Table of Contents

Exercício 3.1 ...................................................................................................................... 1

Exercício 3.2 ...................................................................................................................... 1
Exercício 3.3 ...................................................................................................................... 2
Exercício 3.4 ...................................................................................................................... 2
Exercício 3.5 ...................................................................................................................... 3
Exercício 3.6 ...................................................................................................................... 4
Exercício 3.7 ...................................................................................................................... 4
Exercício 3.71 .................................................................................................................... 4
Exercício 3.72 .................................................................................................................... 5
Exercício 3.8 ...................................................................................................................... 6
Exercício 3.9 ...................................................................................................................... 7
Exercício 3.10 .................................................................................................................... 8
Exercício 3.11 .................................................................................................................... 9
Exercício 3.12 .................................................................................................................... 9
Exercício 3.13 .................................................................................................................... 9

Exercício 3.1
s=tf('s');
G =(s+5)*(exp(-1 * s))/(s^4+4.5*s^3+7*s^2+4.5*s+1)

C=0.25+((0.04)/(s))+(0.4*s)

G =

s + 5
exp(-1*s) * ---------------------------------
s^4 + 4.5 s^3 + 7 s^2 + 4.5 s + 1

Continuous-time transfer function.

C =

0.4 s^2 + 0.25 s + 0.04

-----------------------
s

Continuous-time transfer function.

Exercício 3.2
G1=zpk(G);
pzmap(G1);

1
Exercício 3.3
p= pole(G)

p =

-2.0000 + 0.0000i
-1.0000 + 0.0000i
-1.0000 - 0.0000i
-0.5000 + 0.0000i

Exercício 3.4
step(G)

f=stepinfo(G)

f =

struct with fields:

RiseTime: 5.9555

2
 SettlingTime: 11.9241
SettlingMin: 4.5158
SettlingMax: 4.9996
Overshoot: 0
Undershoot: 0
Peak: 4.9996
PeakTime: 22.9337

Exercício 3.5
C1 =pid(0.25,0.04,0.4)

C1 =

1
Kp + Ki * --- + Kd * s
s

with Kp = 0.25, Ki = 0.04, Kd = 0.4

Continuous-time PID controller in parallel form.

3
Exercício 3.6
L=C*G

L =

0.4 s^3 + 2.25 s^2 + 1.29 s + 0.2

exp(-1*s) * -----------------------------------
s^5 + 4.5 s^4 + 7 s^3 + 4.5 s^2 + s

Continuous-time transfer function.

Exercício 3.7
pade(L)

ans =

-0.4 s^4 - 1.45 s^3 + 3.21 s^2 + 2.38 s + 0.4

------------------------------------------------
s^6 + 6.5 s^5 + 16 s^4 + 18.5 s^3 + 10 s^2 + 2 s

Continuous-time transfer function.

Exercício 3.71
bode(L)

4
Exercício 3.72
nyquist(L)

5
Exercício 3.8
margin(L)

6
Exercício 3.9
u = [0;ones(100,1);zeros(100,1)];
t=(0:1:200);
y=lsim(G,u,t);
plot(t,y)

7
Exercício 3.10
T=feedback(L,1)

T =

A =
x1 x2 x3 x4 x5
x1 -4.5 -3.7 -1.688 -1.145 -0.2
x2 2 0 0 0 0
x3 0 2 0 0 0
x4 0 0 0.5 0 0
x5 0 0 0 0.5 0

B =
u1
x1 1
x2 0
x3 0
x4 0
x5 0

C =
x1 x2 x3 x4 x5
y1 0 0.2 0.5625 0.645 0.2

8
 D =
u1
y1 0

(values computed with all internal delays set to zero)

Internal delays (seconds): 1

Continuous-time state-space model.

Exercício 3.11
open_system('lab1_simul1.slx')

Exercício 3.12
open_system('lab1_simul2.slx')

Exercício 3.13
y = out.dadosSimulink.signals.values;
t = out.dadosSimulink.time;
plot(t,y)

9
Published with MATLAB® R2020a

10