www.mohandesyar.

com
S .A . TAHERI

:
3
%5

m-file
:
;0.111
;0.015
;-9.8
;1.0

=
=
=
=

m
R
g
L

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

;d = 0.03
;J = 9.99e-6
%simplifies input

;))K = (m*g*d)/(L*(J/R^2+m
;]num = [-K
;]den = [1 0 0

)bode(num,den

1/T 1/aT

Page 2

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

90 . %5
0.7 zet*100
a T
.1
70

.2 ( )
.
wbw 1.92 rad
1 .
.3

.4

aTT

Page 3

www.mohandesyar.com
SAT42481@yahoo.com

70 :

Control Tutorial For Matlab

(w) = 1, aT = 0.176 T = 5.67

m-file bode
.
;k=1
;]numlead = k*[5.67 1
;]denlead = [0.176 1
;)numl = conv(num,numlead
;)denl = conv(den,denlead

)bode(numl,denl

70 m-file
;)[numcl,dencl] = cloop(numl,denl
;t=0:0.01:5
)step(0.25*numcl,dencl,t

Page 4

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

%5 .
. k=5

Page 5

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

.
function[ ] = phaseball()
%define TF
m = 0.111;
R = 0.015;
g = -9.8;
L = 1.0;
d = 0.03;
J = 9.99e-6;
K = (m*g*d)/(L*(J/R^2+m));

%simplifies input

num = [-K];
den = [1 0 0];
%ask
pm =
w =
k =

user for controller information

input('Phase Margin?.......');
input('Center Frequency?...');
input('Gain?...............');

Page 6

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

%view compensated system bode plot

pmr = pm*pi/180;
a = (1 - sin(pmr))/(1+sin(pmr));
T = sqrt(a)/w;
aT = 1/(w*sqrt(a));
numlead = k*[aT 1];
denlead = [T 1];
numl=conv(num,numlead);
denl=conv(den,denlead);
figure
bode(numl,denl)
%view step response
[numcl,dencl]=cloop(numl,denl);
t=0:0.01:5;
figure
step(0.25*numcl,dencl,t)

m-file m-file

Phase Margin?.......80
Center Frequency?...1
Gain?...............1

Page 7

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

Phase Margin?.......85
Center Frequency?...1.9
Gain?...............2

Page 8

www.mohandesyar.com
Control Tutorial For Matlab

SAT42481@yahoo.com

Page 9