LAPORAN PRATIKUM TEKNIK KENDALI

ROOT LOCUS

Disusun oleh:

Fadlilah Husaini

21130063

Dosen Pengampu :

Dr. Ridwan M.Sc.

Ed.

PROGRAM STUDI TEKNIK ELEKTRO INDUSTRI

JURUSAN TEKNIK ELEKTRO INDUSTRI

UNIVERSITAS NEGERI PADANG

2024
Contoh
1. Diketahui persamaaan loop terbuka sistem G(s) = K/[s(s+1)(s+2)}]
K = 1 numg=[K];
Deng = poly ([0 -1 -2]);
'G(s)'
printsys(numg,deng)
pos = input('Type
%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
title ('Roots Locus')
[numt,dent] = cloop(K*numg,deng,-1);
rlocus(numg,deng)
hold
rlocus(numt,dent)
figure
'T(s)'
printsys(numt,dent)
step(numt,dent)
title (['step Response for k'])
poles=roots(dent)

poles =
-2.3247
- 0.3376 + 0.5623i
- 0.3376 - 0.5623
2. % G(s) = K*(s+1.5)/(s(s+1)(s+10))
numg = [1 1.5];
deng = poly ([0 -1 -10]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng)
pos = input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)] ^2)
sgrid(z,0)
title ('Roots Locus')
[k,p] = rlocfind(numg,deng)
pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)'
printsys(numt,dent)
step(numt,dent)
title (['step Response for k’])
pause
pos =
1.5200
k=
39.2551
p=
-4.5992 + 3.3957i
-4.5992 - 3.3957i
-1.8016
Tugas Pratikum
1. Gambarkan root locus sistem dengan variasi nilai K dan tentukan batas kestabilan K

% G(s) = K*s^2+2s^2+4s+2/s^2(s+1)^2
numg = [2 2 4 2 ];
deng = poly ([1 -1 -1]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng)
pos = input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0)
title ('Roots Locus')
[k,p] = rlocfind(numg,deng)
pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)'
printsys(numt,dent)
step(numt,dent)
title (['step Response for k'])
ans =
'G(s)'
num/den =
2 s^3 + 2 s^2 + 4 s + 2

s^3 + s^2 - 1 s - 1
Type%OS
pos =
[]
z=
[]
Select a point in the graphics window
selected_point =
1.0000 - 0.0155i
k=
0.0062
p=
0.9846 + 0.0000i
-0.9923 + 0.0782i
-0.9923 - 0.0782i
ans =
'T(s)'
num/den =
0.012397 s^3 + 0.012397 s^2 + 0.024794 s + 0.012397
 1.0124 s^3 + 1.0124 s^2 - 0.97521 s - 0.9876

2. Plot Root Locus system berikut ini

a. % G(s) = K*(s+1)/(s(s+2) (s+3))

numg = [1 1];
deng = poly([0 -2 -3]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng)
pos = input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0)
title ('Roots Locus')
[k,p] = rlocfind(numg,deng)
pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)'
printsys(numt,dent)
step(numt,dent)
title (['step Response for k'])
ans =
'G(s)'
num/den =
s+1

s^3 + 5 s^2 + 6 s
Type%OS
pos =
[]
z=
[]
Select a point in the graphics window
selected_point =
0.4589 + 0.0165i
k=
2.6771
p=
-2.3056 + 1.2523i
-2.3056 - 1.2523i
 -0.3889 + 0.0000i
ans =
'T(s)'
num/den =
2.6771 s + 2.6771

s^3 + 5 s^2 + 8.6771 s + 2.6771

b. % G(s) = 10K*(s+1)/(s(s+2)(s+3))
numg = [10 1 1];
deng = poly ([0 -2 -3]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng)
pos = input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0)
title ('Roots Locus')
[k,p] = rlocfind(numg,deng)
pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)'
printsys(numt,dent)
step(numt,dent)
title (['step Response for k'])
ans =
'G(s)'
num/den =
10 s^2 + s + 1

s^3 + 5 s^2 + 6 s

Type%OS
pos =
[]
z=
[]
Select a point in the graphics window
selected_point =
0.9834 - 0.0058i
k=
1.0028
p=
-14.5514 + 0.0000i
 -0.2383 + 0.1102i
-0.2383 - 0.1102i
ans =
'T(s)'
num/den =
10.028 s^2 + 1.0028 s + 1.0028

s^3 + 15.028 s^2 + 7.0028 s + 1.0028