Professional Documents
Culture Documents
-K- -K-
s
Step Gain Integrator Gain1 Scope
t
Clock
To Workspace
1 1
amplitude
amplitude
0.5 0.5
0 0
-2 -1 0 1 2 0 2 4 6 8
n
8 1500
6
1000
Amplitude
amplitude
4
500
2
0 0
0 2 4 6 8 0 2 4 6 8
clear all;
clc;
for k=1:1:2000
den=[ 1 6 11 6+k];
poles=roots(den);
r=real(poles);
if max(r) >=0
poles
k
break
end
end
poles =
-6.0212
0.0106 + 3.3358i
0.0106 - 3.3358i
k=
61
clc;
num=[0 0 0 100];
den=[1 12 20 0];
rlocus(num,den)
title('root locus of the transfer function G(s)H(s)=100k/s(s+2)(s+10)')
[k,p]=rlocfind(num,den)
G=tf(num,den);
root locus of the transfer function G(s)H(s)=100k/s(s+2)(s+10)
30
0.76 0.64 0.5 0.34 0.16
0.86
20
0.94
10
0.985
Imaginary Axis
40 35 30 25 20 15 10 5
0
0.985
-10
0.94
-20
0.86
clc;
num=[0 0 0 100];
den=[1 4 3 0];
rlocus(num,den)
title('root locus of the transfer function G(s)H(s)=100k/s(s+1)(s+3)')
[k,p]=rlocfind(num,den)
T=tf(num,den);
root locus of the transfer function G(s)H(s)=100k/s(s+1)(s+3)
10
0.68 0.56 0.42 0.28 0.14
0.8
8
6
0.91
4
0.975
2
Imaginary Axis
12 10 8 6 4 2
0
-2
0.975
-4
0.91
-6
-8
0.8
0.68 0.56 0.42 0.28 0.14
-10
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis
clc;
clear all;
num=[25];
den=[1 17 60 0];
sys=tf(num,den);
sys
bode(sys)
Grid on ;
[gm pm wgm wpm]=margin(sys);
gm
pm
wgm
wpm
Gm_dB = 20*log10(gm)
if(pm>gm)
disp(['The stability :stable',]);
else
if(pm<gm)
disp(['The stability :unstable',]);
else
disp(['The stability :marginal stable',]);
end
end
Transfer function:
25
-------------------
s^3 + 17 s^2 + 60 s
gm =
40.8000
pm =
83.2759
wgm =
7.7460
wpm =
0.4149
Gm_dB =
32.2132
Bode Diagram
50
0
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
gm =
2.8000
pm =
29.0851
wgm =
3.1623
wpm =
1.7667
Gm_dB =
8.9432
clc;
clear all;
syms z n
ztrans(1/4^n)
ans =
z/(z - 1/4)
clc;
close all;
clear all;
syms z n
iztrans(2*z/(2*z-1))
ans =
(1/2)^n
Bode Diagram
100
50
Magnitude (dB)
-50
-100
-150
-90
-135
Phase (deg)
-180
-225
-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/sec)