Digital Control Systems

Previous Year Questions Compilation

1. Sampling and Reconstruction

1. State and prove Nyquist sampling theorem. [2018, 2019, 2021, 2024, 2025]
2. A signal g(t) band-limited to B Hz is sampled by a periodic pulse train pT (t) made up of a rectangular pulse
of width 1/8B seconds (centered at the origin) repeating at the Nyquist rate (2B pulses per second). Show
that the sampled signal is given by:
∞  
1 2  nπ 
g(t) = g(t) + ∑ sin g(t) cos(4πnBt)
4 n=1 nπ 4

[2018, 2025]
3. For an open loop digital control system, derive the expression of the spectra of the flat-top sampled error
signal. [2021, 2024]

2. Z-Transforms, Hold Circuits & System Properties

1. A sampler cannot be described by a unique transfer function. Justify. [2018, 2021, 2024, 2025]
2. Describe how the order of a hold circuit determines the extent of smoothening of a sampled signal. [2018,
2021, 2025]
3. Derive the transfer function of a polygonal hold circuit. [2018, 2019, 2021, 2024, 2025]

4. What is a fractional order hold circuit? How it overcomes the limitation of a first order hold? / Explain the
advantage of a fractional order hold circuit over a zero order and a first order hold based on their respective
impulse responses. [2018, 2019]
5. Define starred transform of a sampled signal. [2018, 2019]

6. For a discrete signal x(n), prove that limn→∞ x(n) = limz→1 (z − 1)X(z). [2021]
7. What is the advantage of analyzing an LTI system using its transfer function? [2018]
8. What is bilinear transform? [2024, 2025]

3. Multi-rate Systems & Transfer Functions

1. Explain how a fast sampler with sampling period T /N can be realized by a slow sampler of sampling period
T . Determine the output response of a fast-slow / slow-fast sampling system using this model. [2018, 2019,
2021, 2024, 2025]
2. Determine the closed loop transfer function for the following multi-rate control system. [2018, 2024, 2025]

T /3 ∗
E(s) E (s) zoh
R(s) + G(s) C(s)
Gh03 (s)
−
T /2
zoh
H(s)
Gh02 (s)

1
 3. Evaluate the closed loop transfer function of the following antenna control system with D(z) = 1, T = 0.05
s, K = 20. [2019, 2025]

Computer

Digital Motor, gears,

M(s) Amplifier
R(z) + Controller D/A and pedestal Θ(s), θ (t)
r(k) D(z) K 20
− s2 +6s

Sensor
Vo (z) T
0.4
Binary data

4. Determine C(z) of the following system. [2019, 2021, 2024, 2025]

T T
E(s) G1 (s) G2 (s) C(s)
samples at 0, samples at hT,
T, 2T, 3T . . . T+hT, 2T+hT,
3T+hT . . .

5. Determine C(z) of the following system. [2019]

T = 0.05s Filter
1 e−0.001s 1−e−T s 1
E(s) = s 2z−1 s s+1 C(s)
z

4. System Performance & Stability Analysis

1. State and prove Nyquist stability criterion for digital control system. [2018, 2019, 2021, 2024, 2025]
2. Explain the effect of addition of open loop poles on the closed loop stability using root locus. [2019, 2021,
2024, 2025]
3. Find the range of K for stability of the system from its root locus. Also determine the oscillating frequency
for the marginal stability. [2018, 2019, 2021, 2024, 2025]

T = 1s
R + 1−e−T s 1 K
s 1+10s s2 C
−

4. Using Nyquist stability criteria, comment on stability of a closed loop system with open loop transfer func-
tions:
0.01Kz
• GH(z) = (z−1)(z−0.905) [2018]
0.632Kz
• GH(z) = (z−1)(z−0.368) [2021, 2025]
0.01Kz
• GH(z) = (z−1)2 (z−0.905)
[2024]

5. Derive the expression of maximum overshoot of a second-order closed loop digital control system. [2025]
(z)
6. For a discrete time control system with transfer function YR(z) = 0.368z+0.264
z2 −z+0.632
, T = 1 sec, determine the damp-
ing ratio for the corresponding s-plane second order transfer function. [2025]

2
 7. Determine the marginal stability condition of the system using Jury’s test. [2025]
8. Given the closed loop transfer function of a digital control system... Find the values of KP , KI , and KR as
functions of T so that the step response c(kT ) follows the step input in a minimum number of sampling
periods. What is the maximum overshoot? [2018]

9. Design a digital controller D(z) to attain a steady state error less than 0.01 for unit ramp input and to ensure
stability of the entire system with G(s) = 1−exp(−T
s(s+1)
s)
and T = 0.1 sec. [2018, 2019, 2024]

T
R(s) + D(z) G(s) C(s)
−

10. Draw the Direct Form-II realization of a PID controller using trapezoidal rule for numerical integration.
[2019]

5. State Space Analysis & Observers

d 2 y(t)
1. Consider the following system with the behavior of the plant described by the differential equation dt 2
+
0.15 dy(t)
dt + 0.005y(t) = 0.1m(t). (a) Draw a continuous-time simulation diagram for G p (s) and give the
state equations. (b) Use the state-variable model of part (a) to find a discrete state model for the entire
system. [2018, 2024, 2025]

T M(s)
1−e−T s Plant
E(s) Y (s)
s G p (s)

2. Derive the state-space representation of the following closed loop digital control system. [2021, 2024]

e(t) T = 0.1s Filter m̄(t) Plant

Data hold
u(t) + 0.9z−0.8 1−e−T s 10 y(t)
z−0.9 s s(s+1)
−

3. Show that for the similarity transformation C[zI − A]−1 B + D = Cw [zI − Aw ]−1 Bw + Dw . [2018, 2019]

4. Derive the expressions of the system matrix A and input matrix B of the open loop digital control system
in terms of the system and input matrices of the continuous plant G p (s). Hence determine A and B for
10
G p (s) = s(s+1) . [2019, 2024]
   
1 0.0952 0.00484
5. For a plant described by x(k + 1) = x(k) + u(k), find the gain matrix K required to
0 0.905 0.0952
realize a damping ratio of 0.46 and a time constant of 0.5 s. [2018, 2024, 2025]

6. Explain the significance of a state observer in the context of state feedback. [2019]
7. Derive the state dynamics and hence the transfer function of a state observer / reduced order state observer.
[2018, 2019, 2021, 2024, 2025]
8. Derive the error dynamics of a current observer. [2021]

9. Derive the condition of observability. [2019, 2024]

3
6. Optimal Control & Lyapunov Stability
1. Define optimal control. [2019]

2. State principle of optimality. [2019]

3. For a linear digital control system, state and prove the Lyapunov stability criterion. Hence show that uo (k) =
−(BT PB)−1 (BT PA)x(k). [2021, 2024]
   
0.5 0 1
4. Consider a linear digital control system described by x(k + 1) = x(k) + u(k). Find the op-
0 0.2 1
timal control uo (k) so that the Lyapunov function V (x) = xT (k)Px(k) is minimized where P is a positive
definite solution of AT PA − P = −I. / Prove that AT PA − P = −Q. [2018, 2019, 2025]
5. Determine the control law u(k) that minimizes J2 = ∑2k=0 (x2 (k) + u2 (k)) for the plant x(k + 1) = 2x(k) +
u(k). [2025]

6. Given a first order plant described by x(k + 1) = 0.9x(k) + 0.1u(k) with the cost function J3 = ∑3k=0 (x2 (k) +
5u2 (k)), calculate the optimal control inputs / feedback gains required to minimize the cost function. [2018,
2019, 2021, 2024]