Práctica 4

Control Matlab A Miércoles 5:50 pm 437 30/03/2023

Martínez Valero Antonio 1957324
Valle Franco Jorge Augusto 2077447
Vargas Moya Gabriel Jerome 2077615
Abstract— This electronic document provides the resolution ω Ia
of a DC motor LTI system and the obtention of the transfer Where will be taken as Gm and as Ga.
function with symbolical and numerical methods. Te Va−ω Kt
It us recommended to employ the following variable
Keywords—Symbolic, MATLAB, transfer function, LTI, substitution:
systems, problems.

I. THERORETICAL FRAMEWORK
Fig 2. Recommended variable substitution
Control systems play an essential role in modern engineering
and technology, allowing for the precise regulation and control
B. Procedure and observations
of physical processes. Matlab is a powerful software tool
widely used for the design and analysis of control systems, Firstly, we must obtain Laplace transform of the equation
offering a variety of built-in functions and toolboxes that system, thus having
facilitate the modeling and simulation of complex systems.

One of the key features of Matlab is the ability to represent

control systems using symbolic transfer functions. Symbolic
s I a= (
1 Va
La s )
−ω K t −I a R a =0 (1)

transfer functions are mathematical representations of a
system's input-output relationship, in terms of the Laplace
variable s. They can be used to analyze the stability, frequency
response, and transient behavior of a system, and to design
feedback control strategies to meet specific performance
requirements.
The symbolic transfer functions can be manipulated
algebraically using Matlab's symbolic math toolbox, allowing
for the derivation of closed-form expressions for system
characteristics such as poles, zeros, and frequency response.
This capability enables engineers to explore the behavior of
complex systems in a more efficient and systematic way,
leading to the development of more effective and optimized
control strategies. In this context, Matlab's symbolic transfer
functions are a powerful tool for the design and analysis of
control systems, providing a powerful platform for the
development of innovative engineering solutions [1].
(2)
1
sω= (Te −bω ) =0
J
Afterwards in MATLAB we input the symbolic variables
via the command “syms”, as well as the equation 1 and 2 and
doing the recommended variable substitution in eq. 1. With
“subs”. Next, we consider these as a vector under “EQ”, as
well as the variables ω and I aunder “X”, thus solving these
and saving their values.
It is imperative to evaluate ω and Te as 1 to obtain Gm as
well as I a and Ua as 1 for Ga. Finally, we employ the
commands “collect” to collect the coefficients of the variable
s, “numden” to extract the numerator and denominator stating
these as “n” and “d” respectively and adding the variable of
the transfer function next to it, and “pretty” so it is easier to
visually comprehend.

II. EXERCISE 1
A. Instructions
Obtain the transfer function of the DC motor using
MATLAB’s symbolic function.

Fig 1. Equation system for exercise 1.

Fig 3. Code used for exercise 1.
C. Results “Gm1n” and “Ga1n” to the numeric LTIs. Thus, having the
following code:

Fig 4. Transfer functions Gm and Ga of exercise 1.

We thus obtain the transfer functions for the DC motor, Fig 6. Preliminary code for exercise
Gm and Ga respectively.
This code generates the following result:
D. Discussion
For this exercise we obtained the transfer function for
the DC motor, the statement of variables can be made in
multiple ways, yet the process still consists of the key
commands. Something remarkable is that it is necessary to
correctly name and save the values, hence we are working
with several of these and any change can create big differences
in the results.

III. EXERCISE 2 Fig 7. Preliminary result for exercise

A. Instructions This result is not incorrect, yet it can be still be simplified,
Declare the transfer functions Gm and Ga of the DC motor therefore we divide both parts of the fraction to obtain a
as numeric LTIs on MATLAB. Use the following parameters: numerator equal to one, so the code is modified to:

Nm
Ra=100Ω ; La=100mH; Kt=0.05 ; J=0.001; b=0.001
A
B. Procedure and observations Fig 8. Modifications to code of exercise 2.
C. Results

Fig 5. Code for exercise 2.

For this exercise we worked from the code previously wrote in

exercise 1, thus starting with the command “subs” to state
these as the variables to be worked with from this moment on.
Firstly, we input the values of each variable. Afterwards with
the “numden” command we extracted the numerator and
denominator stating these as “n” and “d” respectively and then Fig 9. Numeric LTIs for exercise 2
employing the command “sym2poly” to return the numeric
vector of coefficients of the symbolic polynomial. We named D. Discussion
 The newer command “sym2poly” is very helpful when
obtaining the numeric LTIs for the transfer function hence it
outputs a fairly simplified fraction and it is only necessary to
divide each part of this to obtain a unitary numerator, which is
the common practice for these kind of result.
IV. EXERCISE 3
A. Instructions
Calculate the transfer function of the complete DC motor
symbolically considering its block representation:
Fig 10. System of exercise 3.
Tip: Note that in this case G(s) = Ga(s)KtGm(s) y H(s) = Kt.
B. Procedure and observations
With the syms command is possible to add symbolic variables
without a numeric value and work with them to obtain the
symbolic representation of the transfer function.
Fig 11. Block diagram to solve Ex. 3.
C. Results
Fig 12. Symbolic representation of the transfer function.
D. Discusion
For this exercise it can be seen that it is possible to obtain a
symbolic representation of the transfer function of a system
working with the command syms that allows to use symbols
instead of numbers, and in order to enhance its visual
representation it is possible to use commands such as collect()
and pretty().
V. EXERCISE 4
A. Instructions
Calculate the transfer function as a numeric LTI variable of
the whole DC motor with Matlab. Call this variable Gw.
Tip: If you already have Ga, Gm and KT declared from
exercise 2 just use the feedback() command.
 Check that the numeric result matches the symbolic
result from exercise 3.
 Graph the step response of the motor with an input of
Va = 100V and a charge of 0.1Nm in the time t = 5s.
(Compare the response of this simulation with the
result of the last practice)
B. Procedure and observations
First to check if both results are equal, we are going to
substitute all of the symbolic values to its numeric equivalent.
 C. Results

Fig.15. Verification of the result of the symbolic value and the

numerical value.

Fig 13. Modification of exercise 3 code to get the numeric

answer.

And to get the numeric transfer function it is possible to

obtained with the commands sym2poly() and tf().

Fig.16. Comparison of step response of the motor at 100V

with no load torque.

Fig 14. Numerical response of the transfer function and code

for its visual representation.

Fig.17. Comparison of step response of the motor at 100V

with 0.1 Nm of load torque.
D. Discusion

It can be seen that the symbolic representation and the numeric

value of the transfer function are equal, meaning that it was
nicely translated to a numeric representation.

Regarding the graphs, it can be seen that in the Fig. 15 the

numerical step response matches the response of the previous
report with no load torque, however in the Fig. 16 it can be
visualized that there is a great difference in the amplitude of
the response when applying a load torque; reviewing the code
nothing seem out of placed and we found out that for example Fig.18. Code used for exercise 5 to compare the graphs and
to match the amplitude of Simulink the value of the load obtain the important data.
torque must be around 0.25 Nm while in Simulink 0.1 Nm.
However, something might be wrong.
C. Results

VI. EXERCISE 5
A. Instructions
Apply dominance to the transfer function of the DC motor that
you got in exercise 4. Call this variable Gwa.

Graph the step response of the original system (Gw) and the
approximation and verify if they are approximated. (Tip: Use
the command “hold” to graph both responses in the same
graph).

Calculate the characteristics of both responses and compare

them (Ts, Ga, etc.).

B. Procedure and observations

In order to obtain Gwa it is needed to apply dominance to the Fig.19. Comparison of the step response of the system with
system, and to do so it is important to identify the poles of the and without applying dominance.
transfer function that we got in Ex. 4.

500
Gω= 2
s +101 s+125

500
Gω=
( s +1 ) ( s+ 100 )+ 25
As the dominant pole is (s + 1) and 100 >> 5(1) it is possible
to eliminate the (s + 100) pole applying dominance, just it is
important to remember to conserve the gain of the system.

500
( )
100
Gωa=
( s+1 ) +( 25/100)

5 Fig.20. Closer look to the comparison between the two graphs.

Gωa=
s+1.25

Gw Gwa
Fig.21 Comparison between the characteristics of both of
the step responses.
D. Discusion
As it can be distinguished in Fig. 19 both steps responses look
very similar, is not just when zooming in that the differences
can be appreciated as seen in Fig. 20, and to prove the little
differences between the step responses it is possible to see
their characteristics in Fig. 21 where the settling time is quite
similar as well as the peak-time, this similarity between the
responses can be explain with the dominance, since the pole
that was eliminated was 100 bigger than the most dominant
pole, meaning that it didn’t controlled much in the step
response.
With this exercise it can be visualized the importance of
dominance when working with dynamic systems and
controllers, allowing us to simplify o stabilizing a system by
eliminating or adding poles without that much impact in the
system.
VII. CUESTIONARY
A. In the case of the approximate model by dominance, what
elements of the engine would be neglected?
In the case of an engine, the elements that are neglected in an
approximate model by dominance depend on the specific
application and the level of approximation required. However,
some possible elements that could be neglected in such a
model are:
Non-linear effects: In a simplified model, non-linear effects
such as friction, wear, and thermal expansion may be
neglected or approximated by linear effects, which can result
in inaccuracies in the model.
Secondary effects: Secondary effects such as fluid dynamics,
combustion dynamics, and heat transfer may be simplified or
neglected in an approximate model by dominance, leading to a
less accurate representation of the engine behavior.
Geometric complexity: The geometric complexity of the
engine may be simplified in an approximate model by
dominance, for example by assuming that the engine is a
single cylinder rather than a multi-cylinder engine. This can
result in a loss of accuracy in the model.
Transient effects: Transient effects such as start-up, shutdown,
and load changes may be neglected or approximated in an
approximate model by dominance, leading to inaccuracies in
the model predictions under transient conditions.
It is important to note that the level of approximation required
depends on the specific application of the engine model. For
example, a simple engine model may be sufficient for control
system design, while a more detailed model may be required
for performance optimization or emissions analysis. [2]
B. Under what conditions is it correct and incorrect to use a
model approximated by dominance?
The use of a model approximated by dominance can be correct
or incorrect depending on the application and the accuracy
required for the analysis.
A model approximated by dominance is a simplified model
that is obtained by ignoring the effects of smaller or less
important factors in a system. This approach can be useful in
reducing the complexity of a system and facilitating analysis,
but it may also lead to inaccurate results if the factors being
ignored have a significant impact on the behavior of the
system.
Therefore, it is generally correct to use a model approximated
by dominance when the factors being ignored are relatively
small compared to the dominant factors in the system, and
when the resulting approximation is accurate enough for the
intended analysis. This approach can be particularly useful in
systems with high dimensionality, where the analysis of the
full system may be computationally expensive or infeasible.
However, it is incorrect to use a model approximated by
dominance when the factors being ignored are significant and
cannot be neglected without affecting the accuracy of the
analysis. In such cases, a more detailed model that takes all
relevant factors into account should be used, even if it is more
computationally expensive. [2]
C. Besides the feedback command, what other built-in
commands does Matlab have to perform block algebra?
Matlab has several built-in commands to perform block
algebra, including:
blkdiag: This command is used to concatenate matrices
diagonally, producing a larger matrix with the original
matrices forming diagonal blocks.
blkmove: This command is used to move blocks of a matrix
around. It can be used to swap blocks, transpose blocks, or
reverse the order of blocks in a matrix.
blkproc: This command is used to apply a function to each
block of a matrix. The function can be specified as an
anonymous function or as the name of a function in the Matlab
path.
blkrepmat: This command is used to replicate a block matrix
in a specified pattern.
blockproc: This command is similar to blkproc, but it applies
the function to overlapping blocks of a matrix. [3]
These commands can be used for a wide range of applications,
including image processing, signal processing, and control
systems.
D. What is the difference between having a symbolic transfer
function and one as an LTI system within Matlab?
In MATLAB, a symbolic transfer function represents a
transfer function in a symbolic form, which means that it is
represented using mathematical symbols and expressions
rather than numeric values. On the other hand, an LTI (Linear
Time-Invariant) system in MATLAB represents a system
whose output is a linear function of its input and whose
behavior is not affected by changes in time.
The main difference between a symbolic transfer function and
an LTI system in MATLAB is that a symbolic transfer
function is a purely symbolic representation of the system,
whereas an LTI system is a concrete implementation of the
system in MATLAB.
When you have a symbolic transfer function, you can
manipulate the transfer function algebraically to derive its
properties, such as its poles and zeros, without having to
implement the system in MATLAB. This can be useful for
understanding the properties of a system in a more abstract
way.
On the other hand, when you have an LTI system, you can use
MATLAB to simulate the behavior of the system and analyze
its response to different inputs. This allows you to study the
system's behavior in a more concrete and realistic way.
In summary, a symbolic transfer function represents a system
in a purely symbolic form, whereas an LTI system in
MATLAB is a concrete implementation of the system that
allows you to simulate and analyze its behavior [4]
VIII. CONCLUSIONS
A. Valle Franco Jorge Augusto (2077447):
In this laboratory reported I mostly noticed that with the
recently learnt commands we can now obtain the transfer
function for practical problems, such as the DC motor, as well
to obtain these from existing block diagrams; previously we
could plot the behavior, however now we can generate
numerical values to precisely determine properties. While
coding it was seen that to obtain the transfer functions, the
process is based mainly on the commands to output the results
in a way that we are visually familiar with, these being
“solve”, “subs”; “numden”; “collect” and “pretty” and not
many new commands to obtain these functions were seen.
B. Vargas Moya Gabriel Jérôme (2077615):
With the elaboration of this laboratory report we put in
practice part of the theory that we saw in class, including
block algebra, closed loop equations, dominance, etc. And it
provided us with the tools to be able to use Matlab and get the
transfer functions and closed loops that we need in order to
make controllers, it was seen from different perspectives, with
symbolic and numerical resolutions and we learned new
commands to be able to get the transfer functions without not
much effort, as for example the command solve(), numden(),
sym2poly(), syms, etc. This knowledge will be very important
in future reports since with this tools we have a relatively easy
way to get the correct expressions of the transfer function of a
system.
C. Antonio Martínez Valero (1957324):
For this report we learned about the commands that allow
us to perform symbolic calculations, which are important for
understanding and analyzing the behavior of control systems
in addition to designing controllers that meet specific control
objectives. In conclusion, MATLAB provides a powerful set
of tools for analyzing and designing control systems, including
block algebra, closed loop equations, and dominance analysis.
These tools can help engineers to optimize the performance of
control systems and achieve the desired control.
REFERENCES
[1] “Control systemsl - Matlab & Simulink Solutions,” MATLAB
& Simulink Solutions - MATLAB & Simulink Available:
https://la.mathworks.com/solutions/control-systems.html
[2] “Approximate Model by Balanced Truncation at the Command Line,”
MATLAB & Simulink - MathWorks América Latina Available:
https://la.mathworks.com/help/control/ug/approximate-model-by-
balanced-truncation-at-the-command-line.html.
[3] “Matlab function,” Implement MATLAB Functions in Simulink with
MATLAB Function Blocks - MATLAB & Simulink - MathWorks
América Latina Available:
https://la.mathworks.com/help/simulink/ug/what-is-a-matlab-function-
block.html.
[4] “Symbolic variables in transfer functions,” MATLAB Answers - https://la.mathworks.com/matlabcentral/answers/261189-symbolic-
MATLAB Central Available: variables-in-transfer-functions