268 Chapter 7

1
¼
ðs þ 6:6 þ j11:4Þðs þ 6:6  j11:4Þ
24040ðs þ 25Þ

ðs þ 55:9 þ j18Þðs þ 55:9  j18Þ
24040ðs þ 25Þ
¼ 2
ðs þ 13:2s þ 173:5Þðs 2 þ 111:8s þ 3450Þ

14. The response c(t) for a unit step input is found from
24040ðs þ 25Þ
CðsÞ ¼
sðs 2 þ 13:2s þ 173:5Þðs 2 þ 111:8s þ 3450Þ
A A1 A2
¼ 0þ þ
s s þ 6:6  j11:4 s þ 6:6 þ j11:4
A3 A4
þ þ
s þ 55:9  j18 s þ 55:9 þ j18
The constants are

A0 ¼ 1:0 ff
A1 ¼ 0:604 201:7

ff
A3 ¼ 0:14 63:9


Note that A0 must be exactly 1, since GðsÞ is Type 1 and the gain
of H ðsÞ is unity. It can also be obtained from Eq. (7.71) for
CðsÞ=RðsÞ in step 8. Inserting RðsÞ ¼ 1=s and finding the final
value gives cðtÞss ¼ 1:0: The response cðtÞ is
cðtÞ ¼ 1 þ 1:21e6:6t sinð11:4t  111:7 Þ
þ 0:28e55:9t sinð18t þ 26:1 Þ ð7:72Þ

A plot of cðtÞ is shown in Figs. 7.19 and 7.26.

15. The solution of the root locus design problem by use of MATLAB
is presented in Sec. 7.11.

7.11 EXAMPLE OF SECTION 7.10: MATLAB ROOT LOCUS

MATLAB provides a number of options for plotting the root locus [9,10].
A root locus plot is obtained using the rlocus command.The root locus version
of sisotool described in Appendix C allows a user to design compensators
and to adjust the gain on a root locus plot. To provide more efficient design,
the rloczeta function was written to calculate the gain necessary to yield
a specified closed-loop damping ratio z. The macro fom computes the closed-
loop figures of merit. Both of these commands are illustrated below.

% This example illustrates the rloczeta function which

% calculates the compensator gain required to yield a specified

Copyright © 2003 Marcel Dekker, Inc.