Nama : Icha Arum Vicias

NPM : 1917041022
Tugas Sistem Kendali

BAB 2

Contoh soal 2.2.1 Representasi Persamaan Polinomial Dengan Matlab

clc
clear all
close all
close all Hidden
%
% Koefisien Persamaa Polinomial
p = [ 1 5 8 7 ]
q = [ 2 4 5 7 ]

Hasil :
p=
1 5 8 7
q=
2 4 5 7

Contoh soal 2.2.2 Akar- Akar Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
% Koefisien Persamaa Polinomial
p = [ 1 5 8 7 ]
q = [ 2 4 5 7 ]
%
% Akar-akar Persamaan Polinomial
p_r=roots(p)
q_r=roots(q)

Hasil :

p=

1 5 8 7

q=

2 4 5 7

p_r =

-3.1746 + 0.0000i

-0.9127 + 1.1713i

-0.9127 - 1.1713i

q_r =

-1.7263 + 0.0000i

-0.1369 + 1.4173i

-0.1369 - 1.4173i
clc
clear all
close all
close all Hidden
%
% Koefisien Persamaa Polinomial
p = [ 1 5 8 7 ]
q = [ 2 4 5 7 ]
%
% Akar-akar Persamaan Polinomial
p_r=roots(p)
q_r=roots(q)
%
% Mengembalikan Ke koefisien Polinomialnya
p_2=poly(p_r)
q_2=poly(q_r)

Hasil :

p=

1 5 8 7

q=

2 4 5 7

p_r =

-3.1746 + 0.0000i
 -0.9127 + 1.1713i

-0.9127 - 1.1713i

q_r =

-1.7263 + 0.0000i

-0.1369 + 1.4173i

-0.1369 - 1.4173i

p_2 =

1.0000 5.0000 8.0000 7.0000

q_2 =

1.0000 2.0000 2.5000 3.5000

Contoh soal 2.2.3 Karakteristik Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
%Matrik A
A=[8 2 2;1 5 3;7 7 4]
%
%Menghitung Karakteristik Polinomial dari Matrik
B=poly(A)

Hasil :

A=

8 2 2

1 5 3

7 7 4

B=

1.0000 -17.0000 55.0000 30.0000

Contoh Soal 2.2.4 Evaluasi Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
p = [ 1 5 8 7]
q = [ 2 4 5 7]
%
% Perhitungan Fungsi Polinomial Pada s = 10
p_1 = polyval(p,5)
q_1 = polyval(q,5)

Hasil :
p=

1 5 8 7

q=

2 4 5 7

p_1 =

297

q_1 =

382

Contoh Soal 2.2.5 Perkalian Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
p = [ 1 5 8 7]
q = [ 2 4 5 7]
%
% Perkalian Persamaan Polinomial
pq = conv(p,q)
Hasil :

p=

1 5 8 7

q=

2 4 5 7

pq =

2 14 41 78 103 91 49

Contoh Soal 2.2.6 Turunan Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
p = [ 1 5 8 7]
q = [ 2 4 5 7]
%
% Perhitungan Turunan Persamaan Polinomial
p_t = polyder(p)
q_t = polyder(q)
Hasil :

p=

1 5 8 7

q=

2 4 5 7

p_t =

3 10 8

q_t =

6 8 5

Contoh Soal 2.2.7 Integral Persamaan Polinomial

clc
clear all
close all
close all Hidden
%
p = [ 1 5 8 7]
q = [ 2 4 5 7]
%
% Perhitungan Turunan Persamaan Polinomial
p_t = polyint(p)
q_t = polyint(q)
Hasil :

p=

1 5 8 7

q=

2 4 5 7

p_t =

0.2500 1.6667 4.0000 7.0000 0

q_t =

0.5000 1.3333 2.5000 7.0000 0

Contoh Soal 2.3 Persamaan Linear Diferensial

clc
clear all
close all
close all Hidden
%
% Solusi Persamaan Linear Differensial Orde Satu
p = dsolve('Dy = -10*y + 200','y(0)=2')
%
% Grafik
ezplot(p)
grid on
Hasil :

p=

20 - 18*exp(-10*t)

Grafik :
clc
clear all
close all
close all Hidden
%
y = dsolve('D2y = -9*Dy - 20*y + 20*t','y(0)=0','Dy(0)=0')
ezplot(y)
grid on

Hasil :

y=

t + (5*exp(-4*t))/4 - (4*exp(-5*t))/5 - 9/20

Grafik :
clc
clear all
close all
close all Hidden
%
y = dsolve('D2y = -10*Dy - 25*y + 2*cos(t)','y(0)=0','Dy(0)
=1')
ezplot(y)
grid on

Hasil :

y=

(12*cos(t))/169 - (12*exp(-5*t))/169 + (5*sin(t))/169 + (8*t*exp(-5*t))/13 +

(t*(5*cos(t) + sin(t)))/13 - (5*t*cos(t))/13 - (t*sin(t))/13

Grafik :
clc
clear all
close all
close all hidden
%
y = dsolve('D2y = -4*Dy - 13*y + 10','y(0)=1','Dy(0)=10')
ezplot(y)
grid on

Hasil :

y=

(3*cos(3*t)*exp(-2*t))/13 + (136*sin(3*t)*exp(-2*t))/39 + 10/13

Grafik :
Contoh Soal 2.4 Transformasi Laplace

clc
clear all
close all
close all Hidden
%
syms s t
f1 = 3*t
f2 = 5*t + 2
f3 = 30*(t^2) + (2*t) + 4
f4 = (6 * exp(-2*t)) + 3
f5 = 10 * exp(-4*t) * sin (2*t)
%
disp('Transformasi Laplace Fungsi f(t)')
L1 = laplace(f1)
L2 = laplace(f2)
L3 = laplace(f3)
L4 = laplace(f4)
L5 = laplace(f5)

Hasil :

f1 =

3*t

f2 =

5*t + 2
f3 =

30*t^2 + 2*t + 4

f4 =

6*exp(-2*t) + 3

f5 =

10*sin(2*t)*exp(-4*t)

Transformasi Laplace Fungsi f(t)

L1 =

3/s^2

L2 =

2/s + 5/s^2

L3 =

4/s + 2/s^2 + 60/s^3

L4 =

6/(s + 2) + 3/s

L5 =

20/((s + 4)^2 + 4)
clc
clear all
close all
close all Hidden
%
syms s t
f1 = (s^2) + (21*s) + (6);
f2 = (s^3) + (8*s^2) + (12*s);
f = f1/f2
%
L = ilaplace(f)

Hasil :

f=

(s^2 + 21*s + 6)/(s^3 + 8*s^2 + 12*s)

L=

4*exp(-2*t) - (7*exp(-6*t))/2 + ½
Soal

Soal 2.1: Dengan menggunakan Matlab, representasikan persamaan polinomial pada

persamaan (2.30) s/d (2.32) berikut :

P1 (x) = 2x + 2x + 4x + 5 ...................................................................... (2.30)

P2 (x) = x + 3x + 2x + 5x + 2 ................................................................ (2.31)

P3 (x) = x + 2x + 3x + 5x + 2x + 1 ...................................................... (2.32)

Jawab :

clc
clear all
close all
close all Hidden

%
% Koefisien Persamaan Polinomial
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]

Hasil :
p1 =
2 2 4 5
p2 =
 1 3 2 5 2

p3 =
1 2 3 5 2 1

Soal 2.2: Dengan menggunakan Matlab, tentukan akar – akar dari persamaan
polinomial pada persamaan (2.30) s/d (2.32).
Jawab :
clc
clear all
close all
close all Hidden
%
% Koefisien Persamaan Polinomial
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]
%
% Akar - akar Persamaan Polinomial
p1_r = roots (p1)
p2_r = roots (p2)
p3_r = roots (p3)

Hasil :
p1 =
2 2 4 5
p2 =
 1 3 2 5 2
p3 =
1 2 3 5 2 1
p1_r =
0.0752 + 1.4722i
0.0752 - 1.4722i
-1.1504 + 0.0000i
p2_r =
-2.8294 + 0.0000i
0.1314 + 1.2704i
0.1314 - 1.2704i
-0.4333 + 0.0000i
p3_r =
-1.6860 + 0.0000i
0.0341 + 1.4932i
0.0341 - 1.4932i
-0.1911 + 0.4789i
-0.1911 - 0.4789i

Mengembalikan ke koefisien polinominalnya

clc
clear all
close all
close all Hidden
%
% Koefisien Persamaan Polinomial
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]
%
% Akar - akar Persamaan Polinomial
p1_r = roots (p1)
p2_r = roots (p2)
p3_r = roots (p3)
%
%Mengembalikan ke koefisien Polinominalnya
p1_2 = poly (p1_r)
p2_2 = poly (p2_r)
p3_2 = poly (p3_r)

Hasil :
p1 =
2 2 4 5
p2 =
1 3 2 5 2
p3 =
1 2 3 5 2 1
p1_r =
0.0752 + 1.4722i
0.0752 - 1.4722i
-1.1504 + 0.0000i
p2_r =
-2.8294 + 0.0000i
0.1314 + 1.2704i
0.1314 - 1.2704i
-0.4333 + 0.0000i
p3_r =
-1.6860 + 0.0000i
0.0341 + 1.4932i
0.0341 - 1.4932i
-0.1911 + 0.4789i
-0.1911 - 0.4789i
p1_2 =
1.0000 1.0000 2.0000 2.5000
p2_2 =
1.0000 3.0000 2.0000 5.0000 2.0000
p3_2 =
1.0000 2.0000 3.0000 5.0000 2.0000 1.0000
Soal 2.3: Dengan menggunakan Matlab, tentukan karakteristik polinomial dari
persamaan (2.33) s/d (2.34) berikut :
4 2 4
A=2 6 3
4 5 4

1 2 3 2
6 4 2 4
B=
1 5 3 2
1 4 7 5

Jawab :

clc
clear all
close all
close all Hidden
%
% Matrik A
A = [ 4 2 4; 2 6 3; 4 5 4 ]
%
% Matrik B
B = [ 1 2 3 2; 6 4 2 4; 1 5 3 2; 1 4 7 5 ]
%
% Menghitung Karaktristik Polinomial dari Matrik
A = poly(A)
B = poly(B)

Hasil :
A=

4 2 4

2 6 3

4 5 4

B=

1 2 3 2

6 4 2 4

1 5 3 2

1 4 7 5

A=

1.0000 -14.0000 29.0000 12.0000

B=

1.0000 -13.0000 2.0000 -102.0000 48.0000

Soal 2.4: Dengan menggunakan Matlab, lakukan evaluasi persamaan polinomial pada
persamaan (2.30) s/d (2.32) untuk s = (5).
Jawab :

clc
clear all
close all
close all Hidden
%
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]
%
% Perhitungan Fungsi Polinomial Pada s = 5
p1 = polyval(p1,5)
p2 = polyval(p2,5)
p3 = polyval(p3,5)

Hasil :

p1 =

2 2 4 5

p2 =

1 3 2 5 2

p3 =

1 2 3 5 2 1

p1 =

325

p2 =

1077

p3 =

4886
Soal 2.5: Dengan menggunakan Matlab, lakukan perkalian persamaan polinomial untuk
persamaan (2.30) dan (2.31).

Jawab :

clc
clear all
close all
close all Hidden
%
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
%
% Perkalian Persamaan Polinomial
p1p2 = conv(p1,p2)

Hasil :

p1 =

2 2 4 5

p2 =

1 3 2 5 2

p1p2 =

2 8 14 31 37 34 33 10
Soal 2.6: Dengan menggunakan Matlab, lakukan turunan persamaan polinomial pada
persamaan (2.30) s/d (2.32).

Jawab :

clc
clear all
close all
close all Hidden
%
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]
%
% Perkalian Turunan Persamaan Polinomial
Turunan_p1 = polyder(p1)
Turunan_p2 = polyder(p2)
Turunan_p3 = polyder(p3)

Hasil :

p1 =

2 2 4 5

p2 =

1 3 2 5 2
p3 =

1 2 3 5 2 1

Turunan_p1 =

6 4 4

Turunan_p2 =

4 9 4 5

Turunan_p3 =

5 8 9 10 2

Soal 2.7: Dengan menggunakan Matlab, lakukan integral persamaan polinomial pada
persamaan (2.30) s/d (2.32).

clc
clear all
close all
close all Hidden
%
p1 = [ 2 2 4 5 ]
p2 = [ 1 3 2 5 2 ]
p3 = [ 1 2 3 5 2 1 ]
%
% Perhitungan Turunan Persamaan Polinomial
Integral_p1 = polyint(p1)
Integral_p2 = polyint(p2)
Integral_p3 = polyint(p3)

Hasil :

p1 =

2 2 4 5

p2 =

1 3 2 5 2

p3 =

1 2 3 5 2 1

Integral_p1 =

0.5000 0.6667 2.0000 5.0000 0

Integral_p2 =

0.2000 0.7500 0.6667 2.5000 2.0000 0

Integral_p3 =

0.1667 0.4000 0.7500 1.6667 1.0000 1.0000 0

Soal 2.8: Dengan menggunakan Matlab, selesaikan persamaan linear diferensial pada
persamaan (2.35) s/d (2.38) berikut ini:
 dy
a. +5y=10 dimana y(0)=1.......................................................................................
dt
(2.35)
2
d y dy 2 dy
b. +12 + 32 y =20 t +2 t dimana y ( 0 )=0 dan ( 0 )=0...................(2.36)
dt
2
dt dt
2
d y dy dy
c. +20 +100 y=2 sin 2t dimana y ( 0 )=0 dan ( 0 ) =1.....................(2.37)
dt 2
dt dt
2
d y dy dy
d. +4 +13 y=4 cos 2 t dimana y ( 0 )=1 dan ( 0 )=10 ............(2.38)
dt
2
dt dt

Jawab :

a). clc
clear all
close all
close all Hidden
%
% Solusi Persamaan Linear Differensial Orde Satu
p = dsolve('Dy = -5*y + 10','y(0)=1')
%
% Grafik
ezplot(p)
grid on

Hasil :

p=

2 - exp(-5*t)

Grafik :
b). clc
clear all
close all
close all hidden
%
y = dsolve('D2y = -12*Dy - 32*y + 20*t^2 -
2*t','y(0)=0','Dy(0)=0')
ezplot(y)
grid 0n

Hasil :

y=

(7*exp(-8*t))/256 - (3*exp(-4*t))/16 - (17*t)/32 + (5*t^2)/8 + 41/256

Grafik :
c). clc
clear all
close all
close all hidden
%
y = dsolve('D2y = -20*Dy - 100*y +
2*sin(t)','y(0)=0','Dy(0)=1')
ezplot(y)
grid 0n

Hasil :

y=

(40*exp(-10*t))/10201 - (40*cos(t))/10201 + (198*sin(t))/10201 + (103*t*exp(-

10*t))/101 - (2*t*(cos(t) - 10*sin(t)))/101 + (2*t*cos(t))/101 - (20*t*sin(t))/101

Grafik :
d). clc
clear all
close all
close all hidden
%
y = dsolve('D2y = -4*Dy - 13*y +
4*cos(t)','y(0)=1','Dy(0)=10')
ezplot(y)
grid 0n

Hasil :

y=

cos(3*t)*(cos(2*t)/6 + (2*cos(4*t))/15 - sin(2*t)/6 - sin(4*t)/15) + sin(3*t)*(cos(2*t)/6

+ cos(4*t)/15 + sin(2*t)/6 + (2*sin(4*t))/15) + (7*cos(3*t)*exp(-2*t))/10 +
(113*sin(3*t)*exp(-2*t))/30

Grafik :
Soal 2.9: Dengan menggunakan Matlab, tentukan transformasi Laplace untuk fungsi f
(t) pada persamaan (2.39) s/d (2.43) berikut\

a. f ( t )=2 t 2..............................................................(2.39)
2
b. f ( t )=5 t + 2t +10............................................(2.40)
2
c. f ( t )=t +2 cos 2t ..............................................(2.41)
−4 t
d. f ( t )=6 e +3 t ..................................................(2.42)
e. f ( t )=10 e−4 t cos 4 t ..............................................(2.43)

Jawab :

clc
clear all
close all
close all hidden
%
syms s t
f1 = 2*(t^2)
f2 = 5*(t^2) + 2*t + 10
f3 = t^2 + 2*cos(2*t)
f4 = (6 * exp(-4*t)) + 3*t
f5 = 10 * exp(-4*t) * cos (4*t)
%
disp('Transformasi Laplace Fungsi f(t)')
L1 = laplace(f1)
L2 = laplace(f2)
L3 = laplace(f3)
L4 = laplace(f4)
L5 = laplace(f5)
Hasil :

f1 =

2*t^2

f2 =

5*t^2 + 2*t + 10

f3 =

2*cos(2*t) + t^2

f4 =

3*t + 6*exp(-4*t)

f5 =

10*cos(4*t)*exp(-4*t)

Transformasi Laplace Fungsi f(t)

L1 =

4/s^3

L2 =

10/s + 2/s^2 + 10/s^3

L3 =

(2*s)/(s^2 + 4) + 2/s^3

L4 =

6/(s + 4) + 3/s^2

L5 =

(10*(s + 4))/((s + 4)^2 + 16)

Soal 2.10

a) Jawab :
clc
clear all
close all
close all hidden
%
syms s
f1 = (21*s) + (6);
f2 = (s^2) + (8*s) + (12);
f =f1/f2
%
L = ilaplace(f)

Hasil :
f=
(21*s + 6)/(s^2 + 8*s + 12)
L=
30*exp(-6*t) - 9*exp(-2*t)
>>
b) Jawab :
clc
clear all
close all
close all hidden
%
syms s
f1 = (6);
f2 = (s^2) + (7*s) + (6);
f =f1/f2
%
L = ilaplace(f)

Hasil :
f=
6/(s^2 + 7*s + 6)
L=
(6*exp(-t))/5 - (6*exp(-6*t))/5
>>
c) Jawab :
clc
clear all
close all
close all hidden
%
syms s t
f1 = (s^3) + (21*(s^2)) + (6)
f2 = (s^4) + (36*(s^3)) + (432*(s^2)) + (1728)
f = f1/f2
%
L = ilaplace(f)

Hasil :

f1 =

s^3 + 21*s^2 + 6

f2 =

s^4 + 36*s^3 + 432*s^2 + 1728

f =

(s^3 + 21*s^2 + 6)/(s^4 + 36*s^3 + 432*s^2 + 1728)

 L =

6*sum(exp(r3*t)/(4*(r3^3 + 27*r3^2 + 216*r3)), r3 in

RootOf(s3^4 + 36*s3^3 + 432*s3^2 + 1728, s3)) +
21*sum((r3*exp(r3*t))/(4*(r3^2 + 27*r3 + 216)), r3 in
RootOf(s3^4 + 36*s3^3 + 432*s3^2 + 1728, s3)) +
sum((r3^2*exp(r3*t))/(4*(r3^2 + 27*r3 + 216)), r3 in
RootOf(s3^4 + 36*s3^3 + 432*s3^2 + 1728, s3))

>>

d) Jawab
clc
clear all
close all
close all hidden
%
syms s
f1 = (s+2);
f2 = (s^4) + (8*s^2) ;
f =f1/f2
%
L = ilaplace(f)

Hasil
f =

(s + 2)/(s^4 + 8*s^2)

L =
 t/4 - cos(2*2^(1/2)*t)/8 - (2^(1/2)*sin(2*2^(1/2)*t))/16
+ 1/8

>>

e) Jawab
clc
clear all
close all
close all hidden
%
syms s t
f1 = (s)
f2 = (s^2 + 8) + (8^2)
f = f1/f2
%
L = ilaplace(f)

Hasil :
f1 =
s

f2 =
s^2 + 72

f=
 s/(s^2 + 72)

L=
cos(6*2^(1/2)*t)

>>

BAB 3

3.5 Fungsi – Fungsi Matlab Untuk Pemodelan Sistem Kendali

Contoh 3.1
SOAL

Soal 3.1
clc
clear all
close all
close all hidden
%
num = [0 2 1];
den = [1 5 4];
sys = tf (num,den)

Hasil :
sys =

2s+1
-------------
s^2 + 5 s + 4

Continuous-time transfer function.

>>
Soal 3.2
clc
clear all
close all
close all hidden
%
z = [-0.0250; -2.7500; -4.7500];
p = [-3.0000; -0.5000; -1.5000];
k = -10.0000;
%
[num,den] = residue(z,p,k);
printsys(num,den,'s')

Hasil :
num/den =

-10 s^3 - 57.525 s^2 - 96.55 s - 42.0187

----------------------------------------
s^3 + 5 s^2 + 6.75 s + 2.25
>>
Soal 3.3
clc
clear all
close all
close all hidden
%
num = [0 0 1 10];
den =[1 5 4 15];
%
sys = tf(num,den)
[z,p,k] = residue (num,den)

Hasil :
sys =
s + 10
----------------------
s^3 + 5 s^2 + 4 s + 15

Continuous-time transfer function.

z=
0.2039 + 0.0000i
-0.1019 - 0.5570i
-0.1019 + 0.5570i
p=
-4.8161 + 0.0000i
-0.0919 + 1.7624i
-0.0919 - 1.7624i

k=
[]
>>

Soal 3.4
clc
clear all
close all
close all hidden
%
num = [0 1 4];
den =[1 6 5];
[b,a] = eqtflength(num,den);
[z,p,k] =tf2zp(num,den)

Hasil :
z=
-4
p=
-5
 -1

k=
1
>>

Soal 3.5
clc
clear all
close all
close all hidden
%
z = [-2.0000; -0.5000; -0.5000];
p = [-5.0000; -2.5000 + j*4.5000; -2.5000 + j*4.5000];
k = 100.0000;
%
[num,den] = zp2tf(z,p,k);
sys = tf(num,den)

Hasil :
sys =

100 s^3 + 300 s^2 + 225 s + 50

------------------------------
s^3 + 10 s^2 + 11 s - 70
Continuous-time transfer function.

>>