Frisnedi, Nadine T.

ECE131L-A11

Module 6

1. a) Computation
b) Graph

i. n=0

>> kp = 20/12

kp =

1.6667

>> e1=1/ (1+kp)

e1 =

0.3750

>> G=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt1=feedback(G,1)

Zero/pole/gain:
20 (s+1)
-------------------
(s+1.242) (s+25.76)

>> sysR1a=tf(1,[1 0])

Transfer function:
1
-
S
>> sysC1a=series(Gt1,sysR1a)

Zero/pole/gain:
20 (s+1)
---------------------
s (s+1.242) (s+25.76)
>> impulse(sysC1a,sysR1a)

ii.

n=1

>> G1b=zpk([-1],[0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt1b=feedback(G1b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)

>> sysR1b=tf(1,[1 0])

Transfer function:
1
-
s

>> sysC1b=series(Gt1b,sysR1b)

Zero/pole/gain:
20 (s+1)
------------------------------------
s (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC1b,sysR1b)

iii.

n=2

>> G1c=zpk([-1],[0 0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt1c=feedback(G1c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)\

>> sysR1b=tf(1,[1 0])

Transfer function:
1
-
s

>> sysC1c=series(Gt1c,sysR1b)
Zero/pole/gain:
20 (s+1)
----------------------------------------------
s (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC1c,sysR1b)

2. a) Computation
b) Graph

i. n=0

>> sysR2a=tf(1,[1 0 0])

Transfer function:
1
---
s^2

>> G2a=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt2a=feedback(G2a,1)

Zero/pole/gain:
 20 (s+1)
-------------------
(s+1.242) (s+25.76)

>> sysC2a=series(Gt2a,sysR2a)

Zero/pole/gain:
20 (s+1)
-----------------------
s^2 (s+1.242) (s+25.76)

>> impulse(sysC2a,sysR2a)

ii. n=1

>> G2b=zpk([-1],[0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt2b=feedback(G2b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)

>> sysC2b=series(Gt2b,sysR2a)
Zero/pole/gain:
20 (s+1)
--------------------------------------
s^2 (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC2b,sysR2a)

Iii. n=2

>> G2c=zpk([-1],[-4 -3 0 0],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt2c=feedback(G2c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> sysC2c=series(Gt2c,sysR2a)

Zero/pole/gain:
20 (s+1)
------------------------------------------------
s^2 (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC2c,sysR2a)
3.a) Computation
b) Graph
i. n=1
>> sysR3a=tf(1,[1 0 0 0])

Transfer function:
1
---
s^3

>> G3a=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt3a=feedback(G3a,1)

Zero/pole/gain:
20 (s+1)
-------------------
(s+1.242) (s+25.76)

>> sysC3a=series(Gt3a,sysR3a)

Zero/pole/gain:
20 (s+1)
-----------------------
s^3 (s+1.242) (s+25.76)
>> impulse(sysC3a,sysR3a)

Ii. n=2

>> G3b=zpk([-1],[-4 -3 0],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt3b=feedback(G3b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)

>> sysC3b=series(Gt3b,sysR3a)

Zero/pole/gain:
20 (s+1)
--------------------------------------
s^3 (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC3b,sysR3a)
iii. n=3

>> G3c=zpk([-1],[-4 -3 0 0],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt3c=feedback(G3c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> sysC3c=series(Gt3c,sysR3a)

Zero/pole/gain:
20 (s+1)
------------------------------------------------
s^3 (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC3c,sysR3a)
Seatwork

Kp = (1 - 0.1) / 0.1
s = 0; K = ((s+1)*(s+3)/(s+0.5)) * Kp
Output:

K = 54
sys = tf(K*[1 0.5], poly([-1 -3]))

Output:
Transfer function:
54 s + 27
-------------
s^2 + 4 s + 3

sys = feedback(sys,1,-1)
Output:
Transfer function:
54 s + 27
---------------
s^2 + 58 s + 30

sysa = tf(1, [1 0])

Output:
Transfer function:
1
-
S

sysc = sysa * sys

Output:
Transfer function:
54 s + 27
-------------------
s^3 + 58 s^2 + 30 s
impulse (sysa,sysc)

Output:
 Interpretation
The performed activity deals with the steady state error and system
types. In the first part of the activity, step input is used to determine the
steady state error of the give system. The value of n in the s^n in the
denominator of the system tells us the system type is. For example, if n=0,
then s^0 therefore s=1, the system is type 1. The position constant Kp is
calculated. Its value is then 1.6667. So when we compute for the error we
get the constant, 0.3750. For n=1 and n=2, we get a value of Kp= infinity, so
therefore the error is both 0. This tells us that if the input is a step response,
that type zero system has a constant error and any value greater than 0 for
n, will have an error value of 0. For the second part of the activity, we used a
ramp input the steady state error of the give system. The velocity constant
Kv is calculated. When the value of n=1, the value of Kv is 1.6667. So when
we compute for the error we get the constant, 0.6. on the other hand when
the value of n=0 and greater than which is 2, we get an infinity value of Kv
and an error of 0. This tells us that if the ramp input is used, and the value of
n is equal to one, it will have a constant error and a zero error for other
values such as 0 and 1. For the last part, we used a parabolic input. Ka,
which is the acceleration constant, is determined. For n=1, the value of Ka is
0, and the error is infinity, if n=2, Ka=1.6667 and error = 0.6, and lastly if
n=3, Ka= infinity and error = 0.
 Conclusion
The main objective of the laboratory activity is for us to be able to
determine the steady state error of a system given a step, ramp and
parabolic input. We have proven in the first part of the activity that it is
possible to know the