Slow dominant pole

num=5;den=conv([1 1],[1 5]);step(num,den,6)

Step Response
1
0.9
0.8
0.7
Amplitude

0.6
0.5
0.4
0.3
0.2
0.1
0
0

Time (sec.)

Fast dominant pole

num=5.5*[1 0.91];den=conv([1 1],[1 5]);step(num,den,6)

Step Response
1
0.9
0.8

Amplitude

0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0

3
Time (sec.)

Similar example, but with second order dynamics combined with a simple real pole.
z=.15;wn=1;plist=[wn/2:1:10*wn];

nd=wn^2;dd=[1 2*z*wn wn^2];t=[0:.25:20]';

sys=tf(nd,dd);[y]=step(sys,t);

for p=plist;

num=nd;den=conv([1/p 1],dd);

sys=tf(num,den);[ytemp]=step(sys,t);

y=[y ytemp];

end

plot(t,y(:,1),'d',t,y(:,2),'+',t,y(:,4),'+',t,y(:,8),'v');

ylabel('step response');xlabel('time (sec)')

legend('2nd',num2str(plist(1)),num2str(plist(3)),num2str(plist(7)))

1.8
2nd
0.5
2.5
6.5

1.6
1.4

step response

1.2
1
0.8
0.6
0.4
0.2
0

10
time (sec)

15

20

For values of p=2.5 and 6.5, the response is very similar to the second order system. The
response with p=0.5 is clearly no longer dominated by the second-order dynamics

2 - 5

2 - 6

2 - 7

2 - 8

2 - 10

2 - 11

2 - 12

2 - 13

2 - 14

2 - 15

2 - 16

2 - 17

EX1 - 1

EX1 - 2

2 - 18

2 - 19

2 - 20

2 - 21

2 - 22

2 - 23

2 - 24

2 - 25

2 - 26

2 - 27

2 - 28

2 - 29

2 - 30
Example: G(s)=1/2^2

Design Gc(s) to put the clp poles at 1 + 2j

z=roots([-20 49 -10]);z=max(z),k=25/(5-2*z),alpha=5*z/(5-2*z),

num=1;den=[1 0 0];

knum=k*[1 z];kden=[1 10*z];

rlocus(conv(num,knum),conv(den,kden));

hold;plot(-alpha+eps*j,'d');plot([-1+2*j,-1-2*j],'d');hold off

r=rlocus(conv(num,knum),conv(den,kden),1)'

z =
2.2253

k =
45.5062

alpha = 20.2531

These are
1 (recall
r =

-20.2531

-1.0000
-1.0000

the actual roots that I found from the locus using a gain of

that the K gain is already in the compensator)

- 2.0000i

+ 2.0000i

20
15
10

Imag Axis

5
0
-5
-10
-15
-20

-20

MATLAB is a trademark of The MathWorks, Inc.

-15

-10
Real Axis

-5