output of the system. (12 marks) F re) RO + BG) ue) Ds) as) 7 L_ ¥(s) Ly i (b) A difference equation for a control system is given as, x(k) —xk-D=rk)-rk-1; k20 where the input, 1, kiseven rO=(5 Visodd, Determine and sketch the spectrum of the output x(k) for 0 < k <4 using the sequential technique. (8 marks) QQ e block diagram of one joint of a robot arm is shown in Figure Q3 (refer to the following page, Page 3 of 6). The signal M(s) is the sampler input, E_(s) is the servo motor input voltage, @,,(s) is the motor shaft angle, and the output 6,,(5) is the angle of the arm. (a) Suppose that the sampling and data reconstruction process is implemented with an analog-to-digital (A/D) and a digital-to-analog (D/A) converters. Re-design Figure Q3 that showing the A/D and the D/A converters, (4 marks) (b) Derive the analog transfer funetion 8q(s)/Eq(s) and investigate the stability of the system. (3 marks) (©) With K=2.4 and 7'= O.1s, derive the pulse transfer function 0,(z)/M(z). and investigate the stability of the system, (5 marks) Page 2 of 6