REPORT

In this report we have deal with stability in aircraft by auto control system and also by using pilot
stick control
a) Code:
clc;close all;clear all;
figure(1)
zeta=0.6;
wn=0;
s=tf('s');
G=(25*(s+0.03)*(s+1)) /((s+9)*(s^2-0.36*s +0.16) * (s+0.4));
rlocus(G);
sgrid(zeta,wn)
[k2,poles]=rlocfind(G)

To find value of k2 first we select a point on graph as shown below and value is shown on
command window

Root Locus

15
0.6

System: G
Gain: 2.08
Pole: -3.89 + 5.23i
Damping: 0.597
Overshoot (%): 9.64
Frequency (rad/s): 6.52

System: G
Gain: 0.599
Pole: -0.881 + 1.12i
Damping: 0.619
X: -0.8815 (%): 8.41
Overshoot
Y: 1.118 (rad/s): 1.42
Frequency

5

Imaginary Axis (seconds

-1

)

10

0

-5

-10

0.6
-15
-10

-8

-6

-4

-2

Real Axis (seconds -1)

From above K2 has values:

0.599 and 2.08

0

2

.

0734 + 0.0000i -0.0938i -0.6 Imaginary Axis (seconds-1) 10 5 0 -5 -10 0.0938i -0.5559 poles = -7.0000i 0 2 .Root Locus 15 0.6 -15 -10 -8 -6 -4 -2 -1 Real Axis (seconds ) Command window result: Select a point in the graphics window selected_point = -0.7994 + 1.1.3677 + 0.1646i k2 = 0.7725 + 1.7994 .

03)*(s+1)) /((s+9)*(s^2-0. Then we used rlocus command to plot the locus of the function G(s).7 ( 2 ) 9 =6. Where zeta is imaginary number. a grid of constant damping factors from zero to one in steps of 0. for pole-zero and root locus plots. b) The transfer function for Td(s) to Y(s) Y ( s )= G 2 (s)T d (s) 1+G 2( s) G f ( s) Where G f ( s )= k 2(s+ 1) s +9 Using final value theorm we determined that y ss =lim s s→0 G 2(s) 1 = 1+G2 ( s)G f (s) s 11. If the current axis contains a continuous s-plane root locus diagram or pole-zero map.577∨3.Explanation: In this part we plot the graph of root locus when pilot stick is off.16) * (s+0.36*s +0. Characteristics equation when pilot stick is off is as 1+G(s)H(s)=0 From the figure H(s)= K2(s+1)/(s+9) G(s)=(25*(s+0. sgrid generates.7 k 1+11. and plots the grid over the current axis. and disturbance in the signal is kept zero for this part.1587 In this part we will find the steady state error due wind guest and the input disturbance for this wind disturbance is Td(s)=1/s . which shows the damping factor of the system.1 and natural frequencies from zero to 10 rad/sec in steps of one rad/sec. sgrid draws the grid over the plot.4)).

c) Code: figure(2) num=25*(s+0.33)*((s^2)+(7. denum=(s+0. G=(num/denum).poles]=rlocfind(G) To find value of k1 first we select a point on graph as shown below and value is shown on command window K1 from graph is 1.We see from the solution that steady state error is gain dependent which is shown by K2.03)*(s+9).38 .78)*((s^2)+(12*s)+1). sgrid(zeta. If K2 is small steady state error is large if we increase the gain K2 the steady state error will be large. rlocus(G).66*s)+29.45)*(s+1.wn) [k1.

83 + 3.79 + 0.94i Damping: 0.6 15 System: G Gain: 0 Pole: -3.38 Pole: -0.46 Imaginary Axis (seconds -1 ) 10 5 System: G Gain: 1.6 -15 -10 -5 0 Real Axis (seconds -1) 5 10 .20 Root Locus 0.702 Overshoot (%): 4.89i Damping: 0.13 Frequency (rad/s): 1.53 Frequency (rad/s): 5.643 Overshoot (%): 7.23 0 -5 -10 -15 -20 -20 0.

6 -15 -10 -5 0 5 -1 Real Axis (seconds ) 10 15 .6 Imaginary Axis (seconds-1) 15 10 5 0 -5 -10 -15 -20 -20 0.20 Root Locus 0.

8334i 3.7925 -0.7925 -0.9059 -3.38 poles = -11.Command Window result: Select a point in the graphics window selected_point = -0.9302i 0.7998 + 0.0000i 3.0000i .9317i k1 = 1.0500 + + + + 0.9495 -3.9302i 0.9495 -0.8334i 0.

04 -0.06 Imaginary Axis (seconds-1) 0.6 -15 -10 -5 0 Real Axis (seconds -1) 5 10 15 -0.8765 -0.8795 -0.6 15 Imaginary Axis (seconds-1) 10 5 0 -5 -10 -15 -20 -20 0.04 0.88 -0.879 -0.Break away point: Root Locus 0.878 -0.02 -0.875 .02 0 -0.877 -0.8775 -0.8785 -0.8755 Real Axis (seconds -1) Asampotetes: 20 Root Locus 0.876 -0.

wn) . and plots the grid over the current axis. sgrid draws the grid over the plot.78)*((s^2)+(12*s)+1).Angle of Departure: θ= ( 2 k +1 ) π (2 k +1) π ( 2k + 1) π = = ¿ of finite poles−¿ of finite zeros 4−2 2 For k=0 π 2 For k=1 3π 2 Explanation: In this part we define nominator as follow num=25*(s+0. the function G is ratio of nominator to denominator G=(num/denum). sgrid(zeta. and denominator as denum=(s+0. for pole-zero and root locus plots. Then we can get root locus as by using rlocus command as below rlocus(G). a grid of constant damping factors from zero to one in steps of 0.66*s)+29. sgrid generates. If the current axis contains a continuous s-plane root locus diagram or pole-zero map.45)*(s+1.1 and natural frequencies from zero to 10 rad/sec in steps of one rad/sec.03)*(s+9).33)*((s^2)+(7.

gain K1 is find as given in the command below [k1. . d) The value of each block in simulink model can be changed by double clicking each block and then putting the values.poles]=rlocfind(G).

.The input signal is applied a step function and output is plotted from scope as shown above.