Step Response

a. G(s) = 4500k/s"2+361.2s+4500k
k = 7.248;14.5;181.2

Code: Output :

for k=7.248
kl= 7.248; RiseTime: 0.0186
n uml = [ 0 0 ( 45 0 0 * k 1 ) ] ; SettlingTime: 0.0323
denl Il 361.2 (4500*kl)]; 0.9030
SettlingMin:
sysl tf(numl,denl);
SettlingMax: 0.9999
k2 = 14.5;
Overshoot: 0

nurn2 [O O (4500*k2)]; Undershoot: 0

den2 (1 361. 2 (4500*k2)]; Peak: 0.9.999

sys2 tf(num2,den2); PeakTime: 0. 066-3

k3 = 181. 2; for k=14.5

n um3 = [ 0 0 ( 4 5 0 0 * k 3 ) ) ; RiseTime: 0.0084
den3 [l 3 61. 2 (4500*k3)); SettlingTime: 0 .0233
sys3 = tf(num3,den3);
SettlingMin: 0.9036
SettlingMa:x: 1.0432
display('fo r k=7.24 8 ');
o,iershoot: 4.3246
display(st epinfo(sysl)); ·
display ( ' fo r k=14. 5' ); Und.e r sh oot : 0
display(s tepinfo(sys2)); Peak: 1.04.32
display( 1 f o r k=18 1. 2 ' ); Pea.kTime: 0.0173
display(stepinfo (sys3));
for k =l8lk : ----
/ ~s e ~~rne: 0 .0013
/ Sett=1.~gT1.1~e ~ O. 021 7
Se t Ll1ngM1.n . 0.7228
SettlingMax: 1.5265
Overshoot: 52.6541
Undershoot: 0
Peak: 1. 52 65
PeakTime: 0.0036
b. G(s) = (1.5 X 10/\7)k/s" 3+3408.3s/\2+1204000s+(l.5 X 10/\7)k
k = 7.248;14.5;181.2
Code : c l c , clearvars
Output :
~~ Pa r t (b)
kl 7 . 248;
for k=7.248
k2 14 . 5;
RiseTime : 0 . 0182
k3 181.2;
·S ettlingTime: 0.0322
Settli ngMin: 0 . 90 24
num4 [O O (1. 5* (10"7) .. kl)];
SettlingMax: 0 . 9992
den4 [l 3408.3 1204000 (l.5*(10"7)*kl)];
sys4 t f (num4 , den4 ) ; Overshoot : 0
Undershoot: 0
num5 = [O O (l.5*(10"7)*k2)]; Peak: 0 . 9992
den5 [l 3408.3 1204000 (l.5*(10"7)*k2)]; Pea,kTime : 0 . 0528
sys5 = tf (num5, den5);
f o r k=l4.5
num6 = [O O (1. 5* (10 " 7) *k3)]; RiseTime : 0.0182
den6 = [l 340B.3 1204000 (l.5*(10"7)*k3)]; SettlingTime: 0.0322
sys6 = tf (num6, den6); SettlirigMin: 0. 9024
Set,t lingMax : 0.9992
step(sys4 , sys5,sys6)
Overshoot: 0
grid
Undershoot: 0
display(' f o r ~=7. 148 ')
Peak: 0.9992
display(stepinfo (sys4))
Peak.Time: 0. 0 528
display ( ' f,:,r k=l4 . S ')
display (stepinfo(sys4))
display ( ' for k=l8 1. 2 ') for k=181 .. 2
display(stepinfa (sys4)J RiseTime: 0 .0182
SettlingTime: 0.0322
SettlingMin : 0.9 024
Ss=ttlingMax: 0 . 9992
St~p Response Overshoot: 0
Undershoot: 0
Peak: 0.9992
PeakTime: 0.0528
1.6

1.4

1..2
Q)
-g 1
~
a.
E 0.8
<t:
0.6

0.4

0.08 0 ·1
 40, f4.\J4b

after adding zero :

G(sJ = "',/ '20 + Ts) I s"2 + 2 -w/s+ w,/ 2

36 l0
1Vizere w n = I '· '°". O.5•· . = l1I , I., ' , r·

tem with and without zero.

Compare the response ofsys

Code: % O~fine: system p.::wam.:,t r~l'

s
omega_rr ;: 2"pi ; ~; /j,}t ,_rr•,1 1 fr• t.'i◄ :F~n< _\;
xi :: 0.5; % Ja111pi11g re ti o
1·: ithou t :er-v
% Crea te tr~.an:--fer ·fun{ t·ior:
num = omega_n,'\2;
_n ··2j;
den = (:1 2•xi- omega_n omegd
G_no _zero :: tf (n u,n, den); T/
for· slj_f -fr~ren t v(;lut :s n ..:
t :.: ~erYi:t:• t.ran sf.~ p fun-:ti011 :-1.tth
::f• f'C

;\:,,.,\ ~a!/ ~e:0:;,:,t ,~:;\~lr:~L,;d~:'.;

5 0
aero t im•o w,s t a!lt
t = 0:0 .01 :10; Time vc" rt or
t );
y_no_ zero :: step( G_n o_zer o, •·. f T7.
few d.l fff' ~'t:-n~ ::r1l1ws 1
~: Pl ot. st ep 1'es r:r.:nsr: ,: ,wves
fi gu re;
hol d en ;
t h ·, 2);
plot (t, y_no_ze ro., '!.i nel•Jld
for i = 1 : leng th( T2 )
on l•1i t h zc::f'o ·
% ( r'f.:'ate trans fer f unc t i
a_n"2];
num = [omega_n"'2:ioT2(i ) or.1eg
_n·'\2] ;
de n : (1 2i'"xi "·cmega_n ornega
);
G_l•.iit h_ zero =i tf(nu m, den

;~ Si t<:u l a-te st ep r~'spons .

~. ~J.i th z~;•u
er'OJ t);
y_:.-,ith_ze ro : st ep (G_~·dth_z

~ P.h:t step respo nse: CUl'V{'

:

.dth ' , 2);

p1ct( t , y_w.i th__ zeroJ "l in~id
er,d/

I;i§!:iif;:/f:ii!:·::,;:::,:::,::;;,:':::
}•la bel ( 'Aniol i tude ·);
!;, , .1.0' i;

% ,1d j ust ax s limit• :·· ai

d 1.Hsc,la~ g r·id lin:.•:,
alim ( f0 10]
yli m([O 1.1 i;

3C ~ -
I/i grid er ,;

25

lh
20 (/ \ ;
f {;.

; ~\'..
10
s

,-:-=:,.,~ -- .,------
'
I ,-
J ~
u ' .,,.......

L___ ~Z___ 1

I
- __ j__ _ ___ _____
1
J _ -- -
.. __ ' --- --·- ·---· -----L ___ _
'
Tim u (s)
 Root Locus
a) G(s)H(s) = k/(s(s+4) (s/\2+4s+2 0))
Code: % Part (a )
numl = [l];
denl = [1 8 36 80 O];
sysl = tf(numl ,denl);
rlocus( sysl);
grid;
Root Locus
11
I

i
 b) G(s)H(s) = k(s+3)/s(s+5) (s+6) (s" 2+2s+2) .
For-3000<k<3000
Code : % Par t (b )
num2 Jl ];
den2 = [1 13 54 82 60 OJ ;
s ys2 = t f( num2 , den2);
rlocus (sys2 );
gr id

Out put :

.0.76- .
15 ·Q.., 86

--
..-
'if)
i::,
10
·Q,94
C:
0 5 _
,(.)
Q)
i G.,9 85

--- 't5
(/)

(/) 20
J
c
ro -5 0.98'5
C:
·gi ·. ---·
E -10 _o:~4

-15 -oJ ~6 .. ..

0.76•' o,64 o._

5 0.,34 o.16 ,,/ ,
-2Q '---~-'---~--- ---'---'----'-~ -.- - - ' - - --:c--"--- ' - - - - ' - - - -
-25 , -20 -15 -10 .5 /er 5 1D 15
Real Ax is (se ,,onds-1 )
c) G(s)H(s) == k(s+2)/s (s"2+2s+a) a>O
for a == 1 ; 1.12 ; 1.185 ; 3
Investig ate the difference between the root loci

9
Code: ,; a = 1
num3 [ 1 2] ;
den3 = [1 21 OJ;
sys3 = tf(num 3,den3 };
r locu.'3 ( sys 3) ;
grid

Output :
Root Locus
-------;- ----,---- -,---- i
4 .------:- -:----,-- ----,-.-- ---,----, --~-,---- ----r--:-
0.998 . _0.996 . o.9S3 o.986 o.965 ,o .86
3 .

~ 2.
'(/)
"O
·-1 ,, ... , ·- · ,. : ' . .
8C -1 . . . . .

¾10 : __
·4-1--'-6"-'-o·_ _5_0-:- ..._.. ·_; _·o::;.--_,.. ___ __'ft
40-:-:_-_ ....,,
2! 1~ !:~
~
~ -
ro -1
C ·t ··
·rn
(0

.s -2 -
·0.999
-3 -

o.~a·'. _o.996 . - o.993 o.98-B o,9&5 ' ---"

' -'-
:o.se ----
-4 L_....c:.:...___.__ _------L-. ---'---'--- -------'-- -'----'-'-- -----'-
-70 -60 -50 -40 -30 -20 -10 0 ·10
Real Axis (seconds-1 )

Code : ~s a = 1 . 12
num4 = (1 2]; ./
/
den 4 = [1 21. 12.,,,0/J ;
sys4 = tf~ 1m'< den4) ;
rlocu .'3'..(-s-ys4} ;
grid
 Root Locus
---~- ---- --
Output:
j 0.998 0.996 0.9~3·--o-986 ·a:gss ua6
3i
0.999
~~ 2
'w
"O
C:
8
Q)
1

, 1---_::6.:::.0_
:; "(p,.., _.:::::
50:__:__4c::..
0_ · ·_2 •
--'-30_ _ . 10· · 'G_f<
~
~
('!l -·1 '
.!: 1
Ol
('!l

_§ -2
0.999
-3

-70 60 -50 -40 -30 -20 -'!O 0 -10

1
Real Axis (seconds· }

Code : % a == l . 1 f; 5
mun5 [1 2];
den 5 = [l 2 1. 18 5 0 ] ;
sys5 = tf(num5,den 5};
rlocus(sys5 );
grid

Output:
Root Lo;cus

6
0:44
;-- 4
'(/)

~ 0.7
8
Q)
2
.!!!.,

~ 0
~
ro
C
-2-
·5, 0.7
ro
_§ -4
0.4.f
-6
o.~2 · o. t6
-8 .co:.3.'.:_
.. ----'----~ -~
-2 .5 -2 -1.5 _, -0.5
0.5
Real Axis (secorids ·1 )
 ~rt -:e;;: -zr: ·-Z

Code: % a = 3
num6 = [1 2];
den 6 = [ 1 2 3 o] ; .
sys6 = tf(num6,de~6);
rlocus(sys6);
grid

Output:

-1.5 -1 -0.5 0 0.5

-2
1
Real Axis (se.conds · )
 Bode Plot
a) L(s) = 2500/s(s+S) (s+lO)
► Find gain cross over frequency and phase margin
► Find phase cross over frequency and gain margin
Code: '5 pc>.rt (a) Outpu t:
num = [0 0 0 2500] ; GainMargin
den= [1 15 50 OJ ;
sys= tf(nu m,de n);
0.3000
bode( sys);
grid
[Gm,Pm,Wcg,Wcp] rnargi n (sys} PhaseMargin

-28.08 14

Wcg_G ainCro ssover Freque ncy

7. 0711

Wcp_ PhaseC rossov erFreq uency =

12.126 3

Bode Diagram

-TI O ------ ----'- ---,.- -/, ----- '---- ----'"------

--~-- -----=·-:::c-
'=""=--=
-
10- i '100 ✓- '! Oi '!0 2 103
Frequency (rad/s)
 b) L(s) = 100k(s+5) (s+40)/s"3 (s+l00) (s+200)
k=l

- Find gain cross over frequency and phase margin

- Find phase cross over frequency .
- Discuss about the stability of the system
Code : Output :
clc, clearvars; GainMargin
num = [100 4500 20000];
2.8479e+03
den= (1 300 20000 0 0 O];
sys= tf(num,den);
bode (sys); PhaseMargin
grid
(Gm,Pm,Wcg,Wcp]~margin(sys) -78.0393

Wcg GainCrossoverFrequency

25. 7 43.8

Wcp_Phaset:rossoverFrequency

1.0067
Bode Diagram

Q)
"O
.3 - 100
'cC):
('J
::;E -200 -

fill -mo
2-
Q)
(I)

~ -225 -
0.

-270
10-1 10 1 102
Frequency (rad/s)
 ~l
Nyquist Criteria

a) L(s) =k/s(s+2)(s+10)
two points .
For k<240 and k>240 , investigate the difference between

' cs_Nyquist_l .m * · · ~ c;_Nyqu ist_2.m · · l Nyquist Diagram

- -- - - - - - - - - - -·- ·----~ - ·-·
-7
1 6 %For k<240 150 ,----
OdB
2 L %Let k=100
3 num = [100 ] ;
100 ;
4 den= (1 12 200 ] ; ,i
IJ.
5 sysl = tf( num,de n); \

6 nyquis t (sysl) ; 50 ~
7 gri d; "' \
'--·,,-...
8
9
J
>.
;;;
C
'5,
o -=~~=::~-;--..=--·.· .,,------~~.. --.,..-j
- ,·= .......

/
%For k>240
10
11 1 %Let k= 300
111
E
~50 /
/

num= I[ 300];
i
12
13 den= (1 12 20 0); I/'I
14 sys2 = tf(num , den);
- 100 I
15, nyqu i st(sys2 ) ; '-----'
16 grid; -150 '--~-~ -----'- ----'-- ---'--- --'---- '------
.g -3 -7 -6 -5 -4 .3 -2 -1
Real Axis

b) L(s) = k(s + 2) / (s" 3) + 3s" 2 + 10

! ' '": ,.,., •• , ......
! cs_Nyqu ist_2.m x l- i:'.~.:Nyquist:..3 .m
1 num=( 24] ;
2 den= (1 3010] ;
3 sys= t f( num, den );
4 nyquis t (sy s ) ;
5 gr i d;

Nyquist Diagram
OdB
_,,,,.,,
--- --- ,, . ~ .. ----- - ·: ...--,
4
(/ -2 dB '•.,,\
3 .

2
2 dB i
4 dB . .\
,10·8rf1
-4 dB
8 · ~✓-/
0
~~ dB . ·,-,( _,,.,/ .

·+ . . / /'
'):·

-2.
/
-3

-4
"--·-·· ..... ► ....

0 1 2
Real Axis
c) investigate the difference between(i), (ii), (iii), (iv).

i) L(s) = k/l+T1s T1> O

Nyquist Diagram ·.Cs O (j E'~ 8. C)
os .-- -~ ---- ~ -/
s 11Bl82dB)d82dS4dB : / ·-, ''6,dB
i cs_Nyquist_3.m :;,, +
·-··-··-·· -•····-·········
··········· ··-·· •....
~

10dB -10_l _
.
\
1 clearvars; o.3 ;
2 num = [1];
3 den = [2 It); 0.2 I
-20(d8
4 sysl = tf(num den)· j 0.1 Wd8 .t .
5 nyquist(sys1)'. ' i
~C: 0
6
7
grid;
ro, .
'o,
;j

-0.2 t
-0.3
I
/!
-0.4 / .

-D .5 0 0.5
Real Axis

ii) add pole at origin to L(s) L(s) = I / s (1 + T1 s)

'. cs_Nyquist_3.m -x L±J Nyquist Diagram

40 , - - - - - - - - - - - - - - - - --
1 clearva rs ; OdB
2 num = [1];
3 den2 = (2 1 0];
4 sys2 = tf(num,den2 );
5 nyquist(sys2);
6 grid;
7

-40 ' - - - - -- ~- - - ~ - - - - - ' - -- - -_J

-2 -1.5 -·1 -0.5 0
Real Axis

iii) L(s) = k / (s" 2) * (1 + T1 s)

Ny_qulst Diagram
~--- .J ~G 00.. 0. w
i cs_Nyquist_3.m ;.~ l. ±.t __ 20 , -- - ~ · --
15 [__ ·- -- - --~~B
1 clearvars; I
I
2 num = [1 ] ; !
3 · den3 = ( 1 1 0 0 ); 1D
i
4 sys3= tf(num,den3) ;
nyquist(sys3) ;
6
7
grid;
~
/ ~ oi
-~ 1 I
1I

.; sf j
-10

· 15

-21)0 . :50 -1 00 -~,O

Real Axis
iv) L(s) = k / (s" 3) * (1 + T1 s)

~l__
cs_Nyquist_3.m · : ~-+ Nyquist Diagram
1 clearvars;
num = [1);
4000 r-----.-- :..---~-- - - - - -
OdB
/,, §
:?
0 E~ 0_ (,j
2
3 den4 = [1 1 0 0 0) ; 300~
4 sys4= tf(num,den4 );
5 nyquist ( sys4); 200-:J i
6 grid ; I
7 .!i! 1000 r
~ :
>, I

~ 0 t
'g /'
E ·1000 \.

-2000

-JOOO !
i