Capitulo 4: Respuesta en el tiempo numt2=[245.

42];

(ejemplo 4.6) p1=[1 10];

‘(ch4p1) Example 4.6’ p2=[1 4 24.542];

p1=[1 3+7*i]; dent2=conv(p1,p2);

p2=[1 3-7*i]; ‘T2(s)’

deng-conv(p1,p2); T2=tf(numt2,dent2)

omegan=sqrt(deng(3)/deng(1)) [y2,t2]=step(T2);

zeta=(deng(2)/deng(1))/(2*omegan) num3=[73.626];

Ts=4/(zeta*omegan) p3=[1 3];

Tp=pi/(omegan*sqrt(1-zeta^2) dent3-conv(p3,p2);

pos=100*exp(-zeta*pi/sqrt(1-zeta^2)) ‘T3(s)’

pause T3=tf(num3,deen3)

[y3,t3]=step(T3);

Ejemplo 4.8 clf

‘(ch4p2) Examplte 4.8’ plot(t1,y1,t2,y2,t3,y3)

‘Test Run’ title(‘Step Responses of T1(s), T2(s), and

T3(s)’)
clf
xlabel(‘Time(seconds)’)
numt1=[24.542]
ylabel(‘Normalized Response’)
dent1=[1 4 24, 542]
text(0.7,0.7,’c3(t)’)
‘T1(s)’
text(0.7,1.1,’c2(t)’)
T1=tf(numt1,dent1)
text(0.5,1.3,’c1(t)’)
step(T19
pause
title(‘Test Run of T1(s)’)
step(T1,T2,T3)
pause
title(‘step Responses of T1(s), T2(s),and
‘Complete Run’ T3(s)’)
[y1,t1]=step(T1);
pause ‘(ch4p5) UFSS Case Study’

Clf

CH4p3 ‘(a)’

‘(ch4p3)’ numg=0.0169;

clf deng=[1 0.226 0.0169];

A=[0 1 0; 0 0 1;-24 -26 -9], ‘G(s)’

B=[0;0;1]; G=tf(numg,deng)

C=[2 7 1]; omegan=sqrt(deng(3))

D=0, zeta=deng(2)/(2*omegan)

T=ss(A,B,C,D) Ts=4/(zeta*omegan)

t=D;0.1:10; Tp=pi/(omegan*sqrt(1-zeta^2))

step(T,t) pos=exp(-zeta*pi/sqrt(1-zeta^2))*100

grid on t=0:0.1:35;

pause [y,t]=step(G,t);

Tlow=interp1(y,t,o.9);

ch4p4 Tr=thi-Tlow

‘(ch4p4) Antenna Control Case Study’ ‘(b)’

clf numc=0.125*[1 0.435]:

numg=20.83; denc=conv(poly([0 -1.23]),[1 0.226 0.0169]);

deng=[1 101.71 171]; ‘G(s)’

‘G(s)’ G=tf(numg,deng)

G=tf(numg,deng) [y,t]=step(G);

step(G); plot(t,y)

title(‘Angular Velocity Response’) title(‘Pitch Angle Response’)

pause xlabel(‘Time(seconds)’)

ch4p5 ylabel(‘Pitch Angle(radians)’)

pause numg2=[0 2];

deng2=[1 2];

Capitulo 5: Reduccion de sub sistemas numg3=-0.125*[1 0.435];

multiples
deng3=conv([1 1.23],[1 0.226 0.0169]);
‘(ch5p1) UFSS Pitch Control System’
numh1=[-1 0]:
‘Solution via Series, Parallel, & Feedback
denh1=[0 1];
Commands’

numg1=[-1]; G1=tf(numg1,deng1);

G2=tf(numg2,deng2);
deng1=[1];

numg2=[0 2]; G3=tf(numg3,den3);

H1=tf(num1,denh1);
deng2=[1 2];

numg3=-0.125*[1 0.435]; G4=G3*G2;

G5=G4/(1+G4*H1);
deng3=conv([1 1.23],[1 0.226 0.0169]);

numh1=[-1 0]: G5=mineral(G5);

Ge=G5*G1;
denh1=[0 1];

G1=tf(numg1,deng1); ‘T(s) via Algebraic Operations’

T=Ge/(1+Ge);
G2=tf(numg2,deng2);

G3=tf(numg3,den3); T=mineral(T)

‘Solution via Append & Connect Commands’

H1=tf(num1,denh1);

G4=series(G2,G5); ‘G1(s)=(-K1)*(1/(-!2s))-1/s’

numg1=[1];
‘T(s) via Series, Parallel, & Feedback
Commands’ deng1=[1 0];
T=feedback(Ge,1) G1=tf(numg2,deng2)
‘Solution via Algebraic Operations’ ‘G3(s)=-0.125(s+0.435)/
((s+1.23=(s^2+0.226s+0.0169))’
clear

numg1=[-1]; numg3=-0.125*[1 0.435];

deng3=conv([1 1.23],[1 0.226 0.0169]);

deng1=[1];
G3=tf(numg3,deng3)

System=append(G1,G2,G3); ch5p3

input=1; ‘(ch5p3)’

output=3; numt=24;

Q=[1 -3 0 2 1 -3 3 2 0]; dent=poly([-2 -3 -4]);

T=connect(System, Q, input, output); ‘T(s)’

‘T(s) via Append & connect Commands’ T=tf(numt,dent)

T=tf(T); [Acc Bcc Ccc Dcc]=tf2ss(numt,dent);

T=mineral(T) Scc=ss(Acc,Bcc,Ccc,Dcc);

pause Sp=canon(Scc,’modal’);

ch5p2 EJEMPLO 5.3 ‘Controller Canonical Form’

‘(ch5p2) Example 5.3’ [Acc,Bcc,Ccc,Dcc]-ssdata(Scc)

numg=[25]; ‘Parallel Form’

deng=poly([0 -5]); [Ap,Bp,Cp,Dp]=ssdata(Scc)

?G(s)’ pause

G=tf(numg,deng)

‘T(s)’ ch5p4 ejemplo 5.9

T=feedback(G,1)

[numt,dent]-tfdata(T,’v’); ‘(ch4p4) Example 5.9’

wn=sqrt(dent(3)) Pinv=[2 0 0;3 2 0;1 4 5];

z=dent(2)/(2*wn) P=inv(Pinv)

Ts=4/(z*wn) ‘Original’

Tp=pi/(wn*sqrt(1-z^2)) Ax=[0 1 0;0 0 1;-2 -5 -7]

pos=exp(-z*pi/sqrt(1-z^2))*100 Bx=[0 0 1]

step(t) Cx=[1 0 0]

pause ‘Transformed’
Az=Pinv*Ax*p T=feedback(G,1);

Bz=Pinv*Bx poles=pole(T)

Cz=Cx*P ‘Step Input’

pause numsg=conv([1 0]),numg9;

densg=poly([0 -8 -10 -12]);

ch5p5 sC=tf(numsg,densg);

‘(ch5p5)’ sG=mineral(sG);

A=[3 1 5;4 -2 7;2 3 1]; Kv=dcgain(sG)

B=[1;2;3]; ess=1/Kv

C=[2 4 6]; ‘Parabolic Input’

[P,d]=eig(A) nums2g=conv([1 0 0],numg9;

‘Via Transformation’ dens2g=poly([0 -8 -10 -12]);

Adt=inv(P)*AP s2G=tf(nums2g,dens2g);

Bdt=inv(P)*B s2G=mineral(s2G);

Cdt=C*P Ka=dcgain(s2G)

‘Via Canon Command’ ess=1/Ka

S=SS(A,B,C,D) pause

Sp=canon(S,’modal’) ch7p2 ejemplo 7.6

pause ‘(ch7p2) Example 7.6’

numgdk=[1 5];

CAPITULO 7: ERRORES DE ESTADO ESTABLE dengdk=poly([0 -6 -7 -8]);

‘(ch7p1) Example 7.4, sys, b’ Gdk=tf(numgdK,dengdK);

numg=500*poly([-2 -5 -6]); numgkv=conv([1 0],numgdK);

deng=poly([0 -8 -10 -12]); dengkv=dengdK;

G=tf(numg,deng); GKv=tf(numgkv,dengkv);

‘Check Stabillity’ GKv=mineral(GKv);

KvdK=dcgain(GKv)

ess=0.1

K=1/(ess*KvdK)

‘Check Stability’

T=feedback(K*GdK,1);

poles=pole(t)

pause