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fn - fp
AsymptotePosition[fn_, fp_, n_, p_] := ;
n-p
180
AsymtoteAngle[k_, p_, n_] := (2 k + 1) ;
p-n
OS
Log
100
DampRatio[OS_] := ;
2 OS 2
π + Log
100
-b + b2 - 4 a c -b - b2 - 4 a c
factors[a_, b_, c_] := ,
2a 2a
2 Root Locus Design Example Mathematica Version.nb
ka 1 1
In[ ]:= openSys =
10 s+1 s
ka
Out[ ]=
10 s (1 + s)
clc
close all
clear all
num=[1];
dem=[10,10,0];
s=tf(num,dem);
figure(1)
rlocus(s)
Root Locus Design Example Mathematica Version.nb 3
1
(s+1)
In[ ]:= GMILs =
1
1+ kr
(s+1)
1
Out[ ]=
kr
(1 + s) 1 +
1+s
ka 1
In[ ]:= GFulls = (GMILs)
10 s
ka
Out[ ]=
kr
10 s (1 + s) 1 +
1+s
ka
In[ ]:= GFulls = ;
2
10 s + 10 kr s + 10 s
ka
In[ ]:= GFulls =
2
10 s + (kr + 1) s
ka
Out[ ]=
10 (1 + kr) s + s2
4 Root Locus Design Example Mathematica Version.nb
ka / 10
In[ ]:= GFulls = ;
( s) (s + kr + 1)
σo = AsymptotePosition[- 1 - kr, 0, 2, 0]
1
Out[ ]= (- 1 - kr)
2
4
ωn = ;
ξ
1 + kr
2
=ξ ωn
1 + kr
2
=ξ 4ξ ;
1 + kr
2
=4;
kr=7;
In[ ]:= kr = 7
Out[ ]= 7
In[ ]:= a = - 8 - 8 ;
ka
10 a (8 + a)
ka
= ωn2
10
ka = 10 (4 /ξ)2
4
In[ ]:= ξ = 0.707; ωn =
ξ
Out[ ]= 5.65771