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Questo 3

Bode Diagram
Gm = Inf , Pm = -180 deg (at 0 rad/s)
0

-5

Magnitude (dB) -10

-15

-20

-25
90

45
Phase (deg)

-45

-90
1 2 3 4 5 6 7
10 10 10 10 10 10 10
Frequency (rad/s)

>> margin(Qc)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 12 deg (at 9.48e+03 rad/s)
20

0
Magnitude (dB)

-20

-40

-60
0

-45
Phase (deg)

-90

-135

-180
3 4 5
10 10 10
Frequency (rad/s)

>> margin(G)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = -180 deg (at 0 rad/s)
0
Magnitude (dB)

-50

-100

-150
0

-45
Phase (deg)

-90

-135

-180
1 2 3 4 5 6 7
10 10 10 10 10 10 10
Frequency (rad/s)

>> margin(Gc*G)
 Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 20.7 deg (at 8.5e+03 rad/s)
50

Magnitude (dB)
-50

-100

-150
0

-45

Phase (deg)
-90

-135

-180
1 2 3 4 5 6 7
10 10 10 10 10 10 10
Frequency (rad/s)

>> margin(10*Gc*G)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 43.3 deg (at 9.89e+03 rad/s)
50

0
Magnitude (dB)

-50

-100

-150
0

-45
Phase (deg)

-90

-135

-180
2 3 4 5 6 7
10 10 10 10 10 10
Frequency (rad/s)

>> margin(feedback(10*Gc*G,1))

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = Inf
0
Magnitude (dB)

-50

-100

-150
0

-45
Phase (deg)

-90

-135

-180
2 3 4 5 6 7
10 10 10 10 10 10
Frequency (rad/s)

>> margin(feedback(Gc*G,10))

Questo 4
Gs = tf([1 100], [conv([1 10],conv([1 2],conv([1 5],[1 -5])))])

Nyquist Diagram
0.2
10 dB 6 dB 4 dB 2 dB 0 dB -2 dB -4 dB -6 dB -10 dB

0.15

20 dB -20 dB
0.1

0.05
Imaginary Axis

-0.05

-0.1

-0.15

-0.2
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis

>> nyquist(Gs)
>> grid

Nyquist Diagram
0.2
10 dB 6 dB 4 dB 2 dB 0 dB -2 dB -4 dB -6 dB -10 dB

0.15

20 dB -20 dB
0.1

0.05
Imaginary Axis

-0.05

-0.1

-0.15

-0.2
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4
Real Axis

>> nyquist(feedback(Gs,1))
>> grid

Nyquist Diagram
1.5
2 dB 0 dB -2 dB
4 dB -4 dB
1

6 dB -6 dB
0.5
10 dB -10 dB
Imaginary Axis

20 dB -20 dB
0

-0.5

-1

-1.5
-2 -1.5 -1 -0.5 0 0.5
Real Axis

>> nyquist(10*Gs)
>> grid
 Nyquist Diagram
1
2 dB 0 dB -2 dB -4 dB
4 dB
0.8
-6 dB
0.6 6 dB

0.4 -10 dB
10 dB

0.2

Imaginary Axis
20 dB -20 dB

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis

>> nyquist(feedback(10*Gs,1))
>> grid

Bode Diagram
Gm = 14 dB (at 0 rad/s) , Pm = Inf
0

-50
Magnitude (dB)

-100

-150

-200

-250
-180

-225
Phase (deg)

-270

-315

-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> margin(Gs)

Bode Diagram
Gm = -6.02 dB (at 0 rad/s) , Pm = -62.8 deg (at 2.43 rad/s)
100

0
Magnitude (dB)

-100

-200

-300
-180

-225
Phase (deg)

-270

-315

-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> margin(10*Gs)
 Bode Diagram
Gm = 12 dB (at 0 rad/s) , Pm = Inf
0

-50

Magnitude (dB)
-100

-150

-200

-250
-180

-225

Phase (deg)
-270

-315

-360
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/s)

>> margin(feedback(Gs,1))

Bode Diagram
Gm = Inf , Pm = -123 deg (at 2.34 rad/s)
100

0
Magnitude (dB)

-100

-200

-300
-270
Phase (deg)

-315

-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> margin(feedback(10*Gs,1))

Bode Diagram
0

-50
Magnitude (dB)

-100

-150

-200

-250
-180

-225
Phase (deg)

-270

-315

-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> bode(Gs)
 Bode Diagram
100

Magnitude (dB)
-100

-200

-300
-180

-225

Phase (deg)
System: untitled1
-270
Phase Margin (deg): -62.8
Delay Margin (sec): 2.14
-315 At frequency (rad/s): 2.43
Closed loop stable? No
-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> bode(10*Gs)

Bode Diagram
0
System: untitled1
-50 Gain Margin (dB): 12
Magnitude (dB)

At frequency (rad/s): 0
-100 Closed loop stable? No

-150

-200

-250
-180

-225
Phase (deg)

-270

-315

-360
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequency (rad/s)

>> bode(feedback(Gs,1))

Bode Diagram
100

0
Magnitude (dB)

-100

-200

-300
-270
Phase (deg)

-315 System: untitled1

Phase Margin (deg): -123
Delay Margin (sec): 1.77
At frequency (rad/s): 2.34
Closed loop stable? No
-360
-1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

>> bode(feedback(10*Gs,1))
>> ltiview({'pzmap','nyquist','bode','step','impulse'},Gs)

>> pidtool(zGs,pid)
OBS: Quando deslizamos o controle de Phase Margin (deg) para 10, o mnimo que
conseguimos de Phase Margin 11,2 para um Gain Margin de 1,78 dB. Na configurao atual,
conseguimos 1,76 dB (Gain Margin) para 10,9 (Phase Margin).
OBS: A informao sobre Gain Margin obtida no comando margin() fornecida em amplitude
real e no em dB. necessrio convert-la para dB quando for fazer a compensao.
G mdB =20 log10(Gm) , sendo Gm fornecido por Bode ou margin().