y[n] = nx[n]

Select all that are true    A) A PID controller can always be written as an observer-based controller     B) LQG controller design is not restricted by the order or number of inputs/outputs of the plant     C) PID controllers do not require a plant model to be tuned   D) Integrator augmentation is used to attenuate low frequency disturbances    E) Integrator augmentation is used to attenuate measurement noise    F) LQG controllers can stabilize arbitrary plants

Q2/ Determine parameters setting (ARR, PSC, CCR1, CCR2, CCR3, and CCR4) of the Timer 2 (16_bit) shown in Fig. 1 to generate four square signals shown in the Fig.2. Where CK_PSC=1 MHz. Clock selection 16-bit Auto Reload Register (ARR) Internal Clocks External Clocks Trigger & Clock Controller CK_PSC CK_CNT 16-bit Prescaler (PSC) 16-bit Counter (CNT) Internal Trigger Input Ch.3" Ch.2 Ch.I 16-bit Capture Compare Register 1 (CCR1) 16-bit Capture Compare Register 2 (CCR2) 16-bit Capture Compare Register 3 (CCR3) 16-bit Capture Compare Register 4 (CCR4) CNT CCR1? CNTCCR2? CNT CCR3? Output Controllers CNT > CCR4? Compare* Four Channels Dian Output 3.3V Fig. 1: The Block Diagram of a 4-Channels O.C Timer. DY 50% 3.3V 3 5 7 Channel 1 ►Channel 2 ▸ Channel 3 Channel 4 t(sec) t(sec) 7.2 1.2 3.2 5.2 3.3V 1.6 3.6 5.6 7.6 3.3V t(see) t(sec) 1.8 3.8 5.8 7.8 Fig.2: The Time Diagram of OC Timer.

2. If a controller has a gain of 3, the controller will respond to an input change of 30 percent by producing an output change of percent. a. 10 b. 20 c. 30 d. 90 3. Calculate the proportional band for a gain of 4.0. a. 12% b. 25% c. 35% d. 40%