Scilab Code for

Control Systems
Theory and Applications
by Smarajit Ghosh1

Created by
Anuradha Singhania
4th Year Student
B. Tech. (Elec. & Commun. )
Sri Mata Vaishno Devi University, Jammu

College Teacher
Prof. Amit Kumar Garg
Sri Mata Vaishno Devi University, Jammu
Reviewer
Prof. Madhu Belur, IIT Bombay

29 June 2010

1 Funded by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro
Book Details

Authors: Smarajit Ghosh

Title: Control Systems

Publisher: Pearson Education

Edition: 2nd

Year: 2009

Place: New Delhi

ISBN: 978-81-317-0828-6

1
Contents

List of Scilab Code 4

2 Laplace Transform and Matrix Algebra 11

2.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Transfer Function 14
3.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4 Control system Components 17

4.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6 Control system Components 21

6.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8 Time Domain Analysis of Control Systems 29

8.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9 Feedback Characteristics of control Systems 44

9.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

10 Stability 54
10.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

11 Root Locus Method 64

11.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

12 Frequency Domain Analysis 90

12.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

2
13 Bode Plot 95
13.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

15 Nyquist Plot 103

15.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

17 State Variable Approach 112

17.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

18 Digital Control Systems 122

18.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

3
List of Scilab Code

2.01-01 2.01.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.01-02 2.01.02sci . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.01-03 2.01.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.03 2.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.04 2.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.05-01 2.05.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.05-02 2.05.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.06 2.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.11 2.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.13 2.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.02 3.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.03 3.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.04 3.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.15 3.15.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.16 3.16.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.17 3.17.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.18 3.18.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.19 3.19.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.23 3.23.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.01 4.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.02 4.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.03 4.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.04 4.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.05 4.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
F1 parallel.sce . . . . . . . . . . . . . . . . . . . . . . . . . 21
F2 serial.sce . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.01 6.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.02 6.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4
6.03 6.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.04 6.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.05 6.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.06 6.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.07 6.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.08 6.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.09 6.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.10 6.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.11 6.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.12 6.12.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.13 6.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.14 6.14.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.15 6.15.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
8.02 8.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8.03-01 8.03.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 29
8.03-02 8.03.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 30
8.03-03 8.03.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 30
8.04 8.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.05 8.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.06 8.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.07 8.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.08 8.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.09 8.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.10 8.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.11 8.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8.12 8.12.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
8.13 8.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.14 8.14.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8.15 8.15.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.16 8.16.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
8.17 8.17.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.19 8.19.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.20 8.20.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.23-01 8.23.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.23-02 8.23.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.23-03 8.23.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.23-04 8.23.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.24 8.24.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5
8.32 8.32.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.01 9.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.02 9.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.03 9.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.04 9.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.05 9.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.06 9.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.07 9.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.08 9.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.09 9.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.10 9.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
9.11 9.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
10.02-01 10.02.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . 54
10.02-02 10.02.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . 54
10.02-03 10.02.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . 55
10.03 10.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
10.04 10.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
10.05-01 10.05.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . 56
10.05-02 10.05.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . 57
10.06 10.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
10.07 10.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
10.08 10.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
10.09 10.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
10.10 10.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
10.11 10.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
10.12 10.12.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
10.13 10.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
10.14 10.14.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
10.15 10.15.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
10.16 10.16.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
11.01 11.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
11.02 11.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
11.03 11.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
11.04 11.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
11.05 11.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11.06 11.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
11.08 11.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
11.09 11.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

6
11.10 11.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
11.11 11.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
11.12 11.12.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
11.13 11.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
11.14 11.14.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
11.15 11.15.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
11.16 11.16.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
11.17 11.17.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
11.19 11.19.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
11.20 11.20.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
11.21 11.21.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
11.22 11.22.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
11.23 11.23.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
11.25 11.25.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
11.26 11.26.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
11.27 11.27.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
11.28 11.28.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
12.01 12.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
12.02 12.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
12.03 12.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
12.04 12.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
12.05 12.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
13.01 13.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
13.02 13.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
13.03 13.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
13.04 13.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
13.05 13.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
13.06 13.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
15.01 15.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
15.02 15.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
15.03 15.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
15.04 15.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
15.05 15.05.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
15.06 15.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
15.07 15.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
15.08 15.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
17.03 17.03.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
17.04 17.04.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

7
17.06 17.06.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
17.07 17.07.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
17.08 17.08.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
17.09 17.09.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
17.10 17.10.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
17.11 17.11.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
17.12 17.12.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
17.13 17.13.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
17.14 17.14.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
17.16 17.16.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
17.17 17.17.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
17.18 17.18.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
17.19 17.19.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
17.20 17.20.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
17.21 17.21.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
17.22 17.22.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
17.23 17.23.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
F3 ztransfer.sce . . . . . . . . . . . . . . . . . . . . . . . . . 122
18.01 18.01.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . 122
18.08 18.08.01.sci . . . . . . . . . . . . . . . . . . . . . . . . . 122

8
List of Figures

11.1 Output Graph of S 11.01 . . . . . . . . . . . . . . . . . . . . 65

11.2 Output Graph of S 11.02 . . . . . . . . . . . . . . . . . . . . 66
11.3 Output Graph of S 11.03 . . . . . . . . . . . . . . . . . . . . 67
11.4 Output of S 11.04 . . . . . . . . . . . . . . . . . . . . . . . . 68
11.5 Output of S 11.05 . . . . . . . . . . . . . . . . . . . . . . . . 69
11.6 Output of S 11.06 . . . . . . . . . . . . . . . . . . . . . . . . 70
11.7 Output of S 11.08 . . . . . . . . . . . . . . . . . . . . . . . . 71
11.8 Output of S 11.09 . . . . . . . . . . . . . . . . . . . . . . . . 72
11.9 Output of S 11.13 . . . . . . . . . . . . . . . . . . . . . . . . 75
11.10Output of S 11.14 . . . . . . . . . . . . . . . . . . . . . . . . 76
11.11Output of S 11.15 . . . . . . . . . . . . . . . . . . . . . . . . 77
11.12Output of S 11.16 . . . . . . . . . . . . . . . . . . . . . . . . 78
11.13Output of S 11.17 . . . . . . . . . . . . . . . . . . . . . . . . 79
11.14Output of S 11.19 . . . . . . . . . . . . . . . . . . . . . . . . 80
11.15Output of S 11.20 . . . . . . . . . . . . . . . . . . . . . . . . 81
11.16Output of S 11.21 . . . . . . . . . . . . . . . . . . . . . . . . 82
11.17Output of S 11.22 . . . . . . . . . . . . . . . . . . . . . . . . 83
11.18Output of S 11.23 . . . . . . . . . . . . . . . . . . . . . . . . 84
11.19Output of S 11.25 . . . . . . . . . . . . . . . . . . . . . . . . 85
11.20Output of S 11.26 . . . . . . . . . . . . . . . . . . . . . . . . 86
11.21Output of S 11.27 . . . . . . . . . . . . . . . . . . . . . . . . 88
11.22Output of S 11.28 . . . . . . . . . . . . . . . . . . . . . . . . 89

13.1 Output of S 13.01 . . . . . . . . . . . . . . . . . . . . . . . . 96

13.2 Output of S 13.02 . . . . . . . . . . . . . . . . . . . . . . . . 97
13.3 Output of S 13.03 . . . . . . . . . . . . . . . . . . . . . . . . 99
13.4 Output of S 13.04 . . . . . . . . . . . . . . . . . . . . . . . . 100
13.5 Output of S 13.05 . . . . . . . . . . . . . . . . . . . . . . . . 101
13.6 Output of S 13.06 . . . . . . . . . . . . . . . . . . . . . . . . 102

9
15.1 Output of S 15.01 . . . . . . . . . . . . . . . . . . . . . . . . 104
15.2 Output of S 15.02 . . . . . . . . . . . . . . . . . . . . . . . . 105
15.3 Output of S 15.03 . . . . . . . . . . . . . . . . . . . . . . . . 106
15.4 Output of S 15.04 . . . . . . . . . . . . . . . . . . . . . . . . 107
15.5 Output of S 15.05 . . . . . . . . . . . . . . . . . . . . . . . . 108
15.6 Output of S 15.06 . . . . . . . . . . . . . . . . . . . . . . . . 109
15.7 Output of S 15.07 . . . . . . . . . . . . . . . . . . . . . . . . 110
15.8 Output of S 15.08 . . . . . . . . . . . . . . . . . . . . . . . . 111

10
 Chapter 2

Laplace Transform and Matrix

Algebra

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.

2.1 Scilab Code

Example 2.01-01 2.01.01.sci

1 syms t s ;
2 y=l a p l a c e ( ’ 13 ’ , t , s ) ;
3 disp ( y , ” ans=” )

Example 2.01-02 2.01.02sci

1 syms t s ;
2 y=l a p l a c e ( ’ 4+5∗%eˆ(−3∗ t ) ’ , t , s ) ;
3 disp ( y , ” ans=” )

Example 2.01-03 2.01.03.sci

1 syms t s ;
2 y=l a p l a c e ( ’ 2∗ t −3∗%eˆ(− t ) ’ , t , s ) ;
3 disp ( y , ” ans=” )

11
 Example 2.03 2.03.sci

1 p=poly ( [ 9 1 ] , ’ s ’ , ’ c o e f f ’ )
2 q=poly ( [ 3 7 1 ] , ’ s ’ , ’ c o e f f ’ )
3 f=p/q ;
4 disp ( f , ”F( s )=” )
5 x=s ∗ f ;
6 y=l i m i t ( x , s , 0 ) ; / / f i n a l v a l u e theorem
7 disp ( y , ” f ( i n f )=” )
8 z=l i m i t ( x , s , %inf ) ; / / i n i t i a l value theorem
9 disp ( z , ” f ( 0 )=” )

Example 2.04 2.04.sci

1 s=%s
2 syms t ;
3 disp ( ( s +3) / ( ( s +1) ∗( s +2) ∗( s +4) ) , ”F( s )=” )
4 [A]= pfss ( ( s +3) / ( ( s +1) ∗( s +2) ∗( s +4) ) ) / / p a r t i a l fraction
of F( s )
5 F1= i l a p l a c e (A( 1 ) , s , t )
6 F2= i l a p l a c e (A( 2 ) , s , t )
7 F3= i l a p l a c e (A( 3 ) , s , t )
8 F=F1+F2+F3 ;
9 disp (F , ” f ( t )=” )

Example 2.05-01 2.05.01.sci

1 syms t s ;
2 y= l a p l a c e ( ’%eˆ(− t ) +5∗ t +6∗%eˆ(−3∗ t ) ’ , t , s ) ;
3 disp ( y , ” ans=” )

Example 2.05-02 2.05.02.sci

1 syms t s ;
2 y=l a p l a c e ( ’ 5+6∗ t ˆ2+3∗%eˆ(−2∗ t ) ’ , t , s ) ;
3 disp ( y , ” ans=” )

12
 Example 2.06 2.06.sci

1 syms t s ;
2 y=l a p l a c e ( ’3− %eˆ(−3∗ t ) ’ , t , s ) ;
3 disp ( y , ” ans=” )

Example 2.11 2.11.sci

1 p=poly ( [ 0 . 3 8 ] , ’ s ’ , ’ c o e f f ’ ) ;
2 q=poly ( [ 0 0 . 5 4 3 2 . 4 8 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 F=p/q ;
4

5 syms s ;
6 x=s ∗F ;
7 y=l i m i t ( x , s , 0 ) ; / / final value theorem
8 y=db l ( y ) ;
9 disp ( y , ” f ( i n f )=” )
10 z=l i m i t ( x , s , %inf ) / / // i n i t i a l value theorem
11 z=db l ( z ) ;
12 disp ( z , ” f ( 0 )=” )

Example 2.13 2.13.sci

1 s=%s ;
2 p=poly ( [ 3 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 −1 −1 −2] , ’ s ’ , ’ r o o t s ’ ) ;
4 f=p/q ;
5 syms t s ;
6 y=i l a p l a c e ( f , s , t ) ;
7 disp ( y , ” f ( t )=” )

13
 Chapter 3

Transfer Function

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.

3.1 Scilab Code

Example 3.02 3.02.sci

1 syms t s ;
2 f=%eˆ(−3∗ t ) ;
3 y=l a p l a c e ( ’%eˆ(−3∗ t ) ’ , t , s ) ;
4 disp ( y , ”G( s )=” )

Example 3.03 3.03.sci

1 syms t s ;
2 disp (%eˆ(−3∗ t ) , ”g ( t )=” ) ;
3 y1=l a p l a c e ( ’%eˆ(−3∗ t ) ’ , t , s ) ;
4 disp ( y1 , ”G( s )=” )
5 disp (%eˆ(−4∗ t ) , ” r ( t )=” ) ;
6 y2=l a p l a c e ( ’%eˆ(−4∗ t ) ’ , t , s ) ;
7 disp ( y2 , ”R( s )=” )
8 disp ( y1∗y2 , ”G( s )R( s )=” )

Example 3.04 3.04.sci

14
1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( 4 ∗ ( s +2) ∗ ( ( s +2.5) ˆ 3) ) / ( ( s +6) ∗ ( ( s +4) ˆ2 ) ) ) ;
3 plzr (H)

Example 3.15 3.15.sci

1 syms t s
2 y=l a p l a c e (%eˆ(−3∗ t ) ∗ sin (2∗ t ) , t , s ) ;
3 disp ( y , ” ans=” )

Example 3.16 3.16.sci

1 syms t s ;
2 x=6−4∗%eˆ(−5∗ t ) /5+%eˆ(−3∗ t ) // Given step Response of
the system
3 printf ( ” Derivative of step response g i v e s impulse
r e s p o n s e \n” )
4 y=d i f f ( x , t ) ; // D e r i v a t i v e of step response
5 p r i n t f ( ” L a p l a c e Transform o f Impulse Response g i v e s th e
T r a n s f e r Function \n ” )
6 p=l a p l a c e ( y , t , s ) ;
7 disp ( p , ” T r a n s f e r Function=” )

Example 3.17 3.17.sci

1 p r i n t f ( ” Given : P o l e s a r e s=−1,(−2+ i ) ,(−2− i ) ; z e r o s s

=−3+i ,−3− i , Gain f a c t o r ( k )=5 \n” )
2 num=poly([−3+%i,−3−%i ] , ’ s ’ , ’ r o o t s ’ ) ;
3 den=poly([−1,−2+%i,−2−%i ] , ’ s ’ , ’ r o o t s ’ ) ;
4 G=(5∗num) / den ;
5 disp (G, ”G( s )=” )

Example 3.18 3.18.sci

1 s=%s ;
2 G=s y s l i n ( ’ c ’ , ( 5 ∗ ( s +2) ) / ( ( s +3) ∗( s +4) ) ) ;
3 disp (G, ”G( s )=” )

15
 4 x=denom(G) ;
5 disp ( x , ” C h a r a c t e r i s t i c s Polynomial=” )
6 y=roots ( x ) ;
7 disp ( y , ” P o l e s o f a system=” )

Example 3.19 3.19.sci

1 p r i n t f ( ” Given : P o l e s a r e s =−3, Z e r o s a r e s =−2, Gain

F a c t o r ( k )=5 \n ” )
2 num=poly ( [ − 2 ] , ’ s ’ , ’ r o o t s ’ ) ;
3 den=poly ( [ − 3 ] , ’ s ’ , ’ r o o t s ’ ) ;
4 G=5∗num/ den ;
5 disp (G, ”G( s )=” )
6 disp ( ” Input i s Step Function ” )
7 syms t s ;
8 R=l a p l a c e ( 1 , t , s ) ;
9 disp (R, ”R( s )=” )
10 p r i n t f ( ”C( s )=R( s )G( s ) \n” )
11 C=R∗G;
12 disp (C, ”C( s )=” )
13 c=i l a p l a c e (C, s , t ) ;
14 disp ( c , ” c ( t )=” )

Example 3.23 3.23.sci

1 // p o l e zero plot for g ( s ) =( s ˆ2+3 s +2) / ( s ˆ2+7 s + 1 2 )

2 s=%s ;
3 p=poly ( [ 2 3 1 ] , ’ s ’ , ” c o e f f ” )
4 q=poly ( [ 1 2 7 1 ] , ’ s ’ , ” c o e f f ” )
5 V=s y s l i n ( ’ c ’ , p , q )
6 plzr (V)
7 syms s t ;
8 v =i l a p l a c e ( ’ (2+(3∗ s )+s ˆ 2) / ( s ˆ2+(7∗ s ) +12) ’ , s , t )
9 disp ( v , ”V( t ) = ’)

16
 Chapter 4

Control system Components

4.1 Scilab Code

Example 4.01 4.01.sci

1 p r i n t f ( ” Given a ) E x c i t a t i o n v o l t a g e ( Ein )=2V \n b )

S e t t i n g Ratio ( a )= 0 . 4 \n” )
2 Ein =2;
3 disp ( Ein , ” Ein=” )
4 a =0.4;
5 disp ( a , ”a=” )
6 Rt =10ˆ3;
7 disp ( Rt , ”Rt=” )
8 Rl =5∗10ˆ3;
9 disp ( Rl , ” Rl=” )
10 p r i n t f ( ”Eo = ( a∗ Ein ) /(1+( a∗(1−a ) ∗Rt ) / Rl ) \n” )
11 Eo = ( a∗ Ein ) /(1+( a∗(1−a ) ∗Rt ) / Rl ) ;
12 disp ( Eo , ” output v o l t a g e ( E0 )=” )
13 p r i n t f ( ” e =(( a ˆ 2 ) ∗(1−a ) ) / ( ( a∗(1−a ) ) +(Rl /Rt ) ) \n” )
14 e =(( a ˆ 2) ∗(1−a ) ) / ( ( a∗(1−a ) ) +(Rl /Rt ) ) ;
15 disp ( e , ” l o a d i n g e r r o r=” )
16 p r i n t f ( ”E=Ein ∗ e \n” )
17 E=Ein ∗ e ; / / V o l t a g e e r r o r = E x c i t a t i o n v o l t a g e ( E i n ) ∗
Loading error ( e )
18 disp (E , ” V o l t a g e e r r o r=” )

17
 Example 4.02 4.02.sci

1 p r i n t f ( ”n=5 , H e l i c a l turn \n” )

2 n=5; / / H e l i c a l t u r n
3 disp ( n , ”n=” )
4 p r i n t f ( ”N=9000 , Winding Turn \n” )
5 N=9000; / / W i n d i n g T u r n
6 disp (N, ”N=” )
7 p r i n t f ( ”R=10000 , P o t e n t i o m e t e r R e s i s t a n c e \n” )
8 R=10000; / / P o t e n t i o m e t e r R e s i s t a n c e
9 disp (R, ”R=” )
10 p r i n t f ( ” Ein=90 , Input v o l t a g e \n” )
11 Ein =90; / / I n p u t v o l t a g e
12 disp ( Ein , ” Ein=” )
13 p r i n t f ( ” r =5050 , R e s i s t a n c e a t mid p o i n t \n” )
14 r =5050; / / R e s i s t a n c e a t m i d p o i n t
15 disp ( r , ” r=” )
16 p r i n t f ( ”D=r −5000 , D e v i a t i o n from nominal a t mid−p o i n t \
n” )
17 D=r −5000; / / D e v i a t i o n f r o m n o m i n a l a t m i d − p o i n t
18 disp (D, ”D=” )
19 p r i n t f ( ”L=D/R∗100 , L i n e a r i t y \n” )
20 L=D/R∗ 1 0 0 ; / / L i n e a r i t y
21 disp (L , ”L=” )
22 p r i n t f ( ”R=Ein /N , R e s o l u t i o n \n” )
23 R=Ein /N; / / R e s o l u t i o n
24 disp (R, ”R=” )
25 p r i n t f ( ”Kp=Ein /(2∗ p i ∗n ) , P o t e n t i o m e t e r Constant \n” )
26 Kp=Ein /(2∗ %pi∗n ) ; / / P o t e n t i o m e t e r C o n s t a n t
27 disp (Kp, ”Kp=” )

Example 4.03 4.03.sci

1 p r i n t f ( ” s i n c e S2 i s t h e r e f e r a n c e s t a t o r winding , Es2=
KVcos0 \n where Es2 & Er a r e rms v o l t a g e s \n ’ )
2 k=1
3 Theta =60;
4 d i s p ( Theta , ” Theta=” )

18
 5 V=28;
6 d i s p (V, ”V( a p p l i e d )=” )
7 p r i n t f ( ” Es2=V∗ cos ( Theta ) \n” )
8 Es2=k∗V∗ c o s ( Theta ∗( %pi /180) ) ;
9 d i s p ( Es2 , ” Es2=” )
10 p r i n t f ( ” Es1=k∗V∗ cos ( Theta −120)\n” )
11 Es1=k∗V∗ c o s ( ( Theta −120) ∗( %pi /180) ) ; // Given Theta=60
in degrees
12 d i s p ( Es1 , ” Es1= ’ )
13 p r i n t f ( ” Es3=k∗V∗ c o s ( Theta +120) \n ” )
14 Es3=k∗V∗ c o s ( ( Theta +120) ∗( %pi /180) ) ;
15 d i s p ( Es3 , ” Es3= ’ )
16 p r i n t f ( ” Es31=s q r t ( 3 ) ∗k∗Er∗ s i n ( Theta ) ” )
17 Es31=sqrt ( 3 ) ∗k∗V∗ sin ( Theta ∗( %pi /180) ) ;
18 disp ( Es31 , ” Es31 = ’)
19 p r i n t f ( ” Es12=sqrt ( 3 ) ∗k∗Er∗ sin ( ( Theta −120) ” )
20 Es12=s q r t ( 3 ) ∗k∗V∗ s i n ( ( Theta −120) ∗( %pi /180) ) ;
21 d i s p ( Es12 , ” Es12= ’ )
22 p r i n t f ( ” Es23=s q r t ( 3 ) ∗k∗Er∗ s i n ( ( Theta +120) ” )
23 Es23=s q r t ( 3 ) ∗k∗V∗ s i n ( ( Theta +120) ∗( %pi /180) ) ;
24 d i s p ( Es23 , ” Es23= ’ )

Example 4.04 4.04.sci

1 p r i n t f ( ” S e n s i t i v i t y =5v /1000rpm \n” )

2 Vg=5;
3 disp (Vg , ”Vg=” )
4 p r i n t f ( ”w( i n r a d i a n s / s e c ) =(1000/60) ∗2∗ p i \n” )
5 w=(1000/60) ∗2∗ %pi ;
6 disp (w, ”w=” )
7 p r i n t f ( ”Kt=Vg/w \n ’ )
8 Kt=Vg/w;
9 d i s p ( Kt , ” Gain c o n s t a n t ( Kt )=” )

Example 4.05 4.05.sci

1 p r i n t f ( ” Torque=KmVm=2 \n” )
2 t =2;

19
 3 disp ( t , ” Torque ( t )=” )
4 Fm= 0 . 2 ;
5 disp (Fm, ” C o e f f i c i e n t o f V i s c o u s f r i c t i o n (Fm)=” )
6 N=4
7 I =0.2
8 F1=0.05
9 p r i n t f ( ”Wnl=t /Fm” )
10 Wnl=t /Fm;
11 disp (Wnl , ”No Load Speed (Wnl)=” )
12 p r i n t f ( ”Fwt=I +(Nˆ2∗F1 ) \n” )
13 Fwt=I +(Nˆ2∗F1 ) ;
14 disp ( Fwt , ” Total V i s c o u s F r i c t i o n ( Fwt )=” )
15 p r i n t f ( ”Te=t −(Fwt∗w) \n” )
16 Te=0.8 / / l o a d
17 w=(t−Te ) /Fwt ;
18 disp (w, ” Speed o f Motor (w)=” )

20
 Chapter 6

Control system Components

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.
To Run the following codes use the same destination for the function as
well as the main code.

6.1 Scilab Code

Example F1 parallel.sce

1 function [ y]= p a r a l l e l ( sys1 , s y s 2 )

2 y=s y s 1+s y s 2
3 endfunction

Example F2 serial.sce

1 function [ y]= s e r i e s ( sys1 , s y s 2 )

2 y=s y s 1 ∗ s y s 2
3

4 endfunction

Example 6.01 6.01.sci

1 exec s e r i e s . s c e ;
2 s=%s ;

21
 3 s y s 1=s y s l i n ( ’ c ’ , ( s +3) / ( s +1) )
4 s y s 2=s y s l i n ( ’ c ’ , 0 . 2 / ( s +2) )
5 s y s 3=s y s l i n ( ’ c ’ , 5 0 / ( s +4) )
6 s y s 4=s y s l i n ( ’ c ’ , 1 0 / ( s ) )
7 a=s e r i e s ( sys1 , s y s 2 ) ;
8 b=s e r i e s ( a , s y s 3 ) ;
9 y=s e r i e s ( b , s y s 4 ) ;
10 y=simp ( y ) ;
11 disp ( y , ”C( s ) /R( s )=” )

This code requires S F1.

Example 6.02 6.02.sci

1 exec p a r a l l e l . s c e ;
2 s=%s ;
3 s y s 1=s y s l i n ( ’ c ’ , 1 / s )
4 s y s 2=s y s l i n ( ’ c ’ , 2 / ( s +1) )
5 s y s 3=s y s l i n ( ’ c ’ , 3 / ( s +3) )
6 a=p a r a l l e l ( sys1 , s y s 2 ) ;
7 y=p a r a l l e l ( a , s y s 3 ) ;
8 y=simp ( y ) ;
9 disp ( y , ”C( s ) /R( s )=” )

This code requires S F2.

Example 6.03 6.03.sci

1 exec s e r i e s . s c e ;
2 s=%s ;
3 s y s 1=s y s l i n ( ’ c ’ , 3 / ( s ∗( s +1) ) )
4 s y s 2=s y s l i n ( ’ c ’ , s ˆ 2 / ( 3 ∗ ( s +1) ) )
5 s y s 3=s y s l i n ( ’ c ’ , 6 / ( s ) )
6 a=(−1)∗ s y s 3 ;
7 b=s e r i e s ( sys1 , s y s 2 ) ;
8 y=b / . a // f e e d b a c k operation
9 y=simp ( y )
10 disp ( y , ”C( s ) /R( s )=” )

22
 Example 6.04 6.04.sci

1 exec p a r a l l e l . s c e ;
2 syms G1 G2 G3 H;
3 a=s e r i e s (G1 , G2) ;
4 b=p a r a l l e l ( a , G3) ;
5 y=b / .H / / n e g a t i v e f e e d b a c k operation
6 y=s i m p l e ( y )
7 disp ( y , ”C( s ) /R( s )=” )

Example 6.05 6.05.sci

1 exec s e r i e s . s c e ;
2 syms G1 G2 H1 H2 s ;
3 a=G1 / . H1 ; / / n e g a t i v e f e e d b a c k o p e r a t i o n
4 b=a / . H2 ; / / n e g a t i v e f e e d b a c k o p e r a t i o n
5 y=s e r i e s ( b , G2) ;
6 y=s i m p l e ( y ) ;
7 disp ( y , ”C( s ) /R( s )=” )

Example 6.06 6.06.sci

1 exec p a r a l l e l . s c e ;
2 exec s e r i e s . s c e ;
3 syms G1 G2 G3 G4 G5 G6 H1 H2 ;
4 a=p a r a l l e l (G3 , G5) ;
5 b=p a r a l l e l ( a,−G4) ;
6 c=s e r i e s (G1 , G2) ;
7 d=c / . H1 ;
8 e=s e r i e s ( b , d ) ;
9 f=e / . H2 ;
10 y=s e r i e s ( f , G6) ;
11 y=s i m p l e ( y ) ;
12 disp ( y , ”C( s ) /R( s )=” )

Example 6.07 6.07.sci

23
 1 exec s e r i e s . s c e ;
2 syms G1 G2 G3 H1 H2 R X;
3 // p u t t i n g x =0 , t h e n solving the block
4 a=G3 / . H1 ;
5 b=s e r i e s (G1 , G2) ;
6 c=s e r i e s ( a , b ) ;
7 x1=c / . H2 ;
8 C1=R∗x1 ;
9 disp ( x1 , ”C1( s ) /R( s )=” )
10 // p u t t i n g r =0 , then solving the block
11 d=s e r i e s (G1 , G2) ;
12 e=s e r i e s ( d , H2) ;
13 f=G3 / . H1 ;
14 x2=f / . e ;
15 C2=X∗x2 ;
16 disp ( x2 , ”C2( s ) /X( s )=” )
17 // r e s u l t a n t output C= C 1 + C 2
18 C=C1+C2 ;
19 C=s i m p l e (C) ;
20 disp (C, ” R e s u l t a n t Output=” )

Example 6.08 6.08.sci

1 exec p a r a l l e l . s c e ;
2 exec s e r i e s . s c e ;
3 syms G1 G2 G3 H1 H2 ;
4 // s h i f t the take − o f f point after the block G2
5 a=G3/G2 ;
6 b=p a r a l l e l ( a , 1 ) ;
7 c=s e r i e s (G1 , G2) ;
8 d=c / . H1 / / n e g a t i v e feedback operation
9 e=s e r i e s ( d , b ) ;
10 y=e / . H2 ;
11 y=s i m p l e ( y ) ;
12 disp ( y , ”C( s ) /R( s )=” )

Example 6.09 6.09.sci

24
 1 exec s e r i e s . s c e
2 syms G1 G2 G3 H1 H2 H3 ;
3 // Remove the feedback loop having feedback path
transfer function H2
4 a=G3 / . H2 ;
5 // I n t e r c h a n g e the summer . as well as replace the
cascade block by its equivalent block
6 b=s e r i e s (G1 , G2) ;
7 c=b / . H1 ; / / N e g a t i v e Feedback Operation
8 d=s e r i e s ( c , a ) ;
9 y=d / . H3 ; / / N e g a t i v e Feedback Operation
10 y=s i m p l e ( y ) ;
11 disp ( y , ”C( s ) /R( s )=” )

Example 6.10 6.10.sci

1 exec p a r a l l e l . s c e ;
2 exec s e r i e s . s c e ;
3 syms G1 G2 G3 G4 G5 H1 H2 ;
4 a=G2 / . H1 ; / / n e g a t i v e f e e d b a c k operation
5 b=s e r i e s (G1 , a ) ;
6 c=s e r i e s ( b , G3) ;
7 d=p a r a l l e l ( c , G4) ;
8 e=s e r i e s ( d , G5) ;
9 y=e / . H2 ; // n e g a t i v e feedback operation
10 y=s i m p l e ( y ) ;
11 disp ( y , ”C( s ) /R( s )=” )

Example 6.11 6.11.sci

1 exec p a r a l l e l . s c e ;
2 exec s e r i e s . s c e ;
3 syms G1 G2 G3 G4 G5 G6 G7 H1 H2 H3 ;
4 a=p a r a l l e l (G1 , G2) ;
5 b=p a r a l l e l ( a , G3) ;
6 // s h i f t the take off point to the right of the block G4
7 c=G4 / . H1 ; // n e g a t i v e feedback operation
8 d=G5/G4 ; // n e g a t i v e feedback operation

25
 9 e=p a r a l l e l ( d , 1 ) ;
10 f=G6 / . H2 ; // n e g a t i v e feedback operation
11 g=s e r i e s ( b , c ) ;
12 h=s e r i e s ( g , e ) ;
13 i=s e r i e s ( h , f ) ;
14 j=s e r i e s ( i , G7) ;
15 y=j / . H3 ;
16 y=s i m p l e ( y ) ;
17 disp ( y , ”C( s ) /R( s )=” )

Example 6.12 6.12.sci

1 exec s e r i e s . s c e ;
2 exec p a r a l l e l . s c e ;
3 syms G1 G2 G3 G4 H1 H2 H3 ;
4 // s h i f t the take − o f f point after the block G1
5 a=G3/G1 ;
6 b=p a r a l l e l ( a , G2) ;
7 c=G1 / . H1 ; / / N e g a t i v e F e e d b a c k O p e r a t i o n
8 d=1/b ; // N e g a t i v e Feedback Operation
9 e=p a r a l l e l ( d , H3) ;
10 f=s e r i e s ( e , H2) ;
11 g=s e r i e s ( c , b ) ;
12 h=g / . f ; // N e g a t i v e Feedback Operation
13 y=s e r i e s ( h , G4) ;
14 y=s i m p l e ( y ) ;
15 disp ( y , ”C( s ) /R( s )=” )

Example 6.13 6.13.sci

1 exec s e r i e s . s c e ;
2 exec p a r a l l e l . s c e ;
3 syms G1 G2 G3 G4 H1 H2 ;
4 // r e d u c e the internal feedback loop
5 a=G2 / . H2 ;
6 // p l a c e the summer l e f t to the block G1
7 b=G3/G1 ;
8 // e x c h a n g e the summer

26
 9 c=p a r a l l e l ( b , 1 ) ;
10 d=s e r i e s ( a , G1) ;
11 e=s e r i e s ( d , G4) ;
12 f=e / . H1 ;
13 y=s e r i e s ( c , f ) ;
14 y=s i m p l e ( y ) ;
15 disp ( y , ”C( s ) /R( s )=” )

Example 6.14 6.14.sci

1 exec s e r i e s . s c e ;
2 exec p a r a l l e l . s c e ;
3 syms G1 G2 G3 G4 H1 H2 ;
4 // s h i f t the take − o f f point to the right of the block G3
5 a=H1/G3 ;
6 b=s e r i e s (G2 , G3) ;
7 c=p a r a l l e l (H2 , a ) ;
8 d=b / . c ;
9 e=s e r i e s ( d , G1) ;
10 f=e / . a ;
11 y=s e r i e s ( f , G4) ;
12 y=s i m p l e ( y ) ;
13 disp ( y , ”C( s ) /R( s )=” )

Example 6.15 6.15.sci

1 exec s e r i e s . s c e ;
2 exec p a r a l l e l . s c e ;
3 syms G1 G2 G3 G4 H1 H2 H3 ;
4 // s h i f t the take − o f f point to the right of the block H1
5 // s h i f t the other take − o f f point to the right of the
block H1 &H2
6 a=s e r i e s (H1 , H2) ;
7 b=1/a ;
8 c=1/H1 ;
9 d=G3 / . a ;
10 // move the summer to the l e f t of the block G2
11 e=G4/G2 ;

27
12 f=s e r i e s ( d , G2) ;
13 // e x c h a n g e the summer
14 g=f / . H1 ;
15 h=p a r a l l e l (G1 , e ) ;
16 i=s e r i e s ( h , g ) ;
17 j=s e r i e s ( a , H3) ;
18 y=i / . j ;
19 y=s i m p l e ( y ) ;
20 disp ( y , ”C( s ) /R( s )=” )

28
 Chapter 8

Time Domain Analysis of

Control Systems

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox

8.1 Scilab Code

Example 8.02 8.02.sci

1 s=%s ;
2 p=poly ( [ 3 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 1 0 . 9 5 0 . 2 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
4 G=p/q ;
5 disp (G, ”G( s )=” )
6 H=1;
7 y=G∗H; / / T y p e 1 S y s t e m
8 disp ( y , ”G( s )H( s )=” )
9 // R e f e r i n g the table 8.2 given in the book , For type 1
system Kp= % i n f & Ka =0
10 p r i n t f ( ” For type1 Kp=i n f & Ka=0 \n” )
11 syms s ;
12 Kv=l i m i t ( s ∗y , s , 0 ) ; / / K v = v e l o c i t y e r r o r c o e f f i c i e n t
13 disp (Kv , ” V e l o c i t y E r r o r C o e f f i c i e n t (Kv)=” )

29
 Example 8.03-01 8.03.01.sci

1 s=%s ;
2 p=poly ( [ 1 0 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 0 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
4 G=p/q ;
5 H= 0 . 7 ;
6 y=G∗H; / / t y p e 2
7 disp ( y , ”G( s )H( s )=” )
8 // r e f e r i n g the table 8.2 given in the book , for type 1
Kp= % i n f & Kv= % i n f
9 p r i n t f ( ” For type1 Kp=i n f & Kv=i n f \n” )
10 syms s ;
11 Ka=l i m i t ( s ˆ2∗y , s , 0 ) ; / / K a = a c c e l a r a t i o n error
c o e f f i c i e n t
12 disp (Ka , ”Ka=” )

Example 8.03-02 8.03.02.sci

1 p=poly ( [ 5 ] , ’ s ’ , ’ c o e f f ’ ) ;
2 q=poly ( [ 5 3 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 G=p/q
4 H=0.6
5 y=G∗H / / t y p e 0
6 // r e f e r i n g the table 8.2 given in the book , for type 1
Ka =0 & Kv =0
7 syms s
8 Kp=l i m i t ( s ∗y/ s , s , 0 ) // Kp= p o s i t i o n a l error c o e f f i c i e n t

Example 8.03-03 8.03.03.sci

2 p=poly ( [ 1 0 . 1 3 0 . 4 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 0 5 3 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
4 G=10∗p/q / / g a i n FACTOR = 1 0
5 H=0.8
6 y=G∗H / / t y p e 2

30
 7 // r e f e r i n g the table 8.2 given in the book , for type 2
Kp= % i n f & Kv= % i n f
8 syms s
9 Ka=l i m i t ( s ˆ2∗y , s , 0 ) / / Ka= a c c e l a r a t i o n error c o e f f i c i e n t

Example 8.04 8.04.sci

2 p=poly ( [ 4 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 0 6 5 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
4 syms K r e a l ;
5 y=K∗p/q / / g a i n FACTOR =K
6 disp ( y , ”G( s )H( s )=” )
7 // G ( s ) H ( s ) =y , and it is of type 2
8 // r e f e r i n g the table 8.2 given in the book , for type 2
Kp= % i n f & Kv= % i n f
9 p r i n t f ( ” For type1 Kp=i n f & Kv=i n f \n” )
10 syms A s t ;
11 Ka=l i m i t ( s ˆ2∗y , s , 0 ) ; / / K a = a c c e l a r a t i o n error
c o e f f i c i e n t
12 disp (Ka , ”Ka=” )
13 // g i v e n input is r ( t ) =A ( t ˆ 2 ) / 2 & R( s )= l a p l a c e ( r ( t ) )
14 p r i n t f ( ” Given r ( t )=A( t ˆ 2) /2 \n” )
15 R=l a p l a c e ( ’A∗ t ˆ2/2 ’ , t , s ) ;
16 disp (R, ”R( s )=” )
17 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
18 e=l i m i t ( s ∗R/(1+y ) , s , 0 )
19 disp ( e , ” Ess=” )

Example 8.05 8.05.sci

1 p=poly ( [ 6 0 ] , ’ s ’ , ’ c o e f f ’ ) ;
2 q=poly ( [ 1 2 7 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 G=p/q ;
4 disp (G, ”G( s )=” )
5 H=1;
6 y=G∗H
7 F=1/(1+y ) ;

31
 8 disp (F , ” 1/(1+G( s )H( s ) )=” )
9 syms t s ;
10 Ko=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 ( 1 / ( 1 + G ( s ) H ( S ) )
11 d=d i f f ( s ∗F/ s , s ) ;
12 K1=l i m i t ( d i f f ( s ∗F/ s , s ) , s , 0 ) / / K 1 = L t s − >0 ( d F ( s ) / d s )
13 K2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s − >0 ( d 2 F ( s ) / d s )
14 // g i v e n input is r ( t ) =4+3∗ t +8( t ˆ 2 ) /2 & R( s )= l a p l a c e ( r ( t
) )
15 a=(4+3∗ t +8∗( t ˆ 2) / 2 )
16 b=d i f f (4+3∗ t +8∗( t ˆ 2) /2 , t )
17 c=d i f f ( b , t )
18 e=Ko∗a+K1∗b+K2∗ c / / e r r o r b y dynamic c o e f f i c i e n t method
19 disp ( e , ” e r r o r ” )

Example 8.06 8.06.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s polynomial variable

2 F=s y s l i n ( ’ c ’ , [ 2 5 / ( ( s +1)∗ s ) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Wd=Wn∗ sqrt (1− z e t a ˆ 2)
13 Tp=%pi/Wd
14 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) )

Example 8.07 8.07.sci

1 s=poly ( 0 , ’ s ’ ) ; // D e f i n e s s as polynomial variable

32
 2 F=s y s l i n ( ’ c ’ , [ 2 0 / ( s ˆ2+5∗ s +5) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Wd=Wn∗ sqrt (1− z e t a ˆ 2)
13 Tp=%pi/Wd / / Tp= p e a k t i m e
14 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) ) / / p e a k
overshoot
15 Td=(1+0.7∗ z e t a ) /Wn / / Td= d e l a y t i m e
16 a=atan ( sqrt (1− z e t a ˆ 2) / z e t a )
17 Tr=(%pi−a ) /Wd // Tr= r i s e time
18 Ts=4/( z e t a ∗Wn) // Ts= s e t t l i n g time

Example 8.08 8.08.sci

1 p=poly ( [ 1 4 0 , 3 5 ] , ’ s ’ , ’ c o e f f ’ ) ;
2 q=poly ( [ 0 , 1 0 , 7 , 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 G=p/q
4 H=1
5 y=G∗H / / t y p e 1
6 // r e f e r i n g the table 8.2 given in the book , for type 1
Kp= % i n f & Ka =0
7 syms s
8 Kv=l i m i t ( s ∗y , s , 0 ) / / Kv= velocity error c o e f f i c i e n t
9 // g i v e n input is r ( t ) =5∗ t & R( s )= l a p l a c e ( r ( t ) )
10 R=l a p l a c e ( ’ 5∗ t ’ , t , s )
11 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
12 e=l i m i t ( s ∗R/(1+y ) , s , 0 ) / / e = e r r o r for ramp input
13 disp ( e , ” s t e a d y s t a t e e r r o r ” )

33
 Example 8.09 8.09.sci

1 p=poly ( [ 4 0 , 2 0 ] , ’ s ’ , ’ c o e f f ’ ) ;
2 q=poly ( [ 0 , 0 , 5 , 6 , 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 G=p/q ;
4 H=1;
5 y=G∗H; / / t y p e 2
6 disp ( y , ”G( s )H( s=” )
7 // r e f e r i n g the table 8.2 given in the book , for type 2
Kp= % i n f & Kv= % i n f
8 syms s t ;
9 Ka=l i m i t ( s ˆ2∗y , s , 0 ) / / Ka= accelaration error
c o e f f i c i e n t
10 // g i v e n input is r ( t ) =1+3 t + t ˆ 2 / 2 & R( s )= l a p l a c e ( r ( t ) )
11 R=l a p l a c e ( ’ (1+3∗ t +( t ˆ2/2) ) ’ , t , s )
12 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
13 e=l i m i t ( s ∗R/(1+y ) , s , 0 ) / / e = e r r o r for ramp input
14 disp ( e , ” s t e a d y s t a t e e r r o r ” )

Example 8.10 8.10.sci

1 s = poly ( 0 , ’ s ’ )
2 s y s = s y s l i n ( ’ c ’ , ( 2 0 ) / ( s ˆ2+7∗ s +10) )
3 a=s y s / . ( 2 ∗ ( s +1) ) / / s i m p l i f y i n g t h e internal feedback
loop
4 b=20∗2∗a ;
5 disp ( b , ”G( s ) ” )
6 c =1;
7 disp ( c , ”H( s ) ” )
8 OL=b∗ c ;
9 disp (OL, ”G( s )H( s ) ” )
10 , ”G( s ) ∗H( s ) ” )
11 syms t s ;
12 Kp=l i m i t ( s ∗OL/ s , s , 0 ) / / K p = p o s i t i o n e r r o r c o e f f i c i e n t
13 Kv=l i m i t ( s ∗OL, s , 0 ) / / K v = v e l o c i t y e r r o r c o e f f i c i e n t
14 Ka=l i m i t ( s ˆ2∗OL, s , 0 ) / / K a = a c c e l a r a t i o n e r r o r
c o e f f i c i e n t

34
15 // g i v e n input r ( t ) =6
16 R=l a p l a c e ( ’ 6 ’ , t , s )
17 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
18 e1=l i m i t ( s ∗R/(1+OL) , s , 0 ) ; // e= e r r o r for given input
19 disp ( e1 , ” e r r o r ” )
20 // g i v e n input r ( t ) =8 t
21 M=l a p l a c e ( ’ 8∗ t ’ , t , s )
22 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
23 e2=l i m i t ( s ∗M/(1+OL) , s , 0 ) ; // e= e r r o r for given input
24 disp ( e2 , ” e r r o r ” )
25 // g i v e n input r ( t ) = 1 0 + 4 t +3 t ˆ 2 / 2
26 N=l a p l a c e ( ’ 10+4∗ t +(3∗ t ˆ 2) /2 ’ , t , s )
27 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
28 e3=l i m i t ( s ∗N/(1+OL) , s , 0 ) ; // e= e r r o r for given input
29 disp ( e3 , ” e r r o r ” )

Example 8.11 8.11.sci

1 s = poly ( 0 , ’ s ’ )
2 s y s 1 = s y s l i n ( ’ c ’ , ( s ) / ( s +6) ) ;
3 s y s 2 = s y s l i n ( ’ c ’ , ( s +2) / ( s +3) ) ;
4 s y s 3 = s y s l i n ( ’ c ’ , ( 5 ) / ( ( s +3)∗ s ˆ 3 ) ) ;
5 a=s y s 2+s y s 3 ;
6 disp ( a , ”H( s ) ” )
7 b=s y s 1 ;
8 disp ( b , ”G( S ) ” )
9 y=a∗b ;
10 disp ( y , ”G( S )H( S ) ” )
11 syms s
12 Kp=l i m i t ( s ∗y/ s , s , 0 ) / / K p = p o s i t i o n e r r o r c o e f f i c i e n t
13 Kv=l i m i t ( s ∗y , s , 0 ) / / K v = v e l o c i t y e r r o r c o e f f i c i e n t
14 Ka=l i m i t ( s ˆ2∗y , s , 0 ) / / K a = a c c e l a r a t i o n e r r o r
c o e f f i c i e n t

Example 8.12 8.12.sci

1 s=%s ;
2 syms k t ;

35
 3 y=k / ( ( s +1)∗ s ˆ2∗( s +4) ) ;
4 disp ( y , ”G( s )H( s )=” )
5 r =1+(8∗ t ) +(18∗ t ˆ2/2) ;
6 disp ( r , ” r ( t )=” )
7 R=l a p l a c e ( r , t , s ) ;
8 disp (R, ”R( s )=” )
9 e=l i m i t ( ( s ∗R) /(1+y ) , s , 0 )
10 disp ( e , ” Ess=” )
11 p r i n t f ( ’ Given Ess = 0 . 8 \n ” )
12 e =0.8;
13 k=72/e ;
14 d i s p ( k , ” k=”)

Example 8.13 8.13.sci

1 syms s t k ;
2 s = poly ( 0 , ’ s ’ ) ;
3 y=k / ( s ∗( s +2) ) ; / / G ( s )H( s )
4 disp ( y , ”G( s )H( s ) ” )
5 / / R= l a p l a c e ( ’ 0 . 2 ∗ t ’ , t , s )
6 R=l a p l a c e ( ’ 0 . 2 ∗ t ’ , t , s )
7 e=l i m i t ( s ∗R/(1+y ) , s , 0 )
8 // g i v e n e <=0.02
9 a =[0.02];
10 b=[ −0.4];
11 m=l i n s o l v e ( a , b ) ; // S o l v e s The Linear Equation
12 disp (m, ”k” )

Example 8.14 8.14.sci

1 syms s , t , k ;
2 s=%s ;
3 y=k / ( s ∗( s +2) ∗(1+0.5∗ s ) ) //G( s )H( s )
4 disp ( y , ”G( s )H( s ) ” )
5 / / R= l a p l a c e ( ’ 3 ∗ t ’ , t , s )
6 R=l a p l a c e ( ’ 3∗ t ’ , t , s )
7 e=l i m i t ( s ∗R/(1+y ) , s , 0 ) ;
8 disp ( e , ” s t e a d y s t a t e e r r o r ” )

36
 9 k=4; / / g i v e n
10 y=e ;
11 disp ( y , ” s t a t e s t a t e e r r o r when k=4” )

Example 8.15 8.15.sci

1 s = poly ( 0 , ’ s ’ ) ;
2 s y s = s y s l i n ( ’ c ’ , 1 8 0 / ( s ∗( s +6) ) ) //G( s )H( s )
3 disp ( sys , ”G( s )H( s ) ” )
4 syms t s ;
5 / / R= l a p l a c e ( ’ 4 ∗ t ’ , t , s )
6 R=l a p l a c e ( ’ 4∗ t ’ , t , s ) ;
7 e=l i m i t ( s ∗R/(1+ s y s ) , s , 0 ) ;
8 y=db l ( e ) ;
9 disp ( y , ” s t e a d y s t a t e e r r o r ” )
10 syms k r e a l ;
11 // v a l u e of k if error reduced by 6% ;
12 e1=l i m i t ( s ∗R/(1+k / ( s ∗( s +6) ) ) , s , 0 ) / / −−−−−−−1
13 e1 =0.94∗ e / / −−−−−−−−2
14 // now solving these two equations
15 a =[47];
16 b =[ −9000];
17 m=l i n s o l v e ( a , b ) ;
18 disp (m, ”k” )

Example 8.16 8.16.sci

1 s=%s ;
2 F=s y s l i n ( ’ c ’ , ( 8 1 ) / ( s ˆ2+6∗ s ) ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s

37
 9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Wd=Wn∗ sqrt (1− z e t a ˆ 2)
13 Tp=%pi/Wd / / Tp= p e a k t i m e
14 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) ) / / p e a k
overshoot

Example 8.17 8.17.sci

1 s=%s ;
2 F=s y s l i n ( ’ c ’ , ( 2 5 ) / ( s ˆ2+7∗ s ) ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 k =20/25; // k= g a i n factor
5 CL=k ∗(F / .B) / / C a l c u l a t e s c l o s e d −loop transfer function
6 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
7 y=denom(CL) // e x t r a c t i n g the denominator of CL
8 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
9 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
10 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
11 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
12 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
13 Wd=Wn∗ sqrt (1− z e t a ˆ 2)
14 Tp=%pi/Wd / / Tp= p e a k t i m e
15 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) ) / / p e a k
overshoot
16 Td=(1+0.7∗ z e t a ) /Wn / / Td= d e l a y t i m e
17 a=atan ( sqrt (1− z e t a ˆ 2) / z e t a )
18 Tr=(%pi−a ) /Wd // Tr= r i s e time
19 Ts=4/( z e t a ∗Wn) // Ts= s e t t l i n g time
20 // y ( t )= e x p r e s s i o n for output
21 y =(20/25) ∗(1 −(exp(−1∗ z e t a ∗Wn∗ t ) / sqrt (1− z e t a ˆ 2) ) ∗ sin (Wd∗
t+atan ( z e t a / sqrt (1− z e t a ˆ 2) ) ) ) ;
22 disp ( y , ”Y( t ) ” )

38
 Example 8.19 8.19.sci

1 s=%s ;
2 F=s y s l i n ( ’ c ’ , ( 1 4 4 ) / ( s ˆ2+12∗ s ) ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 k =20/25; // k= g a i n factor
5 CL=k ∗(F / .B) / / C a l c u l a t e s c l o s e d −loop transfer function
6 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
7 y=denom(CL) // e x t r a c t i n g the denominator of CL
8 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
9 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
10 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
11 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
12 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
13 Wd=Wn∗ sqrt (1− z e t a ˆ 2)
14 Tp=%pi/Wd / / Tp= p e a k t i m e
15 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) ) / / p e a k
overshoot
16 Td=(1+0.7∗ z e t a ) /Wn / / Td= d e l a y t i m e
17 a=atan ( sqrt (1− z e t a ˆ 2) / z e t a )
18 Tr=(%pi−a ) /Wd // Tr= r i s e time
19 Ts=4/( z e t a ∗Wn) // Ts= s e t t l i n g time

Example 8.20 8.20.sci

1 i eee ( 2 ) ;
2 syms k T;
3 num=k ;
4 den=s ∗(1+ s ∗T) ;
5 G=num/ den ;
6 disp (G, ”G( s )=” )
7 H=1;
8 CL=G/ .H;
9 CL=s i m p l e (CL) ;

39
10 disp (CL, ”C( s ) /R( s )=” ) // C a l c u l a t e s closed −loop
transfer function
11 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
12 [ num , den ]=numden (CL) // e x t r a c t s num & den of symbolic
function ( CL )
13 den=den /T;
14 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 ) // coeff of den of symbolic
function ( CL )
15 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
16 / / Wn ˆ 2 = cof a 0 , comparing the c o e f f i c i e n t s
17 Wn=sqrt ( c o f a 0 )
18 disp (Wn, ” n a t u r a l f r e q u e n c y Wn” ) // Wn= n a t u r a l
frequency
19 // c o f a 1 = 2 ∗ z e t a ∗ Wn
20 z e t a=c o f a 1 /(2∗Wn)

Example 8.23-01 8.23.01.sci

1 s= poly ( 0 , ’ s ’ ) ;
2 s y s = s y s l i n ( ’ c ’ , 1 0 / ( s +2) ) ; / / G ( s )H( s )
3 disp ( sys , ”G( s )H( s ) ” )
4 F=1/(1+ s y s )
5 syms t s ;
6 Co=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 (1/(1+G( s )H( S ) )
7 a =(3) ;
8 e=Co∗a ;
9 disp ( e , ” s t e a d y s t a t e e r r o r ” )

Example 8.23-02 8.23.02.sci

1 s= poly ( 0 , ’ s ’ ) ;
2 s y s = s y s l i n ( ’ c ’ , 1 0 / ( s +2) ) ; / / G ( s ) H ( s )
3 disp ( sys , ”G( s )H( s ) ” )
4 F=1/(1+ s y s )
5 syms t s ;
6 Co=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 ( 1 / ( 1 + G ( s )H( S ) )
7 d=d i f f ( s ∗F/ s , s )
8 C1=l i m i t ( d i f f ( s ∗F/ s , s ) , s , 0 ) / / K 1 = L t s − >0 ( dF ( s ) / d s )

40
 9 a=(2∗ t ) ;
10 b=d i f f ( ( 2 ∗ t ) , t ) ;
11 e=Co∗a+C1∗b ;
12 disp ( e , ” s t e a d t s t a t e e r r o r ” )

Example 8.23-03 8.23.03.sci

1 s= poly ( 0 , ’ s ’ ) ;
2 s y s = s y s l i n ( ’ c ’ , 1 0 / ( s +2) ) ; / / G ( s ) H ( s )
3 disp ( sys , ”G( s )H( s ) ” )
4 F=1/(1+ s y s )
5 syms t s ;
6 Co=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 ( 1 / ( 1 + G ( s ) H ( S ) )
7 d=d i f f ( s ∗F/ s , s )
8 C1=l i m i t ( d i f f ( s ∗F/ s , s ) , s , 0 ) / / K 1 = L t s − >0 ( d F ( s ) / d s )
9 C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s − >0 ( d 2 F ( s ) / d s )
10 a =(( t ˆ2 ) / 2) ;
11 b=d i f f ( ( t ˆ 2) /2 , t ) ;
12 c=d i f f ( b , t ) ;
13 e=Co∗a+C1∗b+C2∗ c ;
14 disp ( e , ” s t e a d y s t a t e e r r o r ” )

Example 8.23-04 8.23.04.sci

1 s= poly ( 0 , ’ s ’ ) ;
2 s y s = s y s l i n ( ’ c ’ , 1 0 / ( s +2) ) ; / / G ( s ) H ( s )
3 disp ( sys , ”G( s )H( s ) ” )
4 F=1/(1+ s y s )
5 syms t s ;
6 Co=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 ( 1 / ( 1 + G ( s ) H ( S ) )
7 d=d i f f ( s ∗F/ s , s )
8 C1=l i m i t ( d i f f ( s ∗F/ s , s ) , s , 0 ) / / K 1 = L t s − >0 ( d F ( s ) / d s )
9 C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s − >0 ( d 2 F ( s ) / d s )
10 // g i v e n input is r ( t ) =1+2∗ t +( t ˆ 2 ) / 2 & R( s )= l a p l a c e ( r ( t )
)
11 a=(1+2∗ t +( t ˆ 2) /2 ) ;
12 b=d i f f ( a , t ) ;
13 c=d i f f ( b , t ) ;

41
14 e=Co∗a+C1∗b+C2∗ c // e r r o r by dynamic c o e f f i c i e n t method

Example 8.24 8.24.sci

1 s= poly ( 0 , ’ s ’ ) ;
2 s y s 1 = s y s l i n ( ’ c ’ , ( s +3) / ( s +5) ) ;
3 s y s 2= s y s l i n ( ’ c ’ , ( 1 0 0 ) / ( s +2) ) ;
4 s y s 3= s y s l i n ( ’ c ’ , ( 0 . 1 5 ) / ( s +3) ) ;
5 G=s y s 1 ∗ s y s 2 ∗ s y s 3 ∗2∗5
6 H=1;
7 y=G∗H; / / G ( s ) H ( s )
8 disp ( y , ”G( s )H( s ) ” )
9 F=1/(1+y )
10 syms t s ;
11 Co=l i m i t ( s ∗F/ s , s , 0 ) / / K o = L t s − >0 ( 1 / ( 1 + G ( s ) H ( S ) )
12 d=d i f f ( s ∗F/ s , s )
13 C1=l i m i t ( d i f f ( s ∗F/ s , s ) , s , 0 ) / / K 1 = L t s − >0 ( d F ( s ) / d s )
14 C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s − >0 ( d 2 F ( s ) / d s )
15 a=(1+(2∗ t ) +(5∗( t ˆ2/2) ) ) ;
16 b=d i f f ( a , t ) ;
17 c=d i f f ( b , t ) ;
18 e=Co∗a+C1∗b+C2∗ c ;
19 disp ( e , ” s t e a d t s t a t e e r r o r ” )

Example 8.32 8.32.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ ,(9∗(1+2∗ s ) ) / ( s ˆ2+0.6∗ s +9) ) ;
3 disp ( sys , ”C( s ) /R( s )=” )
4 // g i v e n r ( t ) =u ( t )
5 syms t s ;
6 R=l a p l a c e ( ’ 1 ’ , t , s ) ;
7 disp (R, ”R( s )=” )
8 C=R∗ s y s ;
9 disp (C, ”C( s )=” )
10 c=i l a p l a c e (C, s , t )
11 disp ( c , ” c ( t )=” )
12 G=9/( s ˆ3+0.6∗ s ˆ 2 ) ;

42
13 disp (G, ”G( s )=” )
14 H=1;
15 y=1+G∗H;
16 syms t s ;
17 Kp=l i m i t ( s ∗G/ s , s , 0 )
18 Kv=l i m i t ( s ∗G, s , 0 )
19 Ka=l i m i t ( s ˆ2∗G, s , 0 )
20 R=l a p l a c e ( ’ (1+ t +( t ˆ2/2) ) ’ , t , s )
21 // s t e a d y state error =Lt s − >0 sR ( S ) /1+G ( s ) H ( S )
22 e=l i m i t ( s ∗R/(1+y ) , s , 0 ) ; / / e = e r r o r for ramp input
23 disp ( e , ” s t e a d y s t a t e e r r o r ( Ess ) ” )

43
 Chapter 9

Feedback Characteristics of
control Systems

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox

9.1 Scilab Code

Example 9.01 9.01.sci

1 s=%s ;
2 G=s y s l i n ( ’ c ’ , 2 0 / ( s ∗( s +4) ) )
3 H= 0 . 3 5 ;
4 y=G∗H;
5

6 S=1/(1+y ) ;
7 disp ( S , ” 1/(1+G( s ) ∗H( s ) ) ” )
8

9 // g i v e n w=1.2
10 w=1.2
11 s=%i∗w
12 S=horner ( S , s ) / / c a l c u l a t e s v a l u e o f S at s
13 a=abs ( S )
14 disp ( a , ” s e n s i t i v i t y o f open l o o p ” )
15

44
16 F=−y/(1+y )
17 disp (F , ”(−G( s ) ∗H( s ) ) /(1+G( s ) ∗H( s ) ) ” )
18 S=horner (F , s ) / / c a l c u l a t e s v a l u e o f F at s
19 b=abs ( S )
20 disp ( b , ” s e n s i t i v i t y o f c l o s e d l o o p ” )

Example 9.02 9.02.sci

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , 9 / ( s ∗( s +1.8) ) ) ;
3 syms Td ;
4 s y s 2 =1+(s ∗Td) ;
5 s y s 3=s y s 1 ∗ s y s 2 ;
6 H=1;
7 CL=s y s 3 / .H; / / C a l c u l a t e s c l o s e d − l o o p transfer function
8 disp (CL, ”C( s ) /R( s ) ” )
9 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
10 [ num , den ]=numden (CL) // e x t r a c t s num & den of symbolic
function CL
11 den=den / 5 ;
12 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 ) // coeff of den of symbolic
function CL
13 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
14 / / Wn ˆ 2 = cof a 0 , comparing the c o e f f i c i e n t s
15 Wn=sqrt ( c o f a 0 )
16 disp (Wn, ” n a t u r a l f r e q u e n c y Wn” ) // Wn= n a t u r a l
frequency
17 // c o f a 1 = 2 ∗ z e t a ∗ Wn
18 z e t a=c o f a 1 /(2∗Wn)
19 z e t a =1; disp ( z e t a , ” f o r c r i t i c a l y damped f u n c t i o n z e t a ” )
20 Td=((2∗Wn) −1.8) /9
21 Ts=4/( z e t a ∗Wn) ;
22 Ts=d bl ( Ts ) ;
23 disp ( Ts , ” s e t t l i n g time Ts” )

Example 9.03 9.03.sci

1 s=%s ;

45
 2 G=s y s l i n ( ’ c ’ , 4 0 / ( s ∗( s +4) ) )
3 H= 0 . 5 0 ;
4 y=G∗H;
5 S=1/(1+y ) ;
6 disp ( S , ” 1/(1+G( s ) ∗H( s ) ) ” )
7 // g i v e n w=1.3
8 w=1.3
9 s=%i∗w
10 S=horner ( S , s )
11 a=abs ( S )
12 disp ( a , ” s e n s i t i v i t y o f open l o o p ” )
13 F=−y/(1+y )
14 disp (F , ”(−G( s ) ∗H( s ) ) /(1+G( s ) ∗H( s ) ) ” )
15 S=horner (F , s )
16 b=abs ( S )
17 disp ( b , ” s e n s i t i v i t y o f c l o s e d l o o p ” )

Example 9.04 9.04.sci

1 s=%s ;
2 syms s ;
3 syms Wn z e t a A H r e a l ;
4 T= 6 . 2 8 ;
5 Wn=(8∗%pi ) /T;
6 z e t a =0.3
7 n=Wnˆ 2 ;
8 d=s ˆ2+2∗ z e t a ∗Wn∗ s+Wnˆ 2 ;
9 G1=n/d ;
10 disp (G1 , ”G1( s ) ” )
11 G=A∗G1 ;
12 disp (G, ”G( s ) ” )
13 S1=( d i f f (G,A) ) ∗(A/G) ;
14 a=s i m p l e ( S1 ) ;
15 disp ( a , ” open l o o p s e n s i t i v i t y f o r changes i n A” )
16 M=G/ .H;
17 p=s i m p l e (M)
18 S2=( d i f f ( p ,A) ) ∗(A/p ) ;
19 b=s i m p l e ( S2 ) ;

46
20 disp ( b , ” c l o s e d l o o p s e n s i t i v i t y f o r changes i n A” )
21 S3=( d i f f ( p ,H) ) ∗(H/p ) ;
22 c=s i m p l e ( S3 ) ;
23 disp ( c , ” c l o s e d l o o p s e n s i t i v i t y f o r changes i n H” )

Example 9.05 9.05.sci

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , ( s +3)/ s ) ;
3 syms u rp k H RL ;
4 num2=u∗RL∗ s ∗( s +2) ;
5 den2=(rp+RL) ∗( s +3) ;
6 s y s 2=num2/ den2 ;
7 num3=k ;
8 den3=s +2;
9 s y s 3=num3/ den3 ;
10 s y s=s y s 1 ∗ s y s 2 ∗ s y s 3 ;
11 disp ( sys , ”G( s )=” ) ;
12 RL=10∗10ˆ3;
13 rp =4∗10ˆ3;
14 s y s=eval ( s y s )
15 s y s=f l o a t ( s y s )
16 disp ( sys , ” s y s=” ) ;
17 disp (H, ”H( s ) ” ) ;
18 M=s y s / .H / / G ( s ) / 1 + G ( s ) H ( S )
19 M=s i m p l e (M)
20 S=( d i f f (M, u ) ) ∗( u/M) ;
21 S=s i m p l e ( S ) ;
22 disp ( S , ” system s e n s i t i v i t y due t o v a r i a t i o n o f u=” ) ;
23 H= 0 . 3 ;
24 u=12;
25 S=eval ( S ) / / −−−−−−−−− e q 1
26 S=0.04;
27 k =((7/S ) −7)/18 ; / / f r o m e q 1
28 disp ( k , ”K=” )

Example 9.06 9.06.sci

47
 1 G=210;
2 H= 0 . 1 2 ;
3 syms Eo Er
4 p r i n t f ( ” f o r c l o s e d l o o p system ” )
5 s y s=G/ .H; / / E o / E r =G / ( 1 + GH )
6 disp ( sys , ”Eo/Er=” )
7 Eo=240 / / g i v e n
8 Er=Eo / 8 . 0 1 5 2 ;
9 disp ( Er , ”Er=” )
10 p r i n t f ( ” f o r open l o o p system ” )
11 disp (G, ”Eo/Er=” )
12 Er=Eo/G;
13 G=210;
14 disp ( Er , ”Er=” )
15 // p r i n t f (” s i n c e G is reduced by 12%, the new value of
gain is 784.8 V”) ;
16 S=1/(1+G∗H)
17 disp ( S , ” ( %change i n M) / ( %change i n G)=” )
18 disp ( 1 2 , ”%CHANGE IN G=” )
19 y =12∗0.03869;
20 disp ( y , ”%CHANGE IN M=” )
21 p r i n t f ( ” f o r open l o o p system ” )
22 disp ( 2 8 . 8 ∗ 1 0 0 / 2 4 0 , ”%change i n Eo” )

Example 9.07 9.07.sci

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , 2 0 / ( s ∗( s +2) ) ) ;
3 syms Kt ;
4 s y s 2=Kt∗ s ;
5 s y s 3=s y s 1 / . s y s 2 ;
6 p=s i m p l e ( s y s 3 ) ;
7 disp ( p , ”G( s )=” )
8 H=1;
9 s y s=s y s 3 / .H;
10 s y s=s i m p l e ( s y s ) ;
11 disp ( sys , ”C( s ) /R( s )=” )
12 [ num , den ]=numden ( s y s )

48
13 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 ) // coeff of den of symbolic
function CL
14 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
15 / / Wn ˆ 2 = cof a 0 , comparing the c o e f f i c i e n t s
16 Wn=sqrt ( c o f a 0 )
17 Wn=db l (Wn) ;
18 disp (Wn, ” n a t u r a l f r e q u e n c y Wn=” ) // Wn=
natural frequency
19 // c o f a 1 = 2 ∗ z e t a ∗ Wn
20 z e t a=c o f a 1 /(2∗Wn)
21 zeta =0.6;
22 Kt=((2∗ z e t a ∗Wn) −2) / 2 0 ;
23 disp ( Kt , ”Kt=” )
24 Wd=Wn∗ sqrt (1− z e t a ˆ 2) ;
25 disp (Wd, ”Wd=” )
26 Tp=%pi/Wd;
27 disp (Tp , ”Tp=” )
28 Mp=100∗exp((−%pi∗ z e t a ) / sqrt (1− z e t a ˆ 2) ) ;
29 disp (Mp, ”Mp=” )
30 Ts=4/( z e t a ∗Wn) ;
31 disp ( Ts , ”Ts=” )

Example 9.08 9.08.sci

1 s=%s ;
2 p r i n t f ( ” 1 ) z e t a & Wn without Kd” )
3 G=60∗ s y s l i n ( ’ c ’ , 1 / ( s ∗( s +4) ) ) ;
4 disp (G, ”G( S )=” )
5 CL=G/ .H;
6 disp (CL, ”C( s ) /R( s )=” )
7 y=denom(CL) / / e x t r a c t i n g t h e d e n o m i n a t o r of CL
8 z=c o e f f ( y ) / / e x t r a c t i n g t h e c o e f f i c i e n t s of the
denominator polynomial
9 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
10 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
11 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
12 z e t a=z ( 1 , 2 ) /(2∗Wn)
13 s y s 1=s y s l i n ( ’ c ’ , 1 / ( s ∗( s +4) ) ) ;

49
14 syms Kd ;
15 p r i n t f ( ” 2 )Kd f o r z e t a =0.60 with c o n t r o l l e r ” )
16 s y s 2=s ∗Kd ;
17 s y s 3=s y s 1 / . s y s 2 ;
18 G=s y s 3 ∗ 6 0 ;
19 disp (G, ”G( s )=” )
20 H=1;
21 s y s=G/ .H;
22 disp ( sys , ”C( s ) /R( s )=” )
23 [ num , den ]=numden ( s y s )
24 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 )
25 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
26 / / Wn ˆ 2 = cof a 0 , comparing the c o e f f i c i e n t s
27 Wn=sqrt ( c o f a 0 )
28 Wn=db l (Wn) ;
29 disp (Wn, ” n a t u r a l f r e q u e n c y Wn=” )
30 // c o f a 1 = 2 ∗ z e t a ∗ Wn
31 z e t a =0.60
32 Kd=(2∗ z e t a ∗Wn)−4

Example 9.09 9.09.sci

1 s=%s ;
2 p r i n t f ( ” 1 ) without c o n t r o l l e r ” )
3 G=s y s l i n ( ’ c ’ , 1 2 0 / ( s ∗( s +12.63) ) ) ;
4 disp (G, ”G( s )=” )
5 H=1;
6 CL=G/ .H;
7 disp (CL, ”C( s ) /R( s )=” )
8 y=denom(CL) / / e x t r a c t i n g t h e d e n o m i n a t o r of CL
9 z=c o e f f ( y ) / / e x t r a c t i n g t h e c o e f f i c i e n t s of the
denominator polynomial
10 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
11 Wn=sqrt ( z ( 1 , 1 ) ) ;
12 disp (Wn, ”Wn=” ) // Wn= n a t u r a l frequency
13 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
14 z e t a=z ( 1 , 2 ) /(2∗Wn) ;
15 disp ( z e t a , ” z e t a=” )

50
16 p r i n t f ( ” 2 ) with c o n t r o l l e r ’ )
17 G=s y s l i n ( ’ c ’ , ( 1 2 0 ∗ ( 3 0 + s ) ) / ( s ∗( s +12.63) ∗30) ) ;
18 d i s p (G, ”G( s )=” )
19 CL=G/ .H;
20 d i s p (CL, ”C( s ) /R( s )=” )
21 den=denom (CL)
22 den=den /30 // e x t r a c t i n g t he denominator o f CL
23 z=c o e f f ( den ) // e x t r a c t i n g t he c o e f f i c i e n t s o f t he
denominator p o l y n o m i a l
24 //Wnˆ2=z ( 1 , 1 ) , comparing t he c o e f f i c i e n t s
25 Wn=s q r t ( z ( 1 , 1 ) ) ;
26 d i s p (Wn, ”Wn=” ) // Wn=n a t u r a l f r e q u e n c y
27 //2∗ z e t a ∗Wn=z ( 1 , 2 )
28 z e t a=z ( 1 , 2 ) /(2∗Wn) ;
29 Mp=100∗ exp ((−%pi∗ z e t a ) / s q r t (1− z e t a ˆ 2) ) ;
30 d i s p (Mp, ”Mp=” )
31 Ts=4/( z e t a ∗Wn) ;
32 d i s p ( Ts , ”Ts=” )

Example 9.10 9.10.sci

1 s=%s ;
2 p r i n t f ( ” 1 ) without c o n t r o l l e r ” )
3 G=64∗ s y s l i n ( ’ c ’ , 1 / ( s ∗( s +4) ) ) ;
4 disp (G, ”G( s )=” )
5 H=1;
6 CL=G/ .H;
7 disp (CL, ”C( s ) /R( s )=” )
8 // E x t r a c t i n g the denominator of CL
9 y=denom(CL)
10 // E x t r a c t i n g the c o e f f i c i e n t s of the denominator
polynomial
11 z=c o e f f ( y )
12 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
13 Wn=sqrt ( z ( 1 , 1 ) ) ;
14 / / Wn= n a t u r a l frequency
15 disp (Wn, ”Wn=” )
16 p r i n t f ( ” 2 ) with c o n t r o l l e r ’ )

51
17 syms K;
18 s y s 1=s y s l i n ( ’ c ’ , 1 / ( s ∗( s +4) ) ) ;
19 s y s 2=s y s 1 / . ( s ∗K) ;
20 G=64∗ s y s 2
21 d i s p (G, ”G( s )=” )
22

23 s y s=G/ .H;
24 s y s=s i m p l e ( s y s ) ;
25 d i s p ( sys , ”C( s ) /R( s )=” )
26 [ num , den ]=numden ( s y s )
27 // C o e f f o f den o f s y m b o l i c f u n c t i o n CL
28 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 )
29 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
30 //Wnˆ2= c o f a 0 , comparing t he c o e f f i c i e n t s
31 Wn=s q r t ( c o f a 0 )
32 Wn=db l (Wn) ;
33 //Wn=n a t u r a l f r e q u e n c y
34 d i s p (Wn, ” n a t u r a l f r e q u e n c y Wn=” )
35 // c o f a 1 =2∗ z e t a ∗Wn
36 z e t a=c o f a 1 /(2∗Wn)
37 zeta =0.6;
38 k=(16∗ z e t a )−4
39 d i s p ( k , ”K=” )

Example 9.11 9.11.sci

1 p r i n t f ( ” 2 ) with c o n t r o l l e r ’ )
2 syms K;
3 s y s 1=s y s l i n ( ’ c ’ , 1 / ( s ∗( s +1.2) ) ) ;
4 s y s 2=s y s 1 / . ( s ∗K) ;
5 G=16∗ s y s 2 ;
6 G=s i m p l e (G)
7 d i s p (G, ”G( s )=” )
8 s y s=G/ .H;
9 s y s=s i m p l e ( s y s ) ;
10 d i s p ( sys , ”C( s ) /R( s )=” )
11 [ num , den ]=numden ( s y s )
12 den=den / 5 ; // so t h a t c o e f f o f s ˆ2=1

52
13 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 ) // c o e f f o f den o f s y m b o l i c
f u n c t i o n CL
14 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 )
15 //Wnˆ2= c o f a 0 , comparing t he c o e f f i c i e n t s
16 Wn=s q r t ( c o f a 0 )
17 Wn=db l (Wn) ;
18 d i s p (Wn, ” n a t u r a l f r e q u e n c y Wn=” ) // Wn=
natural frequency
19 // c o f a 1 =2∗ z e t a ∗Wn
20 // z e t a=c o f a 1 /(2∗Wn)
21 zeta =0.56;
22 k=(8∗ z e t a ) −1.2
23 d i s p ( k , ”K=” )
24 Wd=Wn∗ s q r t (1− z e t a ˆ 2) ;
25 d i s p (Wd, ”Wd=” )
26 Tp=%pi/Wd;
27 d i s p (Tp , ”Tp=” )
28 Mp=100∗ exp ((−%pi∗ z e t a ) / s q r t (1− z e t a ˆ 2) ) ;
29 d i s p (Mp, ”Mp=” )
30 Ts=4/( z e t a ∗Wn) ;
31 d i s p ( Ts , ”Ts=” )

53
 Chapter 10

Stability

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.
You can also refer the inbuilt function(routh-t) for generating Routh Ta-
ble.

10.1 Scilab Code

Example 10.02-01 10.02.01.sci

1 s = poly ( 0 , ” s ” ) ;
2 p=poly ( [ 1 2 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 0 2 4 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
4 G=p/q ;
5 H=poly ( [ 0 . 5 ] , ’ s ’ , ’ c o e f f ’ ) ;
6 // c h a r a c t e r i s t i c equation is 1+G ( s ) H ( s ) =0
7 y=1+G∗H
8 r=numer( y )
9 disp ( ’=0 ’ , r , ” c h a r a c t e r i s t i c s e q u a t i o n i s ” )

Example 10.02-02 10.02.02.sci

1 s = poly ( 0 , ” s ” ) ;
2 p=poly ( [ 7 ] , ’ s ’ , ’ c o e f f ’ ) ;
3 q=poly ( [ 2 3 1 ] , ’ s ’ , ’ c o e f f ’ ) ;

54
 4 G=p/q ;
5 H=poly ( [ 0 1 ] , ’ s ’ , ’ c o e f f ’ ) ;
6 // c h a r a c t e r i s t i c equation is 1+G ( s ) H ( s ) =0
7 y=1+G∗H
8 r=numer( y )
9 disp ( ’=0 ’ , r , ” c h a r a c t e r i s t i c s e q u a t i o n i s ” )

Example 10.02-03 10.02.03.sci

1 s = poly ( 0 , ” s ” ) ;
2 G=s y s l i n ( ’ c ’ , 2 / ( s ˆ2+2∗ s ) )
3 H=s y s l i n ( ’ c ’ , 1 / s ) ;
4 // c h a r a c t e r i s t i c equation is 1+G ( s ) H ( s ) =0
5 y=1+G∗H
6 r=numer( y )
7 disp ( ’=0 ’ , r , ” c h a r a c t e r i s t i c s e q u a t i o n i s ” )

Example 10.03 10.03.sci

1 s=%s ;
2 m=s ˆ3+5∗ s ˆ2+10∗ s +3;
3 r=c o e f f (m)
4 n=length ( r ) ;
5 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ;
6 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
7 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of
routh matrix
8 r outh =[ routh ;−det ( t ) / t ( 2 , 1 ) , 0 ]
9 c =0;
10 for i =1:n
11 i f ( routh ( i , 1 )< 0 )
12 c=c +1;
13 end
14 end
15 i f ( c>=1)
16 p r i n t f ( ” system i s u n s t a b l e ” )
17 e l s e ( ” system i s s t a b l e ” )
18 end

55
 Example 10.04 10.04.sci

1 s=%s ;
2 m=s ˆ3+2∗ s ˆ2+3∗ s +10;
3 r=c o e f f (m)
4 n=length ( r ) ;
5 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ;
6 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
7 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of
routh matrix
8 r outh =[ routh ;−det ( t ) / t ( 2 , 1 ) , 0 ]
9 c =0;
10 for i =1:n
11 i f ( routh ( i , 1 ) <0)
12 c=c +1;
13 end
14 end
15 i f ( c>=1)
16 p r i n t f ( ” system i s u n s t a b l e ” )
17 e l s e ( ” system i s s t a b l e ” )
18 end

Example 10.05-01 10.05.01.sci

1 i eee ( 2 )
2 s=%s ;
3 m=s ˆ4+6∗ s ˆ3+21∗ s ˆ2+36∗ s +20
4 r=c o e f f (m)
5 n=length ( r ) ;
6 r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ]
7 r outh =[ routh ;−det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,−det ( routh
( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
8 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;
9 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ;
10 disp ( routh , ” routh=” )

56
11 c =0;
12 for i =1:n
13 i f ( routh ( i , 1 ) <0)
14 c=c +1;
15 end
16 end
17 i f ( c>=1)
18 p r i n t f ( ” system i s u n s t a b l e ” )
19 e l s e ( ” system i s s t a b l e ” )
20 end

Example 10.05-02 10.05.02.sci

1 s=%s ;
2 m=s ˆ5+6∗ s ˆ4+3∗ s ˆ3+2∗ s ˆ2+ s+1
3 r=c o e f f (m)
4 n=length ( r )
5 r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ]
6 r outh =[ routh ;−det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,−det ( routh
( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ]
7 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ]
8 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,−det ( routh
( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ]
9 r outh =[ routh ;−det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ]
10 c =0;
11 for i =1:n
12 i f ( routh ( i , 1 ) <0)
13 c=c +1;
14 end
15 end
16 i f ( c>=1)
17 p r i n t f ( ” system i s u n s t a b l e ” )
18 e l s e ( ” system i s s t a b l e ” )
19 end

Example 10.06 10.06.sci

57
 1 i eee ( 2 )
2 s=%s ;
3 m=s ˆ5+2∗ s ˆ4+4∗ s ˆ3+8∗ s ˆ2+3∗ s+1
4 r=c o e f f (m) ; / / E x t r a c t s t h e c o e f f i c i e n t of the
polynomial
5 n=length ( r ) ;
6 r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ]
7 syms eps ;
8 r outh =[ routh ; eps ,−det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
9 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;
10 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,−det ( routh
( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ] ;
11 r outh =[ routh ;−det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ] ;
12 disp ( routh , ” routh=” )
13 / / To check the s t a b i l i t y
14 r outh ( 4 , 1 )=8− l i m i t ( 5/ eps , eps , 0 ) ; // P u t t i n g the value of
e p s =0 in routh (4 ,1)
15 disp ( routh ( 4 , 1 ) , ” routh ( 4 , 1 )=” )
16 r outh ( 5 , 1 )= l i m i t ( routh ( 5 , 1 ) , eps , 0 ) ; // P u t t i n g the
value of e p s =0 in routh (5 ,1)
17 disp ( routh ( 5 , 1 ) , ” routh ( 5 , 1 ) = ’)
18 r outh
19 p r i n t f ( ” There a r e two sign changes o f f i r s t column ,
hence t h e system i s u n s t a b l e \n” )

Example 10.07 10.07.sci

1 s=%s ;
2 m=s ˆ5+2∗ s ˆ4+2∗ s ˆ3+4∗ s ˆ2+4∗ s+8
3 r outh=routh t (m) / / T h i s F u n c t i o n generates the Routh
table
4 c =0;
5 for i =1:n
6 i f ( routh ( i , 1 ) <0)
7 c=c +1;
8 end
9 end

58
10 i f ( c>=1)
11 p r i n t f ( ” system i s u n s t a b l e ” )
12 e l s e ( ” system i s s t a b l e ” )
13 end

Example 10.08 10.08.sci

1 s=%s ;
2 m=s ˆ4+5∗ s ˆ3+2∗ s ˆ2+3∗ s+2
3 r=c o e f f (m)
4 n=length ( r ) ;
5 r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ]
6 r outh =[ routh ;−det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,−det ( routh
( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
7 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;
8 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ]
9 c =0;
10 for i =1:n
11 i f ( routh ( i , 1 ) <0)
12 c=c +1;
13 end
14 end
15 i f ( c>=1)
16 p r i n t f ( ” system i s u n s t a b l e ” )
17 e l s e ( ” system i s s t a b l e ” )
18 end

Example 10.09 10.09.sci

1 i eee ( 2 ) ;
2 s=%s ;
3 m=s ˆ5+ s ˆ4+3∗ s ˆ3+3∗ s ˆ2+4∗ s+8
4 r=c o e f f (m) ; / / E x t r a c t s t h e c o e f f i c i e n t of the
polynomial
5 n=length ( r ) ;
6 r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ]
7 syms eps ;

59
 8 r outh =[ routh ; eps ,−det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
9 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;
10 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,−det ( routh
( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ] ;
11 r outh =[ routh ;−det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ] ;
12 disp ( routh , ” routh=” )
13 / / To check the s t a b i l i t y
14 r outh ( 4 , 1 )=l i m i t ( routh ( 4 , 1 ) , eps , 0 ) ; // P u t t i n g the value
of e p s =0 in routh (4 ,1)
15 disp ( routh ( 4 , 1 ) , ” routh ( 4 , 1 )=” )
16 r outh ( 5 , 1 )= l i m i t ( routh ( 5 , 1 ) , eps , 0 ) ; // P u t t i n g the
value of e p s =0 in routh (5 ,1)
17 disp ( routh ( 5 , 1 ) , ” routh ( 5 , 1 ) = ’)
18 r outh
19 p r i n t f ( ” There a r e two sign changes o f f i r s t column ,
hence t h e system i s u n s t a b l e \n” )

Example 10.10 10.10.sci

1 i eee ( 2 ) ;
2 syms s k ;
3 m=s ˆ4+4∗ s ˆ3+7∗ s ˆ2+6∗ s+k ;
4 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
5 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
6 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
7 c o f a 3 = c o e f f s (m, ’ s ’ , 3 ) ;
8 c o f a 4 = c o e f f s (m, ’ s ’ , 4 ) ;
9

10 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 cof a 4 ]
11

12 n=length ( r ) ;
13 r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ]
14 r outh =[ routh ;−det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,−det ( routh
( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
15 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;
16 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ;

60
17 disp ( routh , ” routh=” )

Example 10.11 10.11.sci

1 i eee ( 2 ) ;
2 syms s k ;
3 m=(24/100) ∗ s ˆ3+ s ˆ2+ s+k ;
4 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
5 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
6 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
7 c o f a 3 = c o e f f s (m, ’ s ’ , 3 ) ;
8 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ]
9 n=length ( r ) ;
10 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ]
11 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ]
12 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of
routh matrix
13 r outh =[ routh ;−det ( t ) / routh ( 3 , 1 ) , 0 ]
14 disp ( routh , ” routh=” ) ;
15 r outh ( 3 , 1 ) =0 / / F o r m a r g i n a l y s t a b l e s y s t e m
16 k =1/0.24;
17 disp ( k , ”K( m a r g i n a l )=” )
18 disp ( ’=0 ’ , ( s ˆ 2)+k , ” a u x i l l a r y e q u a t i o n ” )
19 s=sqrt(−k ) ;
20 disp ( s , ” Frequency o f o s c i l l a t i o n ( i n rad / s e c )=” )

Example 10.12 10.12.sci

1 i eee ( 2 ) ;
2 syms p K s ;
3 m=s ˆ3+(p∗ s ˆ 2 ) +(K+3)∗ s +(2∗(K+1) )
4 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
5 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
6 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
7 c o f a 3 = c o e f f s (m, ’ s ’ , 3 ) ;
8 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ]
9 n=length ( r ) ;
10 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ;

61
11 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
12 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of
routh matrix
13 r outh =[ routh ;−det ( t ) / routh ( 3 , 1 ) , 0 ] ;
14 disp ( routh , ” routh=” )

Example 10.13 10.13.sci

1 i eee ( 2 ) ;
2 s=%s ;
3 m=2∗ s ˆ4+(4∗ s ˆ 2)+1
4 r outh=routh t (m) // G e n e r a t e s the Routh Table
5 roots (m) // G i v e s the Roots of the Polynomial
(m)
6 disp ( 0 , ” th e number o f r o o t s l y i n g i n th e l e f t h a l f
plane of s−p l a n e=” )
7 disp ( 0 , ” th e number o f r o o t s l y i n g i n th e r i g h t h a l f
plane of s−p l a n e=” )
8 disp ( 4 , ” th e number o f r o o t s l y i n g on t he i m a g i n a r y a x i s
=” )

Example 10.14 10.14.sci

1 i eee ( 2 ) ;
2 syms s k ;
3 m=s ˆ4+6∗ s ˆ3+10∗ s ˆ2+8∗ s+k ;
4 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
5 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
6 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
7 c o f a 3 = c o e f f s (m, ’ s ’ , 3 ) ;
8 c o f a 4 = c o e f f s (m, ’ s ’ , 4 ) ;
9 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 c o f a 4 ]
10 n=length ( r ) ;
11 r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ]
12 r outh =[ routh ;−det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,−det ( routh
( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ;
13 r outh =[ routh ;−det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,−det ( routh
( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ;

62
14 r outh =[ routh ;−det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ;
15 disp ( routh , ” routh=” )

Example 10.15 10.15.sci

1 i eee ( 2 ) ;
2 syms s T;
3 m=s ˆ2+(2−T) ∗ s+1
4 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
5 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
6 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
7 r =[ c o f a 0 c o f a 1 c o f a 2 ]
8 n=length ( r ) ;
9 r outh =[ r ( [ 3 , 1 ] ) ; r ( 2 ) , 0 ] ;
10 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
11 disp ( routh , ” routh=” )

Example 10.16 10.16.sci

1 i eee ( 2 )
2 s=%s ;
3 m=s ˆ6+2∗ s ˆ5+7∗ s ˆ4+10∗ s ˆ3+14∗ s ˆ2+8∗ s+8
4 r outh=routh t (m) ;
5 disp ( routh , ” routh=” )
6 c =0;
7 for i =1:n
8 i f ( routh ( i , 1 ) <0)
9 c=c +1;
10 end
11 end
12 i f ( c>=1)
13 p r i n t f ( ” system i s u n s t a b l e ” )
14 e l s e ( ” system i s s t a b l e ” )
15 end

63
 Chapter 11

Root Locus Method

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox
When we will execute the programm we will get the following Graphs

11.1 Scilab Code

Example 11.01 11.01.sci

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , 1 / ( s +1) ) ;
3 evans ( sys1 , 2 0 0 )
4 p r i n t f ( ” I f k i s v a r i e d from 0 t o any v a l u e , r o o t l o c u s
v a r i e s from −k t o 0 \n ” )

Example 11.02 11.02.sci

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , ( s +1) / ( s +4) ) ;
3 evans ( sys1 , 1 0 0 )
4 p r i n t f ( ” r o o t l o c u s b e g i n s a t s=−4 & ends a t s=−1” )

Example 11.03 11.03.sci

64
 Figure 11.1: Output Graph of S 11.01

1 s=%s ;
2 s y s 1=s y s l i n ( ’ c ’ , ( s+3−%i ) ∗( s+3+%i ) / ( ( s+2−%i ) ∗( s+2+%i ) ) ) ;
3 evans ( sys1 , 1 0 0 )
4 p r i n t f ( ” R o o t l o c u s s t a r t s from s=−2+i & −2− i ends a t s
=−3+i &−3− i \n” )

Example 11.04 11.04.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +1) / ( s +2) ) ;
3 evans (H, 1 0 0 )

65
 Figure 11.2: Output Graph of S 11.02

4 p r i n t f ( ” C l e a r l y from th e graph i t o b s e r v e d t h a t g i v e n
p o i n t −1+ i & −3+ i does not l i e on th e r o o t l o c u s \n
”)
5 // there is another process to check whether the points
lie on the locus of the system
6 P=−1+%i ; / / P= s e l e c t e d point
7 k1=−1/r e a l ( horner (H, P) )
8 Ns=H( ’num ’ ) ; Ds=H( ’ den ’ ) ;
9 roots ( Ds+k1∗Ns ) // do es not contains P as particular
root
10 P=−3+%i ; / / P= s e l e c t e d point
11 k2=−1/r e a l ( horner (H, P) ) ;

66
 Figure 11.3: Output Graph of S 11.03

12 Ns=H( ’num ’ ) ; Ds=H( ’ den ’ )

13 roots ( Ds+k2∗Ns ) // do es not contains P as particular
root

Example 11.05 11.05.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( s ∗( s +1) ∗( s +3) ) ) ;
3 evans (H, 1 0 0 )
4 p r i n t f ( ” C l e a r l y from t he graph i t o b s e r v e d t h a t g i v e n
p o i n t −0.85 l i e s on t he r o o t l o c u s \n” )

67
 Figure 11.4: Output of S 11.04

5 // there is another process to check whether the points

lie on the locus of the system
6 P= −0.85; / / P= s e l e c t e d point
7 k=−1/r e a l ( horner (H, P) ) ;
8 disp ( k , ”k = ’)
9 Ns=H( ’ num ’ ) ; Ds=H( ’ den ’ ) ;
10 r o o t s ( Ds+k∗Ns ) // c o n t a i n s P as p a r t i c u l a r r o o t

68
 Figure 11.5: Output of S 11.05

Example 11.06 11.06.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +1) ∗( s +5) ) ) ;
3 evans (H, 1 0 0 )
4 p r i n t f ( ” C l e a r l y from t he graph i t o b s e r v e d t h a t g i v e n
p o i n t −0.85 l i e s on t he r o o t l o c u s \n” )
5 // there is another process to check whether the points
lie on the locus of the system
6 P=−3+5∗%i ; / / P= s e l e c t e d point
7 k=−1/r e a l ( horner (H, P) ) ;
8 disp ( k , ”k = ’)

69
 Figure 11.6: Output of S 11.06

9 Ns=H( ’ num ’ ) ; Ds=H( ’ den ’ ) ;

10 r o o t s ( Ds+k∗Ns ) // c o n t a i n s P as p a r t i c u l a r r o o t

Example 11.08 11.08.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +2) / ( ( s +1)∗ s ∗( s +4) ) ) ;
3 evans (H, 1 0 0 )
4 p r i n t f ( ”From t he graph we o b s e r v e d that , \n a ) The no o f
l o c i ending a t i n f i s 2 \n b ) Three l o c i w i l l s t a r t
from s= 0,−1 & −4,\n c ) One l o c i w i l l end a t −2 &

70
 Figure 11.7: Output of S 11.08

r e m a i n i n g two w i l l end a t i n f ” )

Example 11.09 11.09.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +2) / ( ( s +1)∗ s ∗( s +4) ) ) ;
3 evans (H, 1 0 0 )

Example 11.10 11.10.sci

1 n=3;

71
 Figure 11.8: Output of S 11.09

2 disp ( n , ”no o f p o l e s=” )

3 m=1;
4 disp (m, ”no o f p o l e s=” )
5 q=0;
6 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
7 disp (O, ”q=” )
8 q=1;
9 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
10 disp (O, ”q=” )
11

12 p r i n t f ( ” C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s
)H( s ) ) −(sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / (

72
 n−m) \n” )
13 C=((0−1−4)−(−2) ) / 2 ;
14 disp (C, ” c e n t r o i d=” )

Example 11.11 11.11.sci

1 n=3;
2 disp ( n , ”no o f p o l e s=” )
3 m=0;
4 disp (m, ”no o f p o l e s=” )
5 q=0;
6 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
7 disp (O, ”q=” )
8 q=1;
9 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
10 disp (O, ”q=” )
11 q=2;
12 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
13 disp (O, ”q=” )
14

15 p r i n t f ( ” C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s
)H( s ) ) −(sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / (
n−m) \n” )
16 C=((0−1−1)−(−0) ) / 3 ;
17 disp (C, ” c e n t r o i d=” )

Example 11.12 11.12.sci

1 n=4;
2 disp ( n , ”no o f p o l e s=” )
3 m=1;
4 disp (m, ”no o f p o l e s=” )
5 q=0;
6 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
7 disp (O, ”q=” )
8 q=1;
9 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
10 disp (O, ”q=” )

73
11 q=2;
12 O=((2∗ q ) +1) / ( n−m) ∗ 1 8 0 ;
13 disp (O, ”q=” )
14

15 p r i n t f ( ” C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s
)H( s ) ) −(sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / (
n−m) \n” )
16 C=((0−2−4−5)−(−3) ) / 3 ;
17 disp (C, ” c e n t r o i d=” )

Example 11.13 11.13.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +2) / ( ( s +1)∗ s ∗( s +3) ) ) ;
3 plzr (H)
4 p r i n t f ( ” There a r e two a d j a c e n t p l a c e d p o l e s a t s=0 &s
=−1 \n” )
5 p r i n t f ( ”One breakaway p o i n t e x i s t s between s=0 & s=−1 \
n” )

Example 11.14 11.14.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( ( s +2) ∗( s +4) ) / ( ( s ˆ2 ) ∗( s +5) ) ) ;
3 plzr (H)
4 p r i n t f ( ” There a r e two a d j a c e n t p l a c e d z e r o s a t s=−2 &s
=−4 \n” )
5 p r i n t f ( ”One b r e a k i n p o i n t e x i s t s between s=−2 & s=−4 \n
”)

Example 11.15 11.15.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +6) / ( ( s +1) ∗( s +3) ) ) ;
3 plzr (H)
4 p r i n t f ( ” There a r e two a d j a c e n t p l a c e d p o l e s a t s=−3 &s
=−1 \n” )

74
 Figure 11.9: Output of S 11.13

5 p r i n t f ( ”One breakaway p o i n t e x i s t s between s=−3 & s=−1

\n” )
6 p r i n t f ( ”One b r e a k i n p o i n t e x i s t s t o th e l e f t o f z e r o s
a t s=−6 \n” )

Example 11.16 11.16.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +1)∗ s ∗( s +3) ) ) ;
3 plzr (H)
4 p r i n t f ( ” There a r e two a d j a c e n t p l a c e d p o l e s a t s=0 &s

75
 Figure 11.10: Output of S 11.14

=−1 \n” )
5 p r i n t f ( ”One breakaway p o i n t e x i s t s between s=0 & s=−1
\n” )

Example 11.17 11.17.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +1)∗ s ∗( s +3) ) ) ;
3 evans (H, 1 0 0 )
4 syms k ;
5 m=s ˆ3+6∗ s ˆ2+8∗ s+k ;

76
 Figure 11.11: Output of S 11.15

6 c o f a 0 = c o e f f s (m, ’ s ’ , 0 ) ;
7 c o f a 1 = c o e f f s (m, ’ s ’ , 1 ) ;
8 c o f a 2 = c o e f f s (m, ’ s ’ , 2 ) ;
9 c o f a 3 = c o e f f s (m, ’ s ’ , 3 ) ;
10 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ]
11

12 n=length ( r ) ;
13 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ;
14 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
15 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of
routh matrix
16 r outh =[ routh ;−det ( t ) / t ( 2 , 1 ) , 0 ]

77
 Figure 11.12: Output of S 11.16

17 disp ( 4 8 , ”K( m a r g i n a l )=” )

18 disp ( ’=0 ’ , ( 6 ∗ s ˆ 2 )+k , ” a u x i l l a r y e q u a t i o n ” )
19 k =48;
20 s=sqrt(−k / 6) ;
21 disp ( s , ” s=” )

Example 11.19 11.19.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s+1+%i ) ∗ s ∗( s+1−%i ) ) ) ;
3 evans (H, 1 0 0 )

78
 Figure 11.13: Output of S 11.17

Example 11.20 11.20.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +3)∗ s ∗( s +5) ) ) ;
3 evans (H, 1 0 0 )

Example 11.21 11.21.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s+2+%i ) ∗( s +1) ∗( s+2−%i ) ) ) ;
3 evans (H, 1 0 0 )

79
 Figure 11.14: Output of S 11.19

Example 11.22 11.22.sci

1 s=%s ;
2 num=r e a l ( poly ( [ 1 ] , ’ s ’ , ” c o e f f ” ) )
3 den=r e a l ( poly([−1,−2+%i,−2−%i ] , ’ s ’ ) )
4 H=num/ den
5 evans (H, 1 0 0 )
6 k =1.5;
7 disp ( k , ”K( d e s i g n )=” )
8 // Kpure calculates the value of k at imaginary
crossover
9 [ K,Y]=kpure (H)

80
 Figure 11.15: Output of S 11.20

10 GM=K/k ;
11 disp (GM, ” v a l u e o f k a t i m a g i n a r y c r o s s o v e r /k ( d e s i g n )=”
)
12 disp (GM, ” g a i n margin=” )

Example 11.23 11.23.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( s ∗ ( ( s +3) ˆ2 ) ) ) ;
3 evans (H, 1 0 0 )
4 K=25;

81
 Figure 11.16: Output of S 11.21

5 y=K∗H; / / −−−−− e q 1 )
6 disp (K∗H, ”G( s )H( s )=” ) ;
7 disp ( ’=1 ’ ,K∗H, ”mod(G( s )H( s ) ) ” ) ;
8 // on solving eq 1 for s =%i ∗w this we get an equation m
9 w=poly ( 0 , ’w ’ ) ;
10 m=wˆ3+9∗w−25
11 n=roots (m)
12 s=%i∗n ( 1 )
13 p=horner ( y , s )
14 [ R, Theta ]= polar ( p )
15 PM=180+Theta

82
 Figure 11.17: Output of S 11.22

Example 11.25 11.25.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +1)∗ s ∗( s +2) ∗( s +4) ) ) ;
3 evans (H, 1 0 0 )

Example 11.26 11.26.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , ( s +4) ∗( s +5) / ( ( s +1) ∗( s +3) ) ) ;
3 evans (H, 1 0 0 )

83
 Figure 11.18: Output of S 11.23

Example 11.27 11.27.sci

1 s=%s ;
2 syms k Wn;
3 H=s y s l i n ( ’ c ’ , 1 / ( ( s +3) ˆ2∗ s ) ) ;
4 evans (H, 1 0 0 ) / / r o o t l o c u s
5 p r i n t f ( ”To d e t e r m i n e t h e v a l u e o f Wn \n” )
6 disp ( k∗H, ”G( s )H( s )=” )
7 y=1+(k∗H) ;
8 disp ( ’=0 ’ , y , ”1+G( s )H( s ) ” )
9 evans (H, 1 0 0 )

84
 Figure 11.19: Output of S 11.25

10 [ num , den ]=numden ( y )

11

12 c o f a 0 = c o e f f s (num , ’ s ’ , 0 ) ;
13 c o f a 1 = c o e f f s (num , ’ s ’ , 1 ) ;
14 c o f a 2 = c o e f f s (num , ’ s ’ , 2 ) ;
15 c o f a 3 = c o e f f s (num , ’ s ’ , 3 ) ;
16 r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ]
17

18 n=length ( r ) ;
19 r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ;
20 r outh =[ routh ;−det ( routh ) / routh ( 2 , 1 ) , 0 ] ;
21 t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e sub block of

85
 Figure 11.20: Output of S 11.26

routh matrix
22 r outh =[ routh ;−det ( t ) / t ( 2 , 1 ) , 0 ]
23 // to obtain Wn
24 disp ( ’=0 ’ , ( ( 6 ∗ s ˆ 2) +54) , ” a u x i l l a r y eq ” )
25 p=(6∗( s ˆ2 ) )+k ;
26 s=%i∗Wn
27 k =54;
28 p=eval ( p )
29 Wn=sqrt ( k /6 )
30 p r i n t f ( ”With gvn v a l u e s o f z e t a adding a g r i d on r o o t
l o c u s \n” )
31

86
32 zeta =0.5; / / g i v e n
33 sgrid ( z e t a ,Wn, 7 ) // add a grid over an existing
continuous s−plane root with given values for zeta
and wn .
34 p r i n t f ( ”NOTE:− c l i c k on th e p o i n t where l o c u s i n t e r s e c t s
z =0.5 f o r d e s i r e d v a l u e o f k \n” )
35 k=−1/r e a l ( horner (H, [ 1 , %i ] ∗ locate ( 1 ) ) ) / / T o o b t a i n t h e
gain at a given point of the locus
36

37

38 p=locate ( 1 ) // d e s i r e d point on the root locus

Example 11.28 11.28.sci

1 s=%s ;
2 H=s y s l i n ( ’ c ’ , 1 / ( ( s +4)∗ s ∗( s +6) ) ) ;
3 evans (H, 1 0 0 )

87
Figure 11.21: Output of S 11.27

88
Figure 11.22: Output of S 11.28

89
 Chapter 12

Frequency Domain Analysis

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.

12.1 Scilab Code

Example 12.01 12.01.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s polynomial variable

2 F=s y s l i n ( ’ c ’ , [ 2 2 5 / ( ( s +6)∗ s ) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Mr=1/(2∗ z e t a ∗ sqrt (1− z e t a ˆ 2) )
13 Wr=Wn∗ sqrt (1− z e t a ˆ 2)
14 Wc=Wn∗ sqrt ((1 −2∗ z e t a ˆ 2)+sqrt (4∗ z e t a ˆ4−4∗ z e t a ˆ2+2) )

90
15 BW=Wc / / BANDWIDTH

Example 12.02 12.02.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s polynomial variable

2 F=s y s l i n ( ’ c ’ , [ 3 6 / ( ( s +8)∗ s ) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Mr=1/(2∗ z e t a ∗ sqrt (1− z e t a ˆ 2) )
13 Wr=Wn∗ sqrt (1− z e t a ˆ 2)
14 Wc=Wn∗ sqrt ((1 −2∗ z e t a ˆ 2)+sqrt (4∗ z e t a ˆ4−4∗ z e t a ˆ2+2) )
15 BW=Wc / / BANDWIDTH

Example 12.03 12.03.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s polynomial variable

2 F=s y s l i n ( ’ c ’ , [ 8 1 / ( s ˆ2+7∗ s ) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 CL=F / .B // C a l c u l a t e s closed −loop transfer function
5 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
6 y=denom(CL) // e x t r a c t i n g the denominator of CL
7 z=c o e f f ( y ) // e x t r a c t i n g the c o e f f i c i e n t s of the
denominator polynomial
8 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
9 Wn=sqrt ( z ( 1 , 1 ) ) // Wn= n a t u r a l frequency
10 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )

91
11 z e t a=z ( 1 , 2 ) /(2∗Wn) // z e t a =damping factor
12 Mr=1/(2∗ z e t a ∗ sqrt (1− z e t a ˆ 2) )
13 Wr=Wn∗ sqrt (1− z e t a ˆ 2)
14 Wc=Wn∗ sqrt ((1 −2∗ z e t a ˆ 2)+sqrt (4∗ z e t a ˆ4−4∗ z e t a ˆ2+2) )
15 BW=Wc / / BANDWIDTH

Example 12.04 12.04.sci

1 // D e f i n e s s as polynomial variable
2 s=poly ( 0 , ’ s ’ ) ;
3 // C r e a t e s transfer function in forward path
4 F=s y s l i n ( ’ c ’ , [ 8 1 / ( ( s +18)∗ s ) ] ) ;
5 // C r e a t e s transfer function in backward path
6 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ;
7 // C a l c u l a t e s closed −loop transfer function
8 CL=F / .B
9 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
10 y=denom(CL) / / extracting the denominator of CL
11 // E x t r a c t i n g the c o e f f i c i e n t s of the denominator
polynomial
12 z=c o e f f ( y )
13 / / Wn ˆ 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
14 Wn=sqrt ( z ( 1 , 1 ) )
15 / / 2 ∗ z e t a ∗ Wn= z ( 1 , 2 )
16 z e t a=z ( 1 , 2 ) /(2∗Wn)
17 // zeta =damping factor
18 / / NOTE = here s q r t (1 −2 z e t a ˆ 2 ) becomes complex so the
other solution is Wr = 0 & Mr =1
19 Mr=1
20 Wr=0
21 Wc=Wn∗((1 −2∗ z e t a ˆ 2)+sqrt (4∗ z e t a ˆ4−4∗ z e t a ˆ2+2) )
22 BW=Wc / / BANDWIDTH

Example 12.05 12.05.sci

1 i eee ( 2 ) ;
2 syms k a ;
3 num=k ;

92
 4 den=s ∗( a+s ) ;
5 G=num/ den ;
6 disp (G, ”G( s )=” )
7 H=1;
8 CL=G/ .H;
9 CL=s i m p l e (CL) ;
10 disp (CL, ”C( s ) /R( s )=” ) // C a l c u l a t e s closed −loop
transfer function
11 // compare CL with Wn ˆ 2 / ( s ˆ 2 + 2 ∗ z e t a ∗ Wn+Wn ˆ 2 )
12 [ num , den ]=numden (CL) ; // e x t r a c t s num & den of symbolic
function ( CL )
13 c o f a 0 = c o e f f s ( den , ’ s ’ , 0 ) ; // coeff of den of
symbolic function ( CL )
14 c o f a 1 = c o e f f s ( den , ’ s ’ , 1 ) ;
15 / / Wn ˆ 2 = cof a 0 , comparing the c o e f f i c i e n t s
16 Wn=sqrt ( c o f a 0 )
17 // c o f a 1 = 2 ∗ z e t a ∗ Wn
18 z e t a=c o f a 1 /(2∗Wn)
19 Mr=1/(2∗ z e t a ∗ sqrt (1− z e t a ˆ 2) ) / / − − − − − − − − − −1)
20 p r i n t f ( ” Given ,Mr=1.25 \n” ) ;
21 / / On solving eq (1) we get k = 1 . 2 5 a ˆ2 − − − − − − −2
22 p r i n t f ( ”k =1.25∗ a ˆ2 \n” )
23 Wr=Wn∗ sqrt (1−2∗ z e t a ˆ 2) / / −− −− −− −− −−− −− −−3)
24 p r i n t f ( ” Given , Wr=12.65 \n” ) ;
25 // on soving eq ( 3 ) , we get 2 k − a ˆ2=320 − − − − − − − − − − −4)
26 p r i n t f ( ”2k−aˆ2=320 \n” )
27 // now eq 2 &4 can be simultaneously soved to take out
values of k &a
28 // Let k=x & a ˆ2= y
29 A= [ 1 , − 1 . 2 5 ; 2 , − 1 ] ; // c o e f f i c i e n t matrix
30 b=[0;320];
31 m=A\b ;
32 x=m( 1 , 1 ) ;
33 k=x
34 y=m( 2 , 1 ) ;
35 a=sqrt ( y )
36 Wn=db l ( eval (Wn) ) ;
37 disp (Wn, ”Wn=” )

93
38 z e t a=db l ( eval ( z e t a ) ) ;
39 disp ( z e t a , ” z e t a = ’)
40 Ts=4/( z e t a ∗Wn) ;
41 d i s p ( Ts , ” S e t t l i n g Time ( Ts )=” )
42 Wc=Wn((1 −(2∗ z e t a ˆ 2) )+s q r t (4∗ z e t a ˆ4−4∗ z e t a ˆ2+2) )
43 d i s p (Wc, ”BW=” )

94
 Chapter 13

Bode Plot

When we will execute the programm we will get the following Graphs.

13.1 Scilab Code

Example 13.01 13.01.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s as polynomial variable

2 F=s y s l i n ( ’ c ’ , [ 2 0 / ( s +2) ] ) // C r e a t e s transfer function in
forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) // C r e a t e s transfer
function in backward path
4 OL=F∗B / / C a l c u l a t e s open − l o o p transfer function
5 fmin = 0 . 1 ; / / M i n f r e q in Hz
6 fmax =100; / / M a x f r e q in Hz
7 scf (1) ; c l f ;
8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −
loop system in Bode diagram
9 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

Example 13.02 13.02.sci

1 s=poly ( 0 , ’ s ’ ) ; // D e f i n e s s as polynomial variable

95
 Figure 13.1: Output of S 13.01

2 F=s y s l i n ( ’ c ’ , [ 2 0 / ( ( 2 + s ) ∗ s ) ] ) ; // C r e a t e s transfer
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 OL=F∗B ; / / C a l c u l a t e s o p e n − l o o p transfer function
5 fmin = 0 . 0 1 ; / / M i n f r e q i n H z
6 fmax =20; / / M a x f r e q i n H z
7 scf (1) ; c l f ;

96
 Figure 13.2: Output of S 13.02

8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −

loop system in Bode diagram
9 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

Example 13.03 13.03.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e
2 F=s y s l i n ( ’ c ’ , [ 4 0 / ( ( 2 + s ) ∗ s ∗( s +5) ) ] ) / / C r e a t e s t r a n s f e r
function in forward path

97
 3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) // C r e a t e s transfer
function in backward path
4 OL=F∗B ; / / C a l c u l a t e s open − l o o p transfer function
5 fmin = 0 . 1 ; / / M i n f r e q in Hz
6 fmax =20; / / M a x f r e q in Hz
7 scf (1) ; c l f ;
8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −
loop system in Bode diagram
9 [ GainMargin , freqGM]=g margin (OL) // C a l c u l a t e s gain
margin [ dB ] and corresponding frequency [ Hz ]
10 [ Phase , freqPM]=p margin (OL) // C a l c u l a t e s phase [ deg ]
and corresponding freq [ Hz ] of phase margin
11 PhaseMargin=180+Phase // C a l c u l a t e s actual phase margin
[ deg ]
12 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

Example 13.04 13.04.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e
2 F=s y s l i n ( ’ c ’ , [ 4 0 / ( ( s +5)∗(2+ s ) ∗ s ˆ 2 ) ] ) / / C r e a t e s t r a n s f e r
function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) ; // C r e a t e s transfer
function in backward path
4 OL=F∗B ; / / C a l c u l a t e s open − l o o p transfer function
5 fmin = 0 . 1 ; / / M i n f r e q in Hz
6 fmax =20; / / M a x f r e q in Hz
7 scf (1) ; c l f ;
8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −
loop system in Bode diagram
9 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

Example 13.05 13.05.sci

1 s=poly ( 0 , ’ s ’ ) ; // D e f i n e s s as polynomial variable

98
 Figure 13.3: Output of S 13.03

2 F=s y s l i n ( ’ c ’ , [ ( 4 0 0 ∗ ( s +2) ) / ( ( s +5)∗(10+ s ) ∗ s ˆ 2 ) ] ) //

Creates transfer function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) // C r e a t e s transfer
function in backward path
4 OL=F∗B / / C a l c u l a t e s open − l o o p transfer function
5 fmin = 0 . 1 ; / / M i n f r e q in Hz
6 fmax =20; / / M a x f r e q in Hz
7 scf (1) ; c l f ;
8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −
loop system in Bode diagram
9 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

99
 Figure 13.4: Output of S 13.04

Example 13.06 13.06.sci

1 s=poly ( 0 , ’ s ’ ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e
2 F=s y s l i n ( ’ c ’ , [ ( 2 8 8 ∗ ( s +4) ) / ( ( s +2) ∗(144+4.8∗ s+s ˆ 2 ) ∗ s ) ] )
// C r e a t e s transfer function in forward path
3 B=s y s l i n ( ’ c ’ ,(1+0∗ s ) /(1+0∗ s ) ) // C r e a t e s transfer
function in backward path
4 OL=F∗B / / Calculates open − l o o p transfer function
5 fmin = 0 . 1 ; // Min freq in Hz
6 fmax =100; / / Max freq in Hz

100
 Figure 13.5: Output of S 13.05

7 scf (1) ; c l f ;
8 bode (OL, fmin , fmax ) ; // P l o t s frequency response of open −
loop system in Bode diagram
9 show margins (OL) // d i s p l a y gain and phase margin and
associated crossover frequencies

101
Figure 13.6: Output of S 13.06

102
 Chapter 15

Nyquist Plot

When we will execute the programm we will get the following Graphs

15.1 Scilab Code

Example 15.01 15.01.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 / ( s +2) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e
RHP i s z e r o \n hence t h e system i s s t a b l e ” )

Example 15.02 15.02.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 / ( s ∗( s +2) ) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e
RHP i s z e r o \n hence t h e system i s s t a b l e ” )

103
 Figure 15.1: Output of S 15.01

Example 15.03 15.03.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 / ( s ˆ2∗( s +2) ) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e

104
 Figure 15.2: Output of S 15.02

RHP i s not e q u a l t o z e r o \n hence t he system i s

unstable ”)

Example 15.04 15.04.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 / ( s ˆ3∗( s +2) ) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e

105
 Figure 15.3: Output of S 15.03

RHP i s N>0 \n hence t he system i s u n s t a b l e ” )

Example 15.05 15.05.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 / ( s ˆ2∗( s +2) ) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e
RHP i s N>0 \n hence t he system i s u n s t a b l e ” )

106
 Figure 15.4: Output of S 15.04

Example 15.06 15.06.sci

1 s=%s ;
2 P1=1;
3 P2=2;
4 s y s=s y s l i n ( ’ c ’ , 1 / ( ( s +1) ∗( s +2) ) )
5 nyquist ( s y s )
6 show margins ( sys , ’ n y q u i s t ’ )
7 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n\n Here t he number o f z e r o s o f 1+G( s )H( s ) i n t he
RHP i s z e r o \n\n Hence t h e system i s s t a b l e ” )

107
 Figure 15.5: Output of S 15.05

Example 15.07 15.07.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , 1 2 / ( s ∗( s +1) ∗( s +2) ) )
3 nyquist ( s y s )
4 show margins ( sys , ’ n y q u i s t ’ )
5 gm=g margin ( s y s )
6 i f (gm<=0)
7 p r i n t f ( ” system i s u n s t a b l e ” )
8 else
9 p r i n t f ( ” system i s s t a b l e ” ) ; end ;

108
 Figure 15.6: Output of S 15.06

Example 15.08 15.08.sci

1 s=%s ;
2 s y s=s y s l i n ( ’ c ’ , ( 3 0 ) / ( ( s ˆ2+2∗ s +2) ∗( s +3) ) )
3 nyquist ( s y s )
4 gm=g margin ( s y s )
5 show margins ( sys , ’ n y q u i s t ’ )
6 p r i n t f ( ” S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s )
\n Here t he number o f z e r o s o f 1+G( s )H( s ) i n th e
RHP i s z e r o \n Hence t h e system i s s t a b l e ” )
7 i f (gm<=0)
8 p r i n t f ( ” system i s u n s t a b l e ” )

109
 Figure 15.7: Output of S 15.07

9 else
10 p r i n t f ( ” system i s s t a b l e ” )
11 end

110
Figure 15.8: Output of S 15.08

111
 Chapter 17

State Variable Approach

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spoken-

tutorial.org) for the installation of Symbolic Toolbox.

17.1 Scilab Code

Example 17.03 17.03.sci

1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , 3 / ( s ˆ4+(2∗ s ˆ 3) +(3∗ s ) +2) )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScon ( 3 ) )

Example 17.04 17.04.sci

1 s=%s ;
2 TFcont=s y s l i n ( ’ c ’ , [ ( 7 + 2∗ s + 3∗( s ˆ 2) ) / (5 + 12∗ s + 5∗( s
ˆ 2) + s ˆ3 ) ] )
3 SScont=t f 2 s s ( TFcont )
4 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

Example 17.06 17.06.sci

112
1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , [ ( 5 ∗ ( s +1) ∗( s +2) ) / ( ( s +4) ∗( s +5) ) ] )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

Example 17.07 17.07.sci

1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , ( s +1) / ( ( s +2) ∗( s +5) ∗( s +3) ) )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

Example 17.08 17.08.sci

1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , ( 6 ) / ( ( s +2) ˆ2∗( s +1) ) )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

Example 17.09 17.09.sci

1 A=[0 1; −6 −5]
2 [ Row Col ]= s i z e (A) / / S i z e o f a m a t r i x
3 l=poly ( 0 , ’ l ’ ) ;
4 m=l ∗eye (Row, Col )−A / / l I −A
5 n=det (m) / / T o F i n d T h e D e t e r m i n a n t of l i −A
6 roots ( n ) / / T o F i n d T h e V a l u e O f l

Example 17.10 17.10.sci

1 A=[−2 1 ; 0 −3]

113
 2 B= [ 0 ; 1 ]
3 C=[1 1 ]
4 s=poly ( 0 , ’ s ’ ) ;
5 [ Row Col ]= s i z e (A) // S i z e of a matrix
6 m=s ∗eye (Row, Col )−A / / s I −A
7 n=det (m) / / To F i n d T h e D e t e r m i n a n t of s i −A
8 p=inv (m) / / To F i n d T h e I n v e r s e O f s I −A
9 y=C∗p∗B ; / / T o F i n d C ∗ ( s I −A ) ˆ − 1 ∗ B
10 disp ( y , ” T r a n s f e r Function=” )

Example 17.11 17.11.sci

1 A=[0 1; −6 −5]
2 x=[1;0];
3 disp ( x , ”x ( t ) = ’)
4 s=p o l y ( 0 , ’ s ’ ) ;
5 [ Row Col ]= s i z e (A) // S i z e o f a matrix
6 m=s ∗ eye (Row, Col )−A // s I −A
7 n=d e t (m) //To Find The Determinant o f s i −A
8 p=i n v (m) ; // To Find The I n v e r s e Of s I −A
9 syms t s ;
10 d i s p ( p , ” p hi ( s )=” ) // R e s o l v e n t Matrix
11 f o r i =1:Row
12 f o r j =1: Col
13 // Taking I n v e r s e L a p l a c e o f each element o f Matrix p h i (
s)
14 q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ;
15 end ;
16 end ;
17 d i s p ( q , ” p h i ( t )=” ) // S t a t e T r a n s i t i o n Matrix
18 r=i n v ( q ) ;
19 r=s i m p l e ( r ) ; //To Find ph i (− t )
20 d i s p ( r , ” p h i (− t )=” )
21 y=q∗x ; //x ( t )=p h i ( t ) ∗x ( 0 )
22 d i s p ( y , ” S o l u t i o n To The g i v e n eq .=” )

Example 17.12 17.12.sci

114
 1 A=[0 1; −6 −5]
2 B= [ 0 ; 1 ]
3 x=[1;0]
4 disp ( x , ”x ( t ) = ’)
5 s=p o l y ( 0 , ’ s ’ ) ;
6 [ Row Col ]= s i z e (A) // S i z e o f a matrix A
7 m=s ∗ eye (Row, Col )−A // s I −A
8 n=d e t (m) //To Find The Determinant o f s i −A
9 p=i n v (m) ; // To Find The I n v e r s e Of s I −A
10 syms t s m;
11 d i s p ( p , ” p hi ( s )=” ) // R e s o l v e n t Matrix
12 f o r i =1:Row
13 f o r j =1: Col
14 // I n v e r s e L a p l a c e o f each element o f Matrix ( p hi ( s ) )
15 q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ;
16 end ;
17 end ;
18 d i s p ( q , ” p h i ( t )=” ) // S t a t e T r a n s i t i o n Matrix
19 t =(t−m) ;
20 q=e v a l ( q ) //At t=t−m , e v a l u a t i n g q i . e p hi ( t−m)
21 // I n t e g r a t e q w. r . t m( I n d e f i n i t e I n t e g r a t i o n )
22 r=i n t e g ( q∗B,m)
23 m=0 // Upper l i m i t i s t
24 g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q
25 m=t // Lower Limit i s 0
26 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q
27 y=(h−g ) ;
28 d i s p ( y , ”y=” )
29 p r i n t f ( ”x ( t )= p hi ( t ) ∗x ( 0 ) + i n t e g ( ph i ( t−m) ∗B) w. r . t m
from 0 t 0 t \n” )
30 // x ( t )=ph i ( t ) ∗x ( 0 )+i n t e g ( ph i ( t−m) ∗B) w. r . t m from 0 t 0
t
31 y1=(q∗x )+y ;
32 d i s p ( y1 , ”x ( t )=” )

Example 17.13 17.13.sci

1 A=[3 0 ; 2 4 ]

115
 2 B= [ 0 ; 1 ]
3 Cc=cont mat (A, B) ;
4 disp ( Cc , ” C o n t r o l a b i l i t y Matrix=” )
5 / / To Check Whether the m a t r i x ( Cc ) is singular i . e
determint of Cc =0
6 i f determ ( Cc ) ==0;
7 p r i n t f ( ” S i n c e t h e matrix i s S i n g u l a r , t he system i s
not c o n t r o l l a b l e \n” ) ;
8 else ;
9 p r i n t f ( ”The system i s c o n t r o l l a b l e \n” )
10 end ;

Example 17.14 17.14.sci

1 A=[−2 1 ; 0 −3]
2 B= [ 4 ; 1 ]
3 C=[1 0 ]
4 [O]=obsv mat (A,C) ;
5 disp (O, ” O b s e r v a b i l i t y Matrix=” )
6 / / To Check Whether the m a t r i x ( Cc ) i s singular i . e
determint of Cc =0
7 i f determ (O) ==0;
8 p r i n t f ( ” S i n c e t h e matrix i s S i n g u l a r , t he system i s not
O b s e rv a b l e \n” ) ;
9 else ;
10 p r i n t f ( ”The system i s O bs e r v a b l e \n” )
11 end ;

Example 17.16 17.16.sci

1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , ( ( 5 ∗ s ˆ 2 ) +(2∗ s ) +6) / ( s ˆ3+(7∗ s ˆ 2 ) +(11∗ s )
+8) )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

116
 Example 17.17 17.17.sci

1 s=%s ;
2 // C r e a t i n g cont −time transfer function
3 TFcont=s y s l i n ( ’ c ’ , ( 8 ) / ( s ∗( s +2) ∗( s +3) ) )
4 SScont=t f 2 s s ( TFcont )
5 / / CCF form
6 [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )

Example 17.18 17.18.sci

1 A=[0 1; −3 −4]
2 x=[1;0];
3 disp ( x , ”x ( t ) = ’)
4 s=p o l y ( 0 , ’ s ’ ) ;
5 [ Row Col ]= s i z e (A) // S i z e o f a matrix
6 m=s ∗ eye (Row, Col )−A // s I −A
7 n=d e t (m) //To Find The Determinant o f s i −A
8 p=i n v (m) ; / / To Find The I n v e r s e Of s I −A
9 syms t s ;
10 d i s p ( p , ” p hi ( s )=” ) // R e s o l v e n t Matrix
11 f o r i =1:Row
12 f o r j =1: Col
13 // Taking I n v e r s e L a p l a c e o f each element o f Matrix p h i (
s)
14 q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ;
15 end ;
16 end ;
17 d i s p ( q , ” p h i ( t )=” ) // S t a t e T r a n s i t i o n Matrix
18 r=i n v ( q ) ;
19 r=s i m p l e ( r ) ; //To Find p hi (− t )
20 d i s p ( r , ” p h i (− t )=” )

Example 17.19 17.19.sci

1 A=[0 1; −3 −4]
2 B= [ 0 ; 1 ]
3 C=[1 0 ]

117
 4 x=[0;0]
5 disp ( x , ”x ( t ) = ’)
6 s=p o l y ( 0 , ’ s ’ ) ;
7 [ Row Col ]= s i z e (A) // S i z e o f a matrix A
8 m=s ∗ eye (Row, Col )−A // s I −A
9 n=d e t (m) //To Find The Determinant o f s i −A
10 p=i n v (m) ; // To Find The I n v e r s e Of s I −A
11 syms t s m;
12 d i s p ( p , ” p hi ( s )=” ) // R e s o l v e n t Matrix
13 f o r i =1:Row
14 f o r j =1: Col
15 // Taking I n v e r s e L a p l a c e o f each element o f Matrix ( ph i (
s))
16 q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ;
17 end ;
18 end ;
19 d i s p ( q , ” p h i ( t )=” ) // S t a t e T r a n s i t i o n Matrix
20 t =(t−m)
21 q=e v a l ( q ) //At t=t−m , e v a l u a t i n g q i . e p hi ( t−m)
22 r=i n t e g ( q∗B,m) // I n t e g r a t e q w. r . t m ( I n d e f i n i t e
Integration )
23 m=0 // Upper l i m i t i s t
24 g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q
25 m=t // Lower Limit i s 0
26 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q
27 y=(h−g ) ;
28 p r i n t f ( ”x ( t )= p hi ( t ) ∗x ( 0 ) + i n t e g ( ph i ( t−m) ∗B) w. r . t m
from 0 t 0 t \n” )
29 // x ( t )=ph i ( t ) ∗x ( 0 ) + i n t e g ( ph i ( t−m) ∗B) w. r . t m from 0
t0 t
30 y1=(q∗x )+y ;
31 d i s p ( y1 , ”x ( t )=” )
32 y2=C∗y1 ;
33 d i s p ( y2 , ” Output Response=” )

Example 17.20 17.20.sci

1 A=[0 1; −2 0 ]

118
 2 B= [ 0 ; 3 ]
3 Cc=cont mat (A, B) ;
4 disp ( Cc , ” C o n t r o l a b i l i t y Matrix=” )
5 / / To Check Whether the m a t r i x ( Cc ) is singular i . e
determint of Cc =0
6 i f determ ( Cc ) ==0;
7 p r i n t f ( ” S i n c e t h e matrix i s S i n g u l a r , t he system i s not
c o n t r o l l a b l e \n” ) ;
8 else ;
9 p r i n t f ( ”The system i s c o n t r o l l a b l e \n” )
10 end ;

Example 17.21 17.21.sci

1 A=[−3 0 ; 0 −2]
2 B= [ 4 ; 1 ]
3 C=[2 0 ]
4 [O]=obsv mat (A,C) ;
5 disp (O, ” O b s e r v a b i l i t y Matrix=” )
6 / / To Check Whether the m a t r i x ( Cc ) is singular i . e
determint of Cc =0
7 i f determ (O) ==0;
8 p r i n t f ( ” S i n c e t h e matrix i s S i n g u l a r , t he system i s not
O b s e rv a b l e \n” ) ;
9 else ;
10 p r i n t f ( ”The system i s O bs e r v a b l e \n” )
11 end ;

Example 17.22 17.22.sci

1 i eee ( 2 )
2 A=[−3 0 0 ; 0 −1 1 ; 0 0 −1]
3 B= [ 0 ; 1 ; 0 ]
4 s=poly ( 0 , ’ s ’ ) ;
5 [ Row Col ]= s i z e (A) // S i z e of a matrix
6 m=s ∗eye (Row, Col )−A / / s I −A
7 n=det (m) / / To F i n d The Determinant of s i −A
8 p=inv (m) ; / / To F i n d The Inverse Of s I −A

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 9 syms t s ;
10 disp ( p , ” ph i ( s )=” ) // R e s o l v e n t Matrix

Example 17.23 17.23.sci

1 A=[−2 0 ; 1 −1]
2 B= [ 0 ; 1 ]
3 x=[0;0]
4 disp ( x , ”x ( t ) = ’)
5 s=p o l y ( 0 , ’ s ’ ) ;
6 [ Row Col ]= s i z e (A) // S i z e o f a matrix A
7 m=s ∗ eye (Row, Col )−A // s I −A
8 n=d e t (m) //To Find The Determinant o f s i −A
9 p=i n v (m) ; // To Find The I n v e r s e Of s I −A
10 syms t s m;
11 d i s p ( p , ” p hi ( s )=” ) // R e s o l v e n t Matrix
12 t =(t−m)
13 q=e v a l ( q ) //At t=t−m , e v a l u a t i n g q i . e p hi ( t−m)
14 // I n t e g r a t e q w. r . t m ( I n d e f i n i t e I n t e g r a t i o n )
15 r=i n t e g ( q∗B,m)
16 m=0 // Upper l i m i t i s t
17 g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q
18 m=t // Lower Limit i s 0
19 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q
20 y=(h−g ) ;
21 d i s p ( y , ”y=” )
22 p r i n t f ( ”x ( t )= p hi ( t ) ∗x ( 0 ) + i n t e g ( ph i ( t−m) ∗B) w. r . t m
from 0 t 0 t \n” )
23 // x ( t )=ph i ( t ) ∗x ( 0 )+i n t e g ( ph i ( t−m) ∗B)w. r . t m from 0 t 0 t
24 y1=(q∗x )+y ;
25 d i s p ( y1 , ”x ( t )=” )
26 // CONTROLABILITY OF THE SYSTEM
27 Cc=cont mat (A, B) ;
28 d i s p ( Cc , ” C o n t r o l a b i l i t y Matrix=” )
29 //To Check Whether t h e matrix ( Cc ) i s s i n g u l a r i . e
d e t e r m i n t o f Cc=0
30 i f determ ( Cc ) ==0;

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31 p r i n t f ( ” S i n c e t h e matrix i s S i n g u l a r , th e system i s not
c o n t r o l l a b l e \n” ) ;
32 else ;
33 p r i n t f ( ”The system i s c o n t r o l l a b l e \n” )
34 end ;

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 Chapter 18

Digital Control Systems

For the execution of the programm keep the main programm and the Func-
tion in the same folder.

18.1 Scilab Code

Example F3 ztransfer.sce

1 function [ Z t r a n s f e r ]= z t r a n s f e r ( s e q u e n c e )
2 z = poly ( 0 , ’ z ’ , ’ r ’ )
3 Z t r a n s f e r=s e q u e n c e ∗(1/ z ) ˆ [ 0 : ( length ( s e q u e n c e ) −1) ] ’
4 endfunction

Example 18.01 18.01.01.sci

1 syms n z ;
2 x=( −0.5) ˆn
3 y = ( 4 ∗ ( ( 0 . 2 ) ˆn ) )
4 f 1=symsum ( x ∗( zˆ(−n ) ) , n , 0 , %inf )
5 f 2=symsum ( y ∗( zˆ(−n ) ) , n , 0 , %inf )
6 y=( f 1+f 2 ) ;
7 disp ( y , ” ans=” )

Example 18.08 18.08.01.sci

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1 exec z t r a n s f e r . s c e ;
2 s e q u e n c e =[0 2 0 0 −3 0 0 8 ]
3 y=z t r a n s f e r ( s e q u e n c e ) ;
4 disp ( y , ” ans=” )

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