SG

Scilab Code for Control Systems Theory and Applications by Smarajit Ghosh1
Created by Anuradha Singhania 4th Year Student B. Tech. (Elec. & Commun. ) Sri Mata Vaishno Devi University, Jammu College Teacher Prof. Amit Kumar Garg Sri Mata Vaishno Devi University, Jammu Reviewer Prof. Madhu Belur, IIT Bombay 29 June 2010
by a grant from the National Mission on Education through ICT, http://spoken-tutorial.org/NMEICT-Intro. This Textbook companion and scilab codes written in it can be downloaded from www.scilab.in
1 Funded
Book Details
Authors: Smarajit Ghosh Title: Control Systems Publisher: Pearson Education Edition: 2nd Year: 2009 Place: New Delhi ISBN: 978-81-317-0828-6
Contents
List of Scilab Code 2 Laplace Transform and Matrix Algebra 2.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Transfer Function 3.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Control system Components 4.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Control system Components 6.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Time Domain Analysis of Control Systems 8.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Feedback Characteristics of control Systems 9.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Stability 10.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Root Locus Method 11.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Frequency Domain Analysis 12.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 11 11 14 14 17 17 21 21 29 29 44 44 54 54 64 64 90 90
13 Bode Plot 13.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . .
95 95
15 Nyquist Plot 103 15.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 17 State Variable Approach 112 17.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 18 Digital Control Systems 122 18.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
List of Scilab Code

2.01-01 2.01-02 2.01-03 2.03 2.04 2.05-01 2.05-02 2.06 2.11 2.13 3.02 3.03 3.04 3.15 3.16 3.17 3.18 3.19 3.23 4.01 4.02 4.03 4.04 4.05 F1 F2 6.01 6.02 2.01.01.sci . 2.01.02sci . 2.01.03.sci . 2.03.sci . . . 2.04.sci . . . 2.05.01.sci . 2.05.02.sci . 2.06.sci . . . 2.11.sci . . . 2.13.sci . . . 3.02.sci . . . 3.03.sci . . . 3.04.sci . . . 3.15.sci . . . 3.16.sci . . . 3.17.sci . . . 3.18.sci . . . 3.19.sci . . . 3.23.sci . . . 4.01.sci . . . 4.02.sci . . . 4.03.sci . . . 4.04.sci . . . 4.05.sci . . . parallel.sce serial.sce . . 6.01.sci . . . 6.02.sci . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 11 11 12 12 12 12 13 13 13 14 14 14 15 15 15 15 16 16 17 18 18 19 19 21 21 21 22
6.03 6.04 6.05 6.06 6.07 6.08 6.09 6.10 6.11 6.12 6.13 6.14 6.15 8.02 8.03-01 8.03-02 8.03-03 8.04 8.05 8.06 8.07 8.08 8.09 8.10 8.11 8.12 8.13 8.14 8.15 8.16 8.17 8.19 8.20 8.23-01 8.23-02 8.23-03 8.23-04 8.24
6.03.sci . . 6.04.sci . . 6.05.sci . . 6.06.sci . . 6.07.sci . . 6.08.sci . . 6.09.sci . . 6.10.sci . . 6.11.sci . . 6.12.sci . . 6.13.sci . . 6.14.sci . . 6.15.sci . . 8.02.sci . . 8.03.01.sci 8.03.02.sci 8.03.03.sci 8.04.sci . . 8.05.sci . . 8.06.sci . . 8.07.sci . . 8.08.sci . . 8.09.sci . . 8.10.sci . . 8.11.sci . . 8.12.sci . . 8.13.sci . . 8.14.sci . . 8.15.sci . . 8.16.sci . . 8.17.sci . . 8.19.sci . . 8.20.sci . . 8.23.01.sci 8.23.02.sci 8.23.03.sci 8.23.04.sci 8.24.sci . .
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22 23 23 23 23 24 24 25 25 26 26 27 27 29 29 30 30 31 31 32 32 33 34 34 35 35 36 36 37 37 38 39 39 40 40 41 41 42
8.32 9.01 9.02 9.03 9.04 9.05 9.06 9.07 9.08 9.09 9.10 9.11 10.02-01 10.02-02 10.02-03 10.03 10.04 10.05-01 10.05-02 10.06 10.07 10.08 10.09 10.10 10.11 10.12 10.13 10.14 10.15 10.16 11.01 11.02 11.03 11.04 11.05 11.06 11.08 11.09
8.32.sci . . . 9.01.sci . . . 9.02.sci . . . 9.03.sci . . . 9.04.sci . . . 9.05.sci . . . 9.06.sci . . . 9.07.sci . . . 9.08.sci . . . 9.09.sci . . . 9.10.sci . . . 9.11.sci . . . 10.02.01.sci 10.02.02.sci 10.02.03.sci 10.03.sci . . 10.04.sci . . 10.05.01.sci 10.05.02.sci 10.06.sci . . 10.07.sci . . 10.08.sci . . 10.09.sci . . 10.10.sci . . 10.11.sci . . 10.12.sci . . 10.13.sci . . 10.14.sci . . 10.15.sci . . 10.16.sci . . 11.01.sci . . 11.02.sci . . 11.03.sci . . 11.04.sci . . 11.05.sci . . 11.06.sci . . 11.08.sci . . 11.09.sci . .
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42 44 45 45 46 47 47 48 49 50 51 52 54 54 55 55 56 56 57 57 58 59 59 60 61 61 62 62 63 63 64 64 64 65 67 69 70 71
11.10 11.11 11.12 11.13 11.14 11.15 11.16 11.17 11.19 11.20 11.21 11.22 11.23 11.25 11.26 11.27 11.28 12.01 12.02 12.03 12.04 12.05 13.01 13.02 13.03 13.04 13.05 13.06 15.01 15.02 15.03 15.04 15.05 15.06 15.07 15.08 17.03 17.04
11.10.sci 11.11.sci 11.12.sci 11.13.sci 11.14.sci 11.15.sci 11.16.sci 11.17.sci 11.19.sci 11.20.sci 11.21.sci 11.22.sci 11.23.sci 11.25.sci 11.26.sci 11.27.sci 11.28.sci 12.01.sci 12.02.sci 12.03.sci 12.04.sci 12.05.sci 13.01.sci 13.02.sci 13.03.sci 13.04.sci 13.05.sci 13.06.sci 15.01.sci 15.02.sci 15.03.sci 15.04.sci 15.05.sci 15.06.sci 15.07.sci 15.08.sci 17.03.sci 17.04.sci
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71 73 73 74 74 74 75 76 78 79 79 80 81 82 83 84 87 90 91 91 92 92 95 95 97 98 98 100 103 103 104 105 106 107 108 109 112 112
17.06 17.07 17.08 17.09 17.10 17.11 17.12 17.13 17.14 17.16 17.17 17.18 17.19 17.20 17.21 17.22 17.23 F3 18.01 18.08
17.06.sci . . 17.07.sci . . 17.08.sci . . 17.09.sci . . 17.10.sci . . 17.11.sci . . 17.12.sci . . 17.13.sci . . 17.14.sci . . 17.16.sci . . 17.17.sci . . 17.18.sci . . 17.19.sci . . 17.20.sci . . 17.21.sci . . 17.22.sci . . 17.23.sci . . ztransfer.sce 18.01.01.sci 18.08.01.sci
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112 113 113 113 113 114 114 115 116 116 117 117 117 118 119 119 120 122 122 122
List of Figures
11.1 Output 11.2 Output 11.3 Output 11.4 Output 11.5 Output 11.6 Output 11.7 Output 11.8 Output 11.9 Output 11.10Output 11.11Output 11.12Output 11.13Output 11.14Output 11.15Output 11.16Output 11.17Output 11.18Output 11.19Output 11.20Output 11.21Output 11.22Output 13.1 13.2 13.3 13.4 13.5 13.6 Output Output Output Output Output Output Graph of S 11.01 Graph of S 11.02 Graph of S 11.03 of S 11.04 . . . . of S 11.05 . . . . of S 11.06 . . . . of S 11.08 . . . . of S 11.09 . . . . of S 11.13 . . . . of S 11.14 . . . . of S 11.15 . . . . of S 11.16 . . . . of S 11.17 . . . . of S 11.19 . . . . of S 11.20 . . . . of S 11.21 . . . . of S 11.22 . . . . of S 11.23 . . . . of S 11.25 . . . . of S 11.26 . . . . of S 11.27 . . . . of S 11.28 . . . . of of of of of of S S S S S S 13.01 13.02 13.03 13.04 13.05 13.06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 66 67 68 69 70 71 72 75 76 77 78 79 80 81 82 83 84 85 86 88 89 96 97 99 100 101 102
15.1 15.2 15.3 15.4 15.5 15.6 15.7 15.8
Output Output Output Output Output Output Output Output
of of of of of of of of
S S S S S S S S
15.01 15.02 15.03 15.04 15.05 15.06 15.07 15.08
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. . . . . . . .
. . . . . . . .
104 105 106 107 108 109 110 111
10
Chapter 2 Laplace Transform and Matrix Algebra

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox.
2.1
Scilab Code
Example 2.01-01 2.01.01.sci

1 2 3
syms t s ; y=l a p l a c e ( 13 , t , s ) ; disp ( y , ans= ) Example 2.01-02 2.01.02sci
1 2 3
syms t s ; y=l a p l a c e ( 4+5%e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.01-03 2.01.03.sci
1 2 3
syms t s ; y=l a p l a c e ( 2 t 3%e( t ) , t , s ) ; disp ( y , ans= ) 11
Example 2.03 2.03.sci

1 2 3 4 5 6 7 8 9
p=poly ( [ 9 1 ] , s , c o e f f ) q=poly ( [ 3 7 1 ] , s , c o e f f ) f=p/q ; disp ( f , F( s )= ) x=s f ; y=l i m i t ( x , s , 0 ) ; / / f i n a l v a l u e disp ( y , f ( i n f )= ) z=l i m i t ( x , s , %inf ) ; / / i n i t i a l disp ( z , f ( 0 )= ) Example 2.04 2.04.sci
theorem
value
theorem
1 2 3 4
s=%s syms t ; disp ( ( s +3) / ( ( s +1) ( s +2) ( s +4) ) , F( s )= ) [A]= pfss ( ( s +3) / ( ( s +1) ( s +2) ( s +4) ) ) / / p a r t i a l
of F( s )
fraction
5 6 7 8 9
F1= i l a p l a c e (A( 1 ) , s , t ) F2= i l a p l a c e (A( 2 ) , s , t ) F3= i l a p l a c e (A( 3 ) , s , t ) F=F1+F2+F3 ; disp (F , f ( t )= ) Example 2.05-01 2.05.01.sci
1 2 3
syms t s ; y= l a p l a c e ( %e( t ) +5 t +6%e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.05-02 2.05.02.sci
1 2 3
syms t s ; y=l a p l a c e ( 5+6 t 2+3%e(2 t ) , t , s ) ; disp ( y , ans= ) 12

1 2 3
syms t s ; y=l a p l a c e ( 3 %e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.11 2.11.sci
1 2 3 4 5 6 7 8 9 10 11 12
p=poly ( [ 0 . 3 8 ] , s , c o e f f ) ; q=poly ( [ 0 0 . 5 4 3 2 . 4 8 1 ] , s , c o e f f ) ; F=p/q ; syms s ; x=s F ; y=l i m i t ( x , s , 0 ) ; / / y=db l ( y ) ; disp ( y , f ( i n f )= ) z=l i m i t ( x , s , %inf ) / / z=db l ( z ) ; disp ( z , f ( 0 )= ) Example 2.13 2.13.sci
final
value
theorem
//
i n i t i a l
value
theorem
1 2 3 4 5 6 7
s=%s ; p=poly ( [ 3 1 ] , s , c o e f f ) ; q=poly ( [ 0 1 1 2] , s , r o o t s ) ; f=p/q ; syms t s ; y=i l a p l a c e ( f , s , t ) ; disp ( y , f ( t )= )
13
Chapter 3 Transfer Function

3.1
Scilab Code

1 2 3 4
syms t s ; f=%e(3 t ) ; y=l a p l a c e ( %e(3 t ) , t , s ) ; disp ( y , G( s )= ) Example 3.03 3.03.sci
1 2 3 4 5 6 7 8
syms t s ; disp (%e(3 t ) , g ( t )= ) ; y1=l a p l a c e ( %e(3 t ) , t , s ) ; disp ( y1 , G( s )= ) disp (%e(4 t ) , r ( t )= ) ; y2=l a p l a c e ( %e(4 t ) , t , s ) ; disp ( y2 , R( s )= ) disp ( y1y2 , G( s )R( s )= ) Example 3.04 3.04.sci 14
1 2 3
s=%s ; H=s y s l i n ( c , ( 4 ( s +2) ( ( s +2.5) 3) ) / ( ( s +6) ( ( s +4) 2 ) ) ) ; plzr (H) Example 3.15 3.15.sci
1 2 3
syms t s y=l a p l a c e (%e(3 t ) sin (2 t ) , t , s ) ; disp ( y , ans= ) Example 3.16 3.16.sci
1 2
syms t s ; x=64%e(5 t ) /5+%e(3 t )

the system
// Given
step
Response
of
4 5
6 7
printf ( Derivative of step response g i v e s impulse r e s p o n s e \n ) y=d i f f ( x , t ) ; // D e r i v a t i v e of step response p r i n t f ( L a p l a c e Transform o f Impulse Response g i v e s th e T r a n s f e r Function \n ) p=l a p l a c e ( y , t , s ) ; disp ( p , T r a n s f e r Function= ) Example 3.17 3.17.sci
2 3 4 5
p r i n t f ( Given : P o l e s a r e s=1,(2+ i ) ,(2 i ) ; z e r o s =3+i ,3 i , Gain f a c t o r ( k )=5 \n ) num=poly([3+%i,3%i ] , s , r o o t s ) ; den=poly([1,2+%i,2%i ] , s , r o o t s ) ; G=(5num) / den ; disp (G, G( s )= ) Example 3.18 3.18.sci
1 2 3
s=%s ; G=s y s l i n ( c , ( 5 ( s +2) ) / ( ( s +3) ( s +4) ) ) ; disp (G, G( s )= ) 15
4 5 6 7
x=denom(G) ; disp ( x , C h a r a c t e r i s t i c s Polynomial= ) y=roots ( x ) ; disp ( y , P o l e s o f a system= ) Example 3.19 3.19.sci
2 3 4 5 6 7 8 9 10 11 12 13 14
p r i n t f ( Given : P o l e s a r e s =3, Z e r o s a r e s =2, Gain F a c t o r ( k )=5 \n ) num=poly ( [ 2 ] , s , r o o t s ) ; den=poly ( [ 3 ] , s , r o o t s ) ; G=5num/ den ; disp (G, G( s )= ) disp ( Input i s Step Function ) syms t s ; R=l a p l a c e ( 1 , t , s ) ; disp (R, R( s )= ) p r i n t f ( C( s )=R( s )G( s ) \n ) C=RG; disp (C, C( s )= ) c=i l a p l a c e (C, s , t ) ; disp ( c , c ( t )= ) Example 3.23 3.23.sci
1 2 3 4 5 6 7 8 9
// p o l e
zero
plot
for
g ( s ) =( s 2+3 s +2) / ( s 2+7 s + 1 2 )
s=%s ; p=poly ( [ 2 3 1 ] , s , c o e f f ) q=poly ( [ 1 2 7 1 ] , s , c o e f f ) V=s y s l i n ( c , p , q ) plzr (V) syms s t ; v =i l a p l a c e ( (2+(3 s )+s 2) / ( s 2+(7 s ) +12) , s , t ) disp ( v , V( t ) = )
16
Chapter 4 Control system Components

4.1 Scilab Code

1
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
p r i n t f ( Given a ) E x c i t a t i o n v o l t a g e ( Ein )=2V \n b ) S e t t i n g Ratio ( a )= 0 . 4 \n ) Ein =2; disp ( Ein , Ein= ) a =0.4; disp ( a , a= ) Rt =103; disp ( Rt , Rt= ) Rl =5103; disp ( Rl , Rl= ) p r i n t f ( Eo = ( a Ein ) /(1+( a(1a ) Rt ) / Rl ) \n ) Eo = ( a Ein ) /(1+( a(1a ) Rt ) / Rl ) ; disp ( Eo , output v o l t a g e ( E0 )= ) p r i n t f ( e =(( a 2 ) (1a ) ) / ( ( a(1a ) ) +(Rl /Rt ) ) \n ) e =(( a 2) (1a ) ) / ( ( a(1a ) ) +(Rl /Rt ) ) ; disp ( e , l o a d i n g e r r o r= ) p r i n t f ( E=Ein e \n ) E=Ein e ; / / V o l t a g e e r r o r = E x c i t a t i o n v o l t a g e ( E i n )
Loading error ( e )
18
disp (E , V o l t a g e e r r o r= )
17

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
17 18 19 20 21 22 23 24 25 26 27
p r i n t f ( n=5 , H e l i c a l turn \n ) n=5; / / H e l i c a l t u r n disp ( n , n= ) p r i n t f ( N=9000 , Winding Turn \n ) N=9000; / / W i n d i n g T u r n disp (N, N= ) p r i n t f ( R=10000 , P o t e n t i o m e t e r R e s i s t a n c e \n ) R=10000; / / P o t e n t i o m e t e r R e s i s t a n c e disp (R, R= ) p r i n t f ( Ein=90 , Input v o l t a g e \n ) Ein =90; / / I n p u t v o l t a g e disp ( Ein , Ein= ) p r i n t f ( r =5050 , R e s i s t a n c e a t mid p o i n t \n ) r =5050; / / R e s i s t a n c e a t m i d p o i n t disp ( r , r= ) p r i n t f ( D=r 5000 , D e v i a t i o n from nominal a t midp o i n t \ n ) D=r 5000; / / D e v i a t i o n f r o m n o m i n a l a t m i d p o i n t disp (D, D= ) p r i n t f ( L=D/R100 , L i n e a r i t y \n ) L=D/R 1 0 0 ; / / L i n e a r i t y disp (L , L= ) p r i n t f ( R=Ein /N , R e s o l u t i o n \n ) R=Ein /N; / / R e s o l u t i o n disp (R, R= ) p r i n t f ( Kp=Ein /(2 p i n ) , P o t e n t i o m e t e r Constant \n ) Kp=Ein /(2 %pin ) ; / / P o t e n t i o m e t e r C o n s t a n t disp (Kp, Kp= ) Example 4.03 4.03.sci
2 3 4
p r i n t f ( s i n c e S2 i s t h e r e f e r a n c e s t a t o r winding , Es2= KVcos0 \n where Es2 & Er a r e rms v o l t a g e s \n ) k=1 Theta =60; d i s p ( Theta , Theta= ) 18
5 6 7 8 9 10 11
12 13 14 15 16 17 18 19 20 21 22 23 24
V=28; d i s p (V, V( a p p l i e d )= ) p r i n t f ( Es2=V cos ( Theta ) \n ) Es2=kV c o s ( Theta ( %pi /180) ) ; d i s p ( Es2 , Es2= ) p r i n t f ( Es1=kV cos ( Theta 120)\n ) Es1=kV c o s ( ( Theta 120) ( %pi /180) ) ; // Given Theta=60 in degrees d i s p ( Es1 , Es1= ) p r i n t f ( Es3=kV c o s ( Theta +120) \n ) Es3=kV c o s ( ( Theta +120) ( %pi /180) ) ; d i s p ( Es3 , Es3= ) p r i n t f ( Es31=s q r t ( 3 ) kEr s i n ( Theta ) ) Es31=sqrt ( 3 ) kV sin ( Theta ( %pi /180) ) ; disp ( Es31 , Es31 = ) p r i n t f ( Es12=sqrt ( 3 ) kEr sin ( ( Theta 120) ) Es12=s q r t ( 3 ) kV s i n ( ( Theta 120) ( %pi /180) ) ; d i s p ( Es12 , Es12= ) p r i n t f ( Es23=s q r t ( 3 ) kEr s i n ( ( Theta +120) ) Es23=s q r t ( 3 ) kV s i n ( ( Theta +120) ( %pi /180) ) ; d i s p ( Es23 , Es23= ) Example 4.04 4.04.sci
1 2 3 4 5 6 7 8 9
p r i n t f ( S e n s i t i v i t y =5v /1000rpm \n ) Vg=5; disp (Vg , Vg= ) p r i n t f ( w( i n r a d i a n s / s e c ) =(1000/60) 2 p i \n ) w=(1000/60) 2 %pi ; disp (w, w= ) p r i n t f ( Kt=Vg/w \n ) Kt=Vg/w; d i s p ( Kt , Gain c o n s t a n t ( Kt )= ) Example 4.05 4.05.sci
1 2
p r i n t f ( Torque= KmVm=2 \n ) t =2; 19
3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
disp ( t , Torque ( t )= ) Fm= 0 . 2 ; disp (Fm, C o e f f i c i e n t o f V i s c o u s f r i c t i o n (Fm)= ) N=4 I =0.2 F1=0.05 p r i n t f ( Wnl=t /Fm ) Wnl=t /Fm; disp (Wnl , No Load Speed (Wnl)= ) p r i n t f ( Fwt=I +(N2F1 ) \n ) Fwt=I +(N2F1 ) ; disp ( Fwt , Total V i s c o u s F r i c t i o n ( Fwt )= ) p r i n t f ( Te=t (Fwtw) \n ) Te=0.8 / / l o a d w=(tTe ) /Fwt ; disp (w, Speed o f Motor (w)= )
20
Chapter 6 Control system Components

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox. To Run the following codes use the same destination for the function as well as the main code.
6.1
Scilab Code
Example F1 parallel.sce
1 2 3
function [ y]= p a r a l l e l ( sys1 , s y s 2 ) y=s y s 1+s y s 2 endfunction Example F2 serial.sce
1 2 3 4
function [ y]= s e r i e s ( sys1 , s y s 2 ) y=s y s 1 s y s 2 endfunction Example 6.01 6.01.sci
1 2
exec s e r i e s . s c e ; s=%s ; 21
3 4 5 6 7 8 9 10 11
s y s 1=s y s l i n ( c , ( s +3) / ( s +1) ) s y s 2=s y s l i n ( c , 0 . 2 / ( s +2) ) s y s 3=s y s l i n ( c , 5 0 / ( s +4) ) s y s 4=s y s l i n ( c , 1 0 / ( s ) ) a=s e r i e s ( sys1 , s y s 2 ) ; b=s e r i e s ( a , s y s 3 ) ; y=s e r i e s ( b , s y s 4 ) ; y=simp ( y ) ; disp ( y , C( s ) /R( s )= ) This code requires S F1. Example 6.02 6.02.sci
1 2 3 4 5 6 7 8 9
exec p a r a l l e l . s c e ; s=%s ; s y s 1=s y s l i n ( c , 1 / s ) s y s 2=s y s l i n ( c , 2 / ( s +1) ) s y s 3=s y s l i n ( c , 3 / ( s +3) ) a=p a r a l l e l ( sys1 , s y s 2 ) ; y=p a r a l l e l ( a , s y s 3 ) ; y=simp ( y ) ; disp ( y , C( s ) /R( s )= ) This code requires S F2. Example 6.03 6.03.sci
1 2 3 4 5 6 7 8 9 10
exec s e r i e s . s c e ; s=%s ; s y s 1=s y s l i n ( c , 3 / ( s ( s +1) ) ) s y s 2=s y s l i n ( c , s 2 / ( 3 ( s +1) ) ) s y s 3=s y s l i n ( c , 6 / ( s ) ) a=(1) s y s 3 ; b=s e r i e s ( sys1 , s y s 2 ) ; y=b / . a // f e e d b a c k operation y=simp ( y ) disp ( y , C( s ) /R( s )= ) 22

1 2 3 4 5 6 7
exec p a r a l l e l . s c e ; syms G1 G2 G3 H; a=s e r i e s (G1 , G2) ; b=p a r a l l e l ( a , G3) ; y=b / .H / / n e g a t i v e f e e d b a c k y=s i m p l e ( y ) disp ( y , C( s ) /R( s )= ) Example 6.05 6.05.sci
operation
1 2 3 4 5 6 7
exec s e r i e s . s c e ; syms G1 G2 H1 H2 s ; a=G1 / . H1 ; / / n e g a t i v e f e e d b a c k o p e r a t i o n b=a / . H2 ; / / n e g a t i v e f e e d b a c k o p e r a t i o n y=s e r i e s ( b , G2) ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.06 6.06.sci
1 2 3 4 5 6 7 8 9 10 11 12
exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 G4 G5 G6 H1 H2 ; a=p a r a l l e l (G3 , G5) ; b=p a r a l l e l ( a,G4) ; c=s e r i e s (G1 , G2) ; d=c / . H1 ; e=s e r i e s ( b , d ) ; f=e / . H2 ; y=s e r i e s ( f , G6) ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.07 6.07.sci
23
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
exec s e r i e s . s c e ; syms G1 G2 G3 H1 H2 R X;
// p u t t i n g x =0 , t h e n solving the block
a=G3 / . H1 ; b=s e r i e s (G1 , G2) ; c=s e r i e s ( a , b ) ; x1=c / . H2 ; C1=Rx1 ; disp ( x1 , C1( s ) /R( s )= )
// p u t t i n g r =0 , then solving the block
d=s e r i e s (G1 , G2) ; e=s e r i e s ( d , H2) ; f=G3 / . H1 ; x2=f / . e ; C2=Xx2 ; disp ( x2 , C2( s ) /X( s )= )
// r e s u l t a n t output C= C 1 + C 2
C=C1+C2 ; C=s i m p l e (C) ; disp (C, R e s u l t a n t Output= ) Example 6.08 6.08.sci
1 2 3 4 5 6 7 8 9 10 11 12
exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 H1 H2 ;

// s h i f t the take o f f point after the block G2
a=G3/G2 ; b=p a r a l l e l ( a , 1 ) ; c=s e r i e s (G1 , G2) ; d=c / . H1 / / n e g a t i v e e=s e r i e s ( d , b ) ; y=e / . H2 ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.09 6.09.sci
feedback
operation
24
1 2 3
exec s e r i e s . s c e syms G1 G2 G3 H1 H2 H3 ;
// Remove the feedback function loop H2 having feedback path transfer
4 5
a=G3 / . H2 ;
// I n t e r c h a n g e cascade the summer by its . as well as replace the block equivalent block
6 7 8 9 10 11
b=s e r i e s (G1 , G2) ; c=b / . H1 ; / / N e g a t i v e d=s e r i e s ( c , a ) ; y=d / . H3 ; / / N e g a t i v e y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.10 6.10.sci
Feedback
Operation
Feedback
Operation
1 2 3 4 5 6 7 8 9 10 11
exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 G4 G5 H1 H2 ; a=G2 / . H1 ; / / n e g a t i v e f e e d b a c k b=s e r i e s (G1 , a ) ; c=s e r i e s ( b , G3) ; d=p a r a l l e l ( c , G4) ; e=s e r i e s ( d , G5) ; y=e / . H2 ; // n e g a t i v e feedback y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.11 6.11.sci
operation
operation
1 2 3 4 5 6 7 8
exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 G4 G5 G6 G7 H1 H2 H3 ; a=p a r a l l e l (G1 , G2) ; b=p a r a l l e l ( a , G3) ;

// s h i f t the take off point to the right of the block G4
c=G4 / . H1 ; d=G5/G4 ;
// n e g a t i v e // n e g a t i v e
feedback feedback
operation operation
25
9 10 11 12 13 14 15 16 17
e=p a r a l l e l ( d , 1 ) ; f=G6 / . H2 ; // n e g a t i v e g=s e r i e s ( b , c ) ; h=s e r i e s ( g , e ) ; i=s e r i e s ( h , f ) ; j=s e r i e s ( i , G7) ; y=j / . H3 ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.12 6.12.sci
feedback
operation
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 H3 ;

// s h i f t the take o f f point after the block G1
a=G3/G1 ; b=p a r a l l e l ( a , G2) ; c=G1 / . H1 ; / / N e g a t i v e F e e d b a c k O p e r a t i o n d=1/b ; // N e g a t i v e Feedback Operation e=p a r a l l e l ( d , H3) ; f=s e r i e s ( e , H2) ; g=s e r i e s ( c , b ) ; h=g / . f ; // N e g a t i v e Feedback Operation y=s e r i e s ( h , G4) ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.13 6.13.sci
1 2 3 4 5 6 7 8
exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 ;

// r e d u c e the internal feedback loop
a=G2 / . H2 ;
// p l a c e the summer l e f t to the block G1
b=G3/G1 ;
// e x c h a n g e the summer
26
9 10 11 12 13 14 15
c=p a r a l l e l ( b , 1 ) ; d=s e r i e s ( a , G1) ; e=s e r i e s ( d , G4) ; f=e / . H1 ; y=s e r i e s ( c , f ) ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.14 6.14.sci
1 2 3 4 5 6 7 8 9 10 11 12 13
exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 ;

// s h i f t the take o f f point to the right of the block G3
a=H1/G3 ; b=s e r i e s (G2 , G3) ; c=p a r a l l e l (H2 , a ) ; d=b / . c ; e=s e r i e s ( d , G1) ; f=e / . a ; y=s e r i e s ( f , G4) ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= ) Example 6.15 6.15.sci
1 2 3 4 5
exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 H3 ;

// s h i f t // s h i f t block the the H1 take o f f other &H2 point to the right to the of the block of the H1 take o f f point right
6 7 8 9 10 11
a=s e r i e s (H1 , H2) ; b=1/a ; c=1/H1 ; d=G3 / . a ;

// move the summer to the l e f t of the block G2
e=G4/G2 ; 27
12 13 14 15 16 17 18 19 20
f=s e r i e s ( d , G2) ;
// e x c h a n g e the summer
g=f / . H1 ; h=p a r a l l e l (G1 , e ) ; i=s e r i e s ( h , g ) ; j=s e r i e s ( a , H3) ; y=i / . j ; y=s i m p l e ( y ) ; disp ( y , C( s ) /R( s )= )
28
Chapter 8 Time Domain Analysis of Control Systems

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox
8.1
Scilab Code

1 2 3 4 5 6 7 8 9
s=%s ; p=poly ( [ 3 1 ] , s , c o e f f ) ; q=poly ( [ 0 1 0 . 9 5 0 . 2 1 ] , s , c o e f f ) ; G=p/q ; disp (G, G( s )= ) H=1; y=GH; / / T y p e 1 S y s t e m disp ( y , G( s )H( s )= )
// R e f e r i n g system the table & 8.2 Ka =0 given in the book , For type 1 Kp= % i n f
10 11 12 13
p r i n t f ( For type1 Kp=i n f & Ka=0 \n ) syms s ; Kv=l i m i t ( s y , s , 0 ) ; / / K v = v e l o c i t y e r r o r c o e f f i c i e n t disp (Kv , V e l o c i t y E r r o r C o e f f i c i e n t (Kv)= )
29
Example 8.03-01 8.03.01.sci

1 2 3 4 5 6 7 8
s=%s ; p=poly ( [ 1 0 ] , s , c o e f f ) ; q=poly ( [ 0 0 1 ] , s , c o e f f ) ; G=p/q ; H= 0 . 7 ; y=GH; / / t y p e 2 disp ( y , G( s )H( s )= )

// r e f e r i n g Kp= % i n f the & table 8.2 given in the book , for type 1 Kv= % i n f
9 10 11
p r i n t f ( For type1 Kp=i n f & Kv=i n f \n ) syms s ; Ka=l i m i t ( s 2y , s , 0 ) ; / / K a = a c c e l a r a t i o n

c o e f f i c i e n t
error
12
disp (Ka , Ka= ) Example 8.03-02 8.03.02.sci
1 2 3 4 5 6
p=poly ( [ 5 ] , s , c o e f f ) ; q=poly ( [ 5 3 1 ] , s , c o e f f ) ; G=p/q H=0.6 y=GH / / t y p e 0

// r e f e r i n g Ka =0 & the Kv =0 table 8.2 given in the book , for type 1
7 8
syms s Kp=l i m i t ( s y/ s , s , 0 )
//
Kp= p o s i t i o n a l
error
Example 8.03-03 8.03.03.sci

1 2 3 4 5 6
p=poly ( [ 1 0 . 1 3 0 . 4 ] , s , c o e f f ) ; q=poly ( [ 0 0 5 3 1 ] , s , c o e f f ) ; G=10p/q / / g a i n FACTOR = 1 0 H=0.8 y=GH / / t y p e 2 30
// r e f e r i n g Kp= % i n f
the &
table
8.2
given
in
the
book
, for
type
Kv= % i n f
8 9
syms s Ka=l i m i t ( s 2y , s , 0 ) Example 8.04 8.04.sci
/ / Ka= a c c e l a r a t i o n
error
1 2 3 4 5 6 7 8
p=poly ( [ 4 1 ] , s , c o e f f ) ; q=poly ( [ 0 0 6 5 1 ] , s , c o e f f ) ; syms K r e a l ; y=Kp/q / / g a i n FACTOR =K disp ( y , G( s )H( s )= )

// G ( s ) H ( s ) =y // r e f e r i n g Kp= % i n f , and it is 8.2 of type 2 in the book , for type 2 the & table given
Kv= % i n f
9 10 11
p r i n t f ( For type1 Kp=i n f & Kv=i n f \n ) syms A s t ; Ka=l i m i t ( s 2y , s , 0 ) ; / / K a = a c c e l a r a t i o n

error
12 13 14 15 16 17 18 19
disp (Ka , Ka= )

// g i v e n input is r ( t ) =A ( t 2 ) / 2 & R( s )= l a p l a c e ( r ( t ) )
p r i n t f ( Given r ( t )=A( t 2) /2 \n ) R=l a p l a c e ( A t 2/2 , t , s ) ; disp (R, R( s )= )

// s t e a d y state error =Lt s >0 sR ( S ) /1+G ( s ) H ( S )
e=l i m i t ( s R/(1+y ) , s , 0 ) disp ( e , Ess= ) Example 8.05 8.05.sci
1 2 3 4 5 6 7
p=poly ( [ 6 0 ] , s , c o e f f ) ; q=poly ( [ 1 2 7 1 ] , s , c o e f f ) ; G=p/q ; disp (G, G( s )= ) H=1; y=GH F=1/(1+y ) ; 31
8 9 10 11 12 13 14
disp (F , 1/(1+G( s )H( s ) )= ) syms t s ; Ko=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 ( 1 / ( 1 + G ( s ) H ( S ) ) d=d i f f ( s F/ s , s ) ; K1=l i m i t ( d i f f ( s F/ s , s ) , s , 0 ) / / K 1 = L t s >0 ( d F ( s ) / d s K2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s >0 ( d 2 F ( s ) / d s )
// g i v e n ) ) input is r ( t ) =4+3 t +8( t 2 ) /2
& R( s )= l a p l a c e ( r ( t
15 16 17 18 19
a=(4+3 t +8( t 2) / 2 ) b=d i f f (4+3 t +8( t 2) /2 , t ) c=d i f f ( b , t ) e=Koa+K1b+K2 c / / e r r o r b y disp ( e , e r r o r ) Example 8.06 8.06.sci
dynamic
method
1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s F=s y s l i n ( c , [ 2 5 / ( ( s +1) s ) ] ) ;

function in forward path
polynomial // C r e a t e s
variable transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

function in backward path
// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
// C a l c u l a t e s CL with
closed loop
transfer
function
compare
Wn 2 / ( s 2 + 2 z e t a Wn+Wn 2 ) the the denominator c o e f f i c i e n t s of of CL the
y=denom(CL) z=c o e f f ( y )
// e x t r a c t i n g // e x t r a c t i n g polynomial , comparing
denominator
8 9 10 11 12 13 14
/ / Wn 2 = z ( 1 , 1 )
the //
c o e f f i c i e n t s Wn= n a t u r a l frequency
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
z e t a=z ( 1 , 2 ) /(2Wn) // z e t a =damping Wd Wn sqrt (1 z e t a 2) = Tp=%pi/Wd Mp=100exp((%pi z e t a ) / sqrt (1 z e t a 2) ) Example 8.07 8.07.sci
factor
s=poly ( 0 , s ) ;
// D e f i n e s
as
polynomial
variable
32
F=s y s l i n ( c , [ 2 0 / ( s 2+5 s +5) ] ) ;

// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
closed loop
transfer
function
compare
denominator
8 9 10 11 12 13 14
/ / Wn 2 = z ( 1 , 1 )
the //
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
z e t a=z ( 1 , 2 ) /(2Wn) // z e t a =damping Wd Wn sqrt (1 z e t a 2) = Tp=%pi/Wd / / Tp= p e a k t i m e Mp=100exp((%pi z e t a ) / sqrt (1 z e t a 2) ) / / p e a k

overshoot
factor
15 16 17 18
Td=(1+0.7 z e t a ) /Wn / / Td= d e l a y t i m e a=atan ( sqrt (1 z e t a 2) / z e t a ) Tr=(%pia ) /Wd // Tr= r i s e time Ts=4/( z e t a Wn) // Ts= s e t t l i n g time Example 8.08 8.08.sci
1 2 3 4 5 6
p=poly ( [ 1 4 0 , 3 5 ] , s , c o e f f ) ; q=poly ( [ 0 , 1 0 , 7 , 1 ] , s , c o e f f ) ; G=p/q H=1 y=GH / / t y p e 1

// r e f e r i n g Kp= % i n f the & table 8.2 given in the book , for type 1 Ka =0
7 8 9 10 11 12 13
syms s Kv=l i m i t ( s y , s , 0 )
// g i v e n input is
/ / Kv=
velocity
error
r ( t ) =5 t
& R( s )= l a p l a c e ( r ( t ) )
R=l a p l a c e ( 5 t , t , s )
// s t e a d y state error =Lt s >0 sR ( S ) /1+G ( s ) H ( S ) for ramp input
e=l i m i t ( s R/(1+y ) , s , 0 ) / / e = e r r o r disp ( e , s t e a d y s t a t e e r r o r ) 33

1 2 3 4 5 6 7
p=poly ( [ 4 0 , 2 0 ] , s , c o e f f ) ; q=poly ( [ 0 , 0 , 5 , 6 , 1 ] , s , c o e f f ) ; G=p/q ; H=1; y=GH; / / t y p e 2 disp ( y , G( s )H( s= )

// r e f e r i n g Kp= % i n f the & table 8.2 given in the book , for type 2 Kv= % i n f
8 9
syms s t ; Ka=l i m i t ( s 2y , s , 0 )
c o e f f i c i e n t // g i v e n input is
/ / Ka=
accelaration
error
10 11 12 13 14
r ( t ) =1+3 t + t 2 / 2
& R( s )= l a p l a c e ( r ( t ) )
R=l a p l a c e ( (1+3 t +( t 2/2) ) , t , s )

e=l i m i t ( s R/(1+y ) , s , 0 ) / / e = e r r o r disp ( e , s t e a d y s t a t e e r r o r ) Example 8.10 8.10.sci
1 2 3
s = poly ( 0 , s ) s y s = s y s l i n ( c , ( 2 0 ) / ( s 2+7 s +10) ) a=s y s / . ( 2 ( s +1) ) / / s i m p l i f y i n g t h e

loop
internal
feedback
4 5 6 7 8 9 10 11 12 13 14
b=202a ; disp ( b , G( s ) ) c =1; disp ( c , H( s ) ) OL=b c ; disp (OL, G( s )H( s ) ) , G( s ) H( s ) ) syms t s ; Kp=l i m i t ( s OL/ s , s , 0 ) / / K p = p o s i t i o n e r r o r c o e f f i c i e n t Kv=l i m i t ( s OL, s , 0 ) / / K v = v e l o c i t y e r r o r c o e f f i c i e n t Ka=l i m i t ( s 2OL, s , 0 ) / / K a = a c c e l a r a t i o n e r r o r
34
15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
// g i v e n
input
r ( t ) =6
R=l a p l a c e ( 6 , t , s )
// s t e a d y state error =Lt s >0 sR ( S ) /1+G ( s ) H ( S ) for given input
e1=l i m i t ( s R/(1+OL) , s , 0 ) ; disp ( e1 , e r r o r )

// g i v e n input r ( t ) =8 t
// e= e r r o r
M a p l a c e ( 8 t , t , s ) =l
e2=l i m i t ( s M/(1+OL) , s , 0 ) ; disp ( e2 , e r r o r )

// g i v e n input
// e= e r r o r
r ( t ) = 1 0 + 4 t +3 t 2 / 2
N=l a p l a c e ( 10+4 t +(3 t 2) /2 , t , s )

e3=l i m i t ( s N/(1+OL) , s , 0 ) ; disp ( e3 , e r r o r ) Example 8.11 8.11.sci
// e= e r r o r
1 2 3 4 5 6 7 8 9 10 11 12 13 14
s = poly ( 0 , s ) s y s 1 = s y s l i n ( c , ( s ) / ( s +6) ) ; s y s 2 = s y s l i n ( c , ( s +2) / ( s +3) ) ; s y s 3 = s y s l i n ( c , ( 5 ) / ( ( s +3) s 3 ) ) ; a=s y s 2+s y s 3 ; disp ( a , H( s ) ) b=s y s 1 ; disp ( b , G( S ) ) y=ab ; disp ( y , G( S )H( S ) ) syms s Kp=l i m i t ( s y/ s , s , 0 ) / / K p = p o s i t i o n e r r o r c o e f f i c i e n t Kv=l i m i t ( s y , s , 0 ) / / K v = v e l o c i t y e r r o r c o e f f i c i e n t Ka=l i m i t ( s 2y , s , 0 ) / / K a = a c c e l a r a t i o n e r r o r

1 2
s=%s ; syms k t ; 35
3 4 5 6 7 8 9 10 11 12 13 14
y=k / ( ( s +1) s 2( s +4) ) ; disp ( y , G( s )H( s )= ) r =1+(8 t ) +(18 t 2/2) ; disp ( r , r ( t )= ) R=l a p l a c e ( r , t , s ) ; disp (R, R( s )= ) e=l i m i t ( ( s R) /(1+y ) , s , 0 ) disp ( e , Ess= ) p r i n t f ( Given Ess = 0 . 8 \n ) e =0.8; k=72/e ; d i s p ( k , k=) Example 8.13 8.13.sci
1 2 3 4 5 6 7 8 9 10 11 12
syms s t k ; s = poly ( 0 , s ) ; y=k / ( s ( s +2) ) ; / / G ( disp ( y , G( s )H( s ) )
s )H( s )
/ / R= l a p l a c e ( 0 . 2 t , t , s )
R=l a p l a c e ( 0 . 2 t , t , s ) e=l i m i t ( s R/(1+y ) , s , 0 )

// g i v e n e <=0.02
a =[0.02]; b=[ 0.4]; m insolve (a , b) ; =l disp (m, k ) Example 8.14 8.14.sci
// S o l v e s
The
Linear
Equation
1 2 3 4 5 6 7 8
syms s , t , k ; s=%s ; y=k / ( s ( s +2) (1+0.5 s ) ) disp ( y , G( s )H( s ) )

/ / R= l a p l a c e ( 3 t , t , s )
//G( s )H( s )
R=l a p l a c e ( 3 t , t , s ) e=l i m i t ( s R/(1+y ) , s , 0 ) ; disp ( e , s t e a d y s t a t e e r r o r ) 36
9 10 11
k=4; / / g i v e n y=e ; disp ( y , s t a t e s t a t e e r r o r when k=4 ) Example 8.15 8.15.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
s = poly ( 0 , s ) ; s y s = s y s l i n ( c , 1 8 0 / ( s ( s +6) ) ) disp ( sys , G( s )H( s ) ) syms t s ;

/ / R= l a p l a c e ( 4 t , t , s )
//G( s )H( s )
R=l a p l a c e ( 4 t , t , s ) ; e=l i m i t ( s R/(1+ s y s ) , s , 0 ) ; y=db l ( e ) ; disp ( y , s t e a d y s t a t e e r r o r ) syms k r e a l ;

// v a l u e of k if error reduced by 6% ; / / 1
e1=l i m i t ( s R/(1+k / ( s ( s +6) ) ) , s , 0 ) e1 =0.94 e / / 2

// now solving these two equations
a =[47]; b =[ 9000]; m insolve (a , b) ; =l disp (m, k ) Example 8.16 8.16.sci
1 2
s=%s ; F=s y s l i n ( c , ( 8 1 ) / ( s 2+6 s ) ) ;

// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
closed loop
transfer
function
compare
denominator
8
/ / Wn 2 = z ( 1 , 1 )
the
c o e f f i c i e n t s
37
9 10 11 12 13 14
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
//
Wn= n a t u r a l
frequency

overshoot
factor

1 2
s=%s ; F=s y s l i n ( c , ( 2 5 ) / ( s 2+7 s ) ) ;

// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7 8
k =20/25; // k= g a i n factor CL=k (F / .B) / / C a l c u l a t e s c l o s e d

// compare CL with
loop
transfer
function
denominator
9 10 11 12 13 14 15
/ / Wn 2 = z ( 1 , 1 )
the //
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )

overshoot
factor
16 17 18 19 20 21
Td=(1+0.7 z e t a ) /Wn / / Td= d e l a y t i m e a=atan ( sqrt (1 z e t a 2) / z e t a ) Tr=(%pia ) /Wd // Tr= r i s e time Ts=4/( z e t a Wn) // Ts= s e t t l i n g time
// y ( t )= e x p r e s s i o n for output
22
y =(20/25) (1 (exp(1 z e t a Wn t ) / sqrt (1 z e t a 2) ) sin (Wd t+atan ( z e t a / sqrt (1 z e t a 2) ) ) ) ; disp ( y , Y( t ) )
38

1 2
s=%s ; F=s y s l i n ( c , ( 1 4 4 ) / ( s 2+12 s ) ) ;

// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7 8
k =20/25; // k= g a i n factor CL=k (F / .B) / / C a l c u l a t e s c l o s e d

// compare CL with
loop
transfer
function
denominator
9 10 11 12 13 14 15
/ / Wn 2 = z ( 1 , 1 )
the //
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )

overshoot
factor
16 17 18 19
Td=(1+0.7 z e t a ) /Wn / / Td= d e l a y t i m e a=atan ( sqrt (1 z e t a 2) / z e t a ) Tr=(%pia ) /Wd // Tr= r i s e time Ts=4/( z e t a Wn) // Ts= s e t t l i n g time Example 8.20 8.20.sci
1 2 3 4 5 6 7 8 9
i eee ( 2 ) ; syms k T; num=k ; den=s (1+ s T) ; G=num/ den ; disp (G, G( s )= ) H=1; CL=G/ .H; CL=s i m p l e (CL) ;
39
10
disp (CL, C( s ) /R( s )= )

transfer function CL with // compare
// C a l c u l a t e s
closed loop
11 12
Wn 2 / ( s 2 + 2 z e t a Wn+Wn 2 ) // e x t r a c t s num & den of symbolic
[ num , den ]=numden (CL)

function ( CL )
13 14
den=den /T; c o f a 0 = c o e f f s ( den , s , 0 )

function ( CL )
//
coeff
of
den
of
symbolic
15 16 17 18
c o f a 1 = c o e f f s ( den , s , 1 )
/ / Wn 2 = cof a 0 , comparing the c o e f f i c i e n t s
Wn =sqrt ( c o f a 0 ) disp (Wn, n a t u r a l f r e q u e n c y Wn )

frequency // c o f a 1 = 2 z e t a Wn
//
Wn= n a t u r a l
19 20
z e t a=c o f a 1 /(2Wn) Example 8.23-01 8.23.01.sci
1 2 3 4 5 6 7 8 9
s= poly ( 0 , s ) ; s y s = s y s l i n ( c , 1 0 / ( s +2) ) ; / / G ( disp ( sys , G( s )H( s ) ) F=1/(1+ s y s ) syms t s ; Co=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 a =(3) ; e=Coa ; disp ( e , s t e a d y s t a t e e r r o r ) Example 8.23-02 8.23.02.sci
s )H( s )
(1/(1+G( s )H( S ) )
1 2 3 4 5 6 7 8
s= poly ( 0 , s ) ; s y s = s y s l i n ( c , 1 0 / ( s +2) ) ; / / G ( s ) H ( s ) disp ( sys , G( s )H( s ) ) F=1/(1+ s y s ) syms t s ; Co=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 ( 1 / ( 1 + G ( d=d i f f ( s F/ s , s ) C1=l i m i t ( d i f f ( s F/ s , s ) , s , 0 ) / / K 1 = L t s >0 40
s )H( S ) )
( dF ( s ) / d s )
9 10 11 12
a=(2 t ) ; b=d i f f ( ( 2 t ) , t ) ; e=Coa+C1b ; disp ( e , s t e a d t s t a t e e r r o r ) Example 8.23-03 8.23.03.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14
s= poly ( 0 , s ) ; s y s = s y s l i n ( c , 1 0 / ( s +2) ) ; / / G ( s ) H ( s ) disp ( sys , G( s )H( s ) ) F=1/(1+ s y s ) syms t s ; Co=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 ( 1 / ( 1 + G ( s ) H ( S ) ) d=d i f f ( s F/ s , s ) C1=l i m i t ( d i f f ( s F/ s , s ) , s , 0 ) / / K 1 = L t s >0 ( d F ( s ) / d s C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s >0 ( d 2 F ( s ) / d s ) a =(( t 2 ) / 2) ; b=d i f f ( ( t 2) /2 , t ) ; c=d i f f ( b , t ) ; e=Coa+C1b+C2 c ; disp ( e , s t e a d y s t a t e e r r o r ) Example 8.23-04 8.23.04.sci
1 2 3 4 5 6 7 8 9 10
s= poly ( 0 , s ) ; s y s = s y s l i n ( c , 1 0 / ( s +2) ) ; / / G ( s ) H ( s ) disp ( sys , G( s )H( s ) ) F=1/(1+ s y s ) syms t s ; Co=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 ( 1 / ( 1 + G ( s ) H ( S ) ) d=d i f f ( s F/ s , s ) C1=l i m i t ( d i f f ( s F/ s , s ) , s , 0 ) / / K 1 = L t s >0 ( d F ( s ) / d s C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s >0 ( d 2 F ( s ) / d s )
// g i v e n ) input is r ( t ) =1+2 t +( t 2 ) / 2
& R( s )= l a p l a c e ( r ( t )
11 12 13
a=(1+2 t +( t 2) /2 ) ; b=d i f f ( a , t ) ; c=d i f f ( b , t ) ; 41
14
e=Coa+C1b+C2 c
// e r r o r
by
dynamic
method

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
s= poly ( 0 , s ) ; s y s 1 = s y s l i n ( c , ( s +3) / ( s +5) ) ; s y s 2= s y s l i n ( c , ( 1 0 0 ) / ( s +2) ) ; s y s 3= s y s l i n ( c , ( 0 . 1 5 ) / ( s +3) ) ; G=s y s 1 s y s 2 s y s 3 25 H=1; y=GH; / / G ( s ) H ( s ) disp ( y , G( s )H( s ) ) F=1/(1+y ) syms t s ; Co=l i m i t ( s F/ s , s , 0 ) / / K o = L t s >0 ( 1 / ( 1 + G ( s ) H ( S ) ) d=d i f f ( s F/ s , s ) C1=l i m i t ( d i f f ( s F/ s , s ) , s , 0 ) / / K 1 = L t s >0 ( d F ( s ) / d s C2=l i m i t ( d i f f ( d , s ) , s , 0 ) / / K 2 = L t s >0 ( d 2 F ( s ) / d s ) a=(1+(2 t ) +(5( t 2/2) ) ) ; b=d i f f ( a , t ) ; c=d i f f ( b , t ) ; e=Coa+C1b+C2 c ; disp ( e , s t e a d t s t a t e e r r o r ) Example 8.32 8.32.sci
1 2 3 4 5 6 7 8 9 10 11 12
s=%s ; s y s=s y s l i n ( c ,(9(1+2 s ) ) / ( s 2+0.6 s +9) ) ; disp ( sys , C( s ) /R( s )= )

// g i v e n r ( t ) =u ( t )
syms t s ; R=l a p l a c e ( 1 , t , s ) ; disp (R, R( s )= ) C=R s y s ; disp (C, C( s )= ) c=i l a p l a c e (C, s , t ) disp ( c , c ( t )= ) G=9/( s 3+0.6 s 2 ) ; 42
13 14 15 16 17 18 19 20 21 22 23
disp (G, G( s )= ) H=1; y=1+GH; syms t s ; Kp=l i m i t ( s G/ s , s , 0 ) Kv=l i m i t ( s G, s , 0 ) Ka=l i m i t ( s 2G, s , 0 ) R=l a p l a c e ( (1+ t +( t 2/2) ) , t , s )
e=l i m i t ( s R/(1+y ) , s , 0 ) ; / / e = e r r o r disp ( e , s t e a d y s t a t e e r r o r ( Ess ) )
43
Chapter 9 Feedback Characteristics of control Systems

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox
9.1
Scilab Code

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
s=%s ; G=s y s l i n ( c , 2 0 / ( s ( s +4) ) ) H= 0 . 3 5 ; y=GH; S=1/(1+y ) ; disp ( S , 1/(1+G( s ) H( s ) ) )

// g i v e n w=1.2
w=1.2 s=%iw S=horner ( S , s ) / / c a l c u l a t e s v a l u e o f a=abs ( S ) disp ( a , s e n s i t i v i t y o f open l o o p )
at
44
16 17 18 19 20
F=y/(1+y ) disp (F , (G( s ) H( s ) ) /(1+G( s ) H( s ) ) ) S=horner (F , s ) / / c a l c u l a t e s v a l u e o f b=abs ( S ) disp ( b , s e n s i t i v i t y o f c l o s e d l o o p ) Example 9.02 9.02.sci
at
1 2 3 4 5 6 7 8 9 10
s=%s ; s y s 1=s y s l i n ( c , 9 / ( s ( s +1.8) ) ) ; syms Td ; s y s 2 =1+(s Td) ; s y s 3=s y s 1 s y s 2 ; H=1; CL=s y s 3 / .H; / / C a l c u l a t e s c l o s e d l o o p disp (CL, C( s ) /R( s ) )
// compare CL with
transfer
function
[ num , den ]=numden (CL)

function CL
11 12
den=den / 5 ; c o f a 0 = c o e f f s ( den , s , 0 )
function CL
//
coeff
of
den
of
symbolic
13 14 15 16
c o f a 1 = c o e f f s ( den , s , 1 )
Wn =sqrt ( c o f a 0 ) disp (Wn, n a t u r a l f r e q u e n c y Wn )

frequency // c o f a 1 = 2 z e t a Wn
//
Wn= n a t u r a l
17 18 19 20 21 22 23
z e t a=c o f a 1 /(2Wn) z e t a =1; disp ( z e t a , f o r c r i t i c a l y damped f u n c t i o n z e t a ) Td=((2Wn) 1.8) /9 Ts=4/( z e t a Wn) ; Ts=d bl ( Ts ) ; disp ( Ts , s e t t l i n g time Ts ) Example 9.03 9.03.sci
s=%s ; 45
2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
G=s y s l i n ( c , 4 0 / ( s ( s +4) ) ) H= 0 . 5 0 ; y=GH; S=1/(1+y ) ; disp ( S , 1/(1+G( s ) H( s ) ) )

// g i v e n w=1.3
w=1.3 s=%iw S=horner ( S , s ) a=abs ( S ) disp ( a , s e n s i t i v i t y o f open l o o p ) F=y/(1+y ) disp (F , (G( s ) H( s ) ) /(1+G( s ) H( s ) ) ) S=horner (F , s ) b=abs ( S ) disp ( b , s e n s i t i v i t y o f c l o s e d l o o p ) Example 9.04 9.04.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
s=%s ; syms s ; syms Wn z e t a A H r e a l ; T= 6 . 2 8 ; Wn=(8%pi ) /T; z e t a =0.3 n= Wn 2 ; d=s 2+2 z e t a Wn s+ Wn 2 ; G1=n/d ; disp (G1 , G1( s ) ) G=AG1 ; disp (G, G( s ) ) S1=( d i f f (G,A) ) (A/G) ; a=s i m p l e ( S1 ) ; disp ( a , open l o o p s e n s i t i v i t y f o r changes i n A ) M =G/ .H; p=s i m p l e (M) S2=( d i f f ( p ,A) ) (A/p ) ; b=s i m p l e ( S2 ) ; 46
20 21 22 23
disp ( b , c l o s e d l o o p s e n s i t i v i t y f o r changes i n A ) S3=( d i f f ( p ,H) ) (H/p ) ; c=s i m p l e ( S3 ) ; disp ( c , c l o s e d l o o p s e n s i t i v i t y f o r changes i n H ) Example 9.05 9.05.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28
s=%s ; s y s 1=s y s l i n ( c , ( s +3)/ s ) ; syms u rp k H RL ; num2=uRL s ( s +2) ; den2=(rp+RL) ( s +3) ; s y s 2=num2/ den2 ; num3=k ; den3=s +2; s y s 3=num3/ den3 ; s y s=s y s 1 s y s 2 s y s 3 ; disp ( sys , G( s )= ) ; RL=10103; rp =4103; s y s=eval ( s y s ) s y s=f l o a t ( s y s ) disp ( sys , s y s= ) ; disp (H, H( s ) ) ; M y s / .H / / G ( s ) / 1 + G ( s ) H ( S ) =s M i m p l e (M) =s S=( d i f f (M, u ) ) ( u/M) ; S=s i m p l e ( S ) ; disp ( S , system s e n s i t i v i t y due t o v a r i a t i o n o f u= ) ; H= 0 . 3 ; u=12; S=eval ( S ) / / e q 1 S=0.04; k =((7/S ) 7)/18 ; / / f r o m e q 1 disp ( k , K= ) Example 9.06 9.06.sci 47
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
G=210; H= 0 . 1 2 ; syms Eo Er p r i n t f ( f o r c l o s e d l o o p system ) s y s=G/ .H; / / E o / E r =G / ( 1 + GH ) disp ( sys , Eo/Er= ) Eo=240 / / g i v e n Er=Eo / 8 . 0 1 5 2 ; disp ( Er , Er= ) p r i n t f ( f o r open l o o p system ) disp (G, Eo/Er= ) Er=Eo/G; G=210; disp ( Er , Er= )
// p r i n t f ( s i n c e gain is G is reduced by 12%, the new value of 784.8 V) ;
16 17 18 19 20 21 22
S=1/(1+GH) disp ( S , ( %change i n M) / ( %change i n G)= ) disp ( 1 2 , %CHANGE IN G= ) y =120.03869; disp ( y , %CHANGE IN M ) = p r i n t f ( f o r open l o o p system ) disp ( 2 8 . 8 1 0 0 / 2 4 0 , %change i n Eo ) Example 9.07 9.07.sci
1 2 3 4 5 6 7 8 9 10 11 12
s=%s ; s y s 1=s y s l i n ( c , 2 0 / ( s ( s +2) ) ) ; syms Kt ; s y s 2=Kt s ; s y s 3=s y s 1 / . s y s 2 ; p=s i m p l e ( s y s 3 ) ; disp ( p , G( s )= ) H=1; s y s=s y s 3 / .H; s y s=s i m p l e ( s y s ) ; disp ( sys , C( s ) /R( s )= ) [ num , den ]=numden ( s y s ) 48
13
c o f a 0 = c o e f f s ( den , s , 0 )
function CL
//
coeff
of
den
of
symbolic
14 15 16 17 18
c o f a 1 = c o e f f s ( den , s , 1 )
Wn =sqrt ( c o f a 0 ) Wn =db l (Wn) ; disp (Wn, n a t u r a l f r e q u e n c y Wn ) =

natural frequency // c o f a 1 = 2 z e t a Wn
//
Wn=
19 20 21 22 23 24 25 26 27 28 29 30 31
z e t a=c o f a 1 /(2Wn) zeta =0.6; Kt=((2 z e t a Wn) 2) / 2 0 ; disp ( Kt , Kt= ) Wd Wn sqrt (1 z e t a 2) ; = disp (Wd, Wd ) = Tp=%pi/Wd; disp (Tp , Tp= ) Mp=100exp((%pi z e t a ) / sqrt (1 z e t a 2) ) ; disp (Mp, Mp= ) Ts=4/( z e t a Wn) ; disp ( Ts , Ts= ) Example 9.08 9.08.sci
1 2 3 4 5 6 7 8
s=%s ; p r i n t f ( 1 ) z e t a & Wn without Kd ) G=60 s y s l i n ( c , 1 / ( s ( s +4) ) ) ; disp (G, G( S )= ) CL=G/ .H; disp (CL, C( s ) /R( s )= ) y=denom(CL) / / e x t r a c t i n g t h e d e n o m i n a t o r z=c o e f f ( y ) / / e x t r a c t i n g t h e c o e f f i c i e n t s
denominator polynomial , comparing the // c o e f f i c i e n t s Wn= n a t u r a l / / Wn 2 = z ( 1 , 1 )
of of
CL the
9 10 11 12 13
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
frequency
z e t a=z ( 1 , 2 ) /(2Wn) s y s 1=s y s l i n ( c , 1 / ( s ( s +4) ) ) ; 49
14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32
syms Kd ; p r i n t f ( 2 )Kd f o r z e t a =0.60 with c o n t r o l l e r ) s y s 2=s Kd ; s y s 3=s y s 1 / . s y s 2 ; G=s y s 3 6 0 ; disp (G, G( s )= ) H=1; s y s=G/ .H; disp ( sys , C( s ) /R( s )= ) [ num , den ]=numden ( s y s ) c o f a 0 = c o e f f s ( den , s , 0 ) c o f a 1 = c o e f f s ( den , s , 1 )
Wn =sqrt ( c o f a 0 ) Wn =db l (Wn) ; disp (Wn, n a t u r a l f r e q u e n c y Wn ) =

// c o f a 1 = 2 z e t a Wn
z e t a =0.60 Kd=(2 z e t a Wn)4 Example 9.09 9.09.sci
1 2 3 4 5 6 7 8 9
s=%s ; p r i n t f ( 1 ) without c o n t r o l l e r ) G=s y s l i n ( c , 1 2 0 / ( s ( s +12.63) ) ) ; disp (G, G( s )= ) H=1; CL=G/ .H; disp (CL, C( s ) /R( s )= ) y=denom(CL) / / e x t r a c t i n g t h e d e n o m i n a t o r z=c o e f f ( y ) / / e x t r a c t i n g t h e c o e f f i c i e n t s
denominator polynomial , comparing the c o e f f i c i e n t s / / Wn 2 = z ( 1 , 1 )
of of
CL the
10 11 12 13 14 15
Wn =sqrt ( z ( 1 , 1 ) ) ; disp (Wn, Wn ) =

/ / 2 z e t a Wn= z ( 1 , 2 )
//
Wn= n a t u r a l
frequency
z e t a=z ( 1 , 2 ) /(2Wn) ; disp ( z e t a , z e t a= ) 50
16 17 18 19 20 21 22 23
24 25 26 27 28 29 30 31 32
p r i n t f ( 2 ) with c o n t r o l l e r ) G=s y s l i n ( c , ( 1 2 0 ( 3 0 + s ) ) / ( s ( s +12.63) 30) ) ; d i s p (G, G( s )= ) CL=G/ .H; d i s p (CL, C( s ) /R( s )= ) den=denom (CL) den=den /30 // e x t r a c t i n g t he denominator o f CL z=c o e f f ( den ) // e x t r a c t i n g t he c o e f f i c i e n t s o f t he denominator p o l y n o m i a l //Wn2=z ( 1 , 1 ) , comparing t he c o e f f i c i e n t s Wn q r t ( z ( 1 , 1 ) ) ; =s d i s p (Wn, Wn ) = // Wn a t u r a l f r e q u e n c y =n //2 z e t a Wn ( 1 , 2 ) =z z e t a=z ( 1 , 2 ) /(2Wn) ; Mp=100 exp ((%pi z e t a ) / s q r t (1 z e t a 2) ) ; d i s p (Mp, Mp= ) Ts=4/( z e t a Wn) ; d i s p ( Ts , Ts= ) Example 9.10 9.10.sci
1 2 3 4 5 6 7 8 9 10
s=%s ; p r i n t f ( 1 ) without c o n t r o l l e r ) G=64 s y s l i n ( c , 1 / ( s ( s +4) ) ) ; disp (G, G( s )= ) H=1; CL=G/ .H; disp (CL, C( s ) /R( s )= )
// E x t r a c t i n g the denominator of CL
y=denom(CL)
// E x t r a c t i n g polynomial the c o e f f i c i e n t s of the denominator
11 12 13 14 15 16
z=c o e f f ( y )
/ / Wn 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
Wn =sqrt ( z ( 1 , 1 ) ) ;
/ / Wn= n a t u r a l frequency
disp (Wn, Wn ) = p r i n t f ( 2 ) with c o n t r o l l e r ) 51
17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
syms K; s y s 1=s y s l i n ( c , 1 / ( s ( s +4) ) ) ; s y s 2=s y s 1 / . ( s K) ; G=64 s y s 2 d i s p (G, G( s )= ) s y s=G/ .H; s y s=s i m p l e ( s y s ) ; d i s p ( sys , C( s ) /R( s )= ) [ num , den ]=numden ( s y s ) // C o e f f o f den o f s y m b o l i c f u n c t i o n CL c o f a 0 = c o e f f s ( den , s , 0 ) c o f a 1 = c o e f f s ( den , s , 1 ) //Wn2= c o f a 0 , comparing t he c o e f f i c i e n t s Wn q r t ( c o f a 0 ) =s Wn =db l (Wn) ; //Wn a t u r a l f r e q u e n c y =n d i s p (Wn, n a t u r a l f r e q u e n c y Wn ) = // c o f a 1 =2 z e t a Wn z e t a=c o f a 1 /(2Wn) zeta =0.6; k=(16 z e t a )4 d i s p ( k , K= ) Example 9.11 9.11.sci
1 2 3 4 5 6 7 8 9 10 11 12
p r i n t f ( 2 ) with c o n t r o l l e r ) syms K; s y s 1=s y s l i n ( c , 1 / ( s ( s +1.2) ) ) ; s y s 2=s y s 1 / . ( s K) ; G=16 s y s 2 ; G=s i m p l e (G) d i s p (G, G( s )= ) s y s=G/ .H; s y s=s i m p l e ( s y s ) ; d i s p ( sys , C( s ) /R( s )= ) [ num , den ]=numden ( s y s ) den=den / 5 ; // so t h a t c o e f f o f s 2=1 52
13
14 15 16 17 18
19 20 21 22 23 24 25 26 27 28 29 30 31
c o f a 0 = c o e f f s ( den , s , 0 ) // c o e f f o f den o f s y m b o l i c f u n c t i o n CL c o f a 1 = c o e f f s ( den , s , 1 ) //Wn2= c o f a 0 , comparing t he c o e f f i c i e n t s Wn q r t ( c o f a 0 ) =s Wn =db l (Wn) ; d i s p (Wn, n a t u r a l f r e q u e n c y Wn ) = // Wn = natural frequency // c o f a 1 =2 z e t a Wn // z e t a=c o f a 1 /(2Wn) zeta =0.56; k=(8 z e t a ) 1.2 d i s p ( k , K= ) Wd Wn s q r t (1 z e t a 2) ; = d i s p (Wd, Wd ) = Tp=%pi/Wd; d i s p (Tp , Tp= ) Mp=100 exp ((%pi z e t a ) / s q r t (1 z e t a 2) ) ; d i s p (Mp, Mp= ) Ts=4/( z e t a Wn) ; d i s p ( Ts , Ts= )
53
Chapter 10 Stability
Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox. You can also refer the inbuilt function(routh-t) for generating Routh Table.
10.1
Scilab Code
Example 10.02-01 10.02.01.sci

1 2 3 4 5 6 7 8 9
s = poly ( 0 , s ) ; p=poly ( [ 1 2 ] , s , c o e f f ) ; q=poly ( [ 0 2 4 1 ] , s , c o e f f ) ; G=p/q ; H=poly ( [ 0 . 5 ] , s , c o e f f ) ;

// c h a r a c t e r i s t i c equation is 1+G ( s ) H ( s ) =0
y=1+GH r=numer( y ) disp ( =0 , r , c h a r a c t e r i s t i c s e q u a t i o n i s ) Example 10.02-02 10.02.02.sci
1 2 3
s = poly ( 0 , s ) ; p=poly ( [ 7 ] , s , c o e f f ) ; q=poly ( [ 2 3 1 ] , s , c o e f f ) ; 54
4 5 6 7 8 9
G=p/q ; H=poly ( [ 0 1 ] , s , c o e f f ) ;
y=1+GH r=numer( y ) disp ( =0 , r , c h a r a c t e r i s t i c s e q u a t i o n i s ) Example 10.02-03 10.02.03.sci
1 2 3 4 5 6 7
s = poly ( 0 , s ) ; G=s y s l i n ( c , 2 / ( s 2+2 s ) ) H=s y s l i n ( c , 1 / s ) ;

y=1+GH r=numer( y ) disp ( =0 , r , c h a r a c t e r i s t i c s e q u a t i o n i s ) Example 10.03 10.03.sci
1 2 3 4 5 6 7
s=%s ; m 3+5 s 2+10 s +3; =s r=c o e f f (m) n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ; r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e
routh matrix
sub
block
of
8 9 10 11 12 13 14 15 16 17 18
r outh =[ routh ;det ( t ) / t ( 2 , 1 ) , 0 ] c =0; for i =1:n i f ( routh ( i , 1 )< 0 ) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end 55

1 2 3 4 5 6 7
s=%s ; m 3+2 s 2+3 s +10; =s r=c o e f f (m) n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ; r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e
routh matrix
sub
block
of
8 9 10 11 12 13 14 15 16 17 18
r outh =[ routh ;det ( t ) / t ( 2 , 1 ) , 0 ] c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end Example 10.05-01 10.05.01.sci
1 2 3 4 5 6 7
9 10
i eee ( 2 ) s=%s ; m 4+6 s 3+21 s 2+36 s +20 =s r=c o e f f (m) n=length ( r ) ; r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ] r outh =[ routh ;det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ; disp ( routh , routh= ) 56
11 12 13 14 15 16 17 18 19 20
c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end Example 10.05-02 10.05.02.sci
1 2 3 4 5 6
9 10 11 12 13 14 15 16 17 18 19
s=%s ; m 5+6 s 4+3 s 3+2 s 2+ s+1 =s r=c o e f f (m) n=length ( r ) r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ] r outh =[ routh ;det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,det ( routh ( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ] r outh =[ routh ;det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ] c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end Example 10.06 10.06.sci 57
1 2 3 4
i eee ( 2 ) s=%s ; m 5+2 s 4+4 s 3+8 s 2+3 s+1 =s r=c o e f f (m) ; / / E x t r a c t s t h e c o e f f i c i e n t

polynomial
of
the
5 6 7 8 9
10
11 12 13 14
n=length ( r ) ; r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ] syms eps ; r outh =[ routh ; eps ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,det ( routh ( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ] ; disp ( routh , routh= )
/ / To check the s t a b i l i t y // P u t t i n g the value of
r outh ( 4 , 1 )=8 l i m i t ( 5/ eps , eps , 0 ) ;

e p s =0 in routh (4 ,1)
15 16
disp ( routh ( 4 , 1 ) , routh ( 4 , 1 )= ) r outh ( 5 , 1 )= l i m i t ( routh ( 5 , 1 ) , eps , 0 ) ;

value of e p s =0 in routh (5 ,1)
// P u t t i n g
the
17 18 19
disp ( routh ( 5 , 1 ) , routh ( 5 , 1 ) = ) r outh p r i n t f ( There a r e two sign changes o f f i r s t column , hence t h e system i s u n s t a b l e \n ) Example 10.07 10.07.sci
1 2 3
s=%s ; m 5+2 s 4+2 s 3+4 s 2+4 s+8 =s r outh=routh t (m) / / T h i s F u n c t i o n

table
generates
the
Routh
4 5 6 7 8 9
c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end 58
10 11 12 13
i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end Example 10.08 10.08.sci
1 2 3 4 5 6
8 9 10 11 12 13 14 15 16 17 18
s=%s ; m 4+5 s 3+2 s 2+3 s+2 =s r=c o e f f (m) n=length ( r ) ; r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ] r outh =[ routh ;det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end Example 10.09 10.09.sci
1 2 3 4
i eee ( 2 ) ; s=%s ; m 5+ s 4+3 s 3+3 s 2+4 s+8 =s r=c o e f f (m) ; / / E x t r a c t s t h e

polynomial
of
the
5 6 7
n=length ( r ) ; r outh =[ r ( [ 6 , 4 , 2 ] ) ; r ( [ 5 , 3 , 1 ] ) ] syms eps ; 59
8 9
10
11 12 13 14
r outh =[ routh ; eps ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) ,det ( routh ( 3 : 4 , 2 : 3 ) ) / routh ( 4 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 4 : 5 , 1 : 2 ) ) / routh ( 5 , 1 ) , 0 , 0 ] ; disp ( routh , routh= )
/ / To check the s t a b i l i t y // P u t t i n g the value
r outh ( 4 , 1 )=l i m i t ( routh ( 4 , 1 ) , eps , 0 ) ;

of e p s =0 in routh (4 ,1)
15 16
disp ( routh ( 4 , 1 ) , routh ( 4 , 1 )= ) r outh ( 5 , 1 )= l i m i t ( routh ( 5 , 1 ) , eps , 0 ) ;

value of e p s =0 in routh (5 ,1)
// P u t t i n g
the
17 18 19
disp ( routh ( 5 , 1 ) , routh ( 5 , 1 ) = ) r outh p r i n t f ( There a r e two sign changes o f f i r s t column , hence t h e system i s u n s t a b l e \n ) Example 10.10 10.10.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14
i eee ( 2 ) ; syms s k ; m 4+4 s 3+7 s 2+6 s+k ; =s c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; c o f a 3 = c o e f f s (m, s , 3 ) ; c o f a 4 = c o e f f s (m, s , 4 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 cof a 4 ]
15
16
n=length ( r ) ; r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ] r outh =[ routh ;det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ; 60
17
disp ( routh , routh= ) Example 10.11 10.11.sci
1 2 3 4 5 6 7 8 9 10 11 12
i eee ( 2 ) ; syms s k ; m=(24/100) s 3+ s 2+ s+k ; c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; c o f a 3 = c o e f f s (m, s , 3 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ] n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e
routh matrix
sub
block
of
13 14 15 16 17 18 19 20
r outh =[ routh ;det ( t ) / routh ( 3 , 1 ) , 0 ] disp ( routh , routh= ) ; r outh ( 3 , 1 ) =0 / / F o r m a r g i n a l y s t a b l e s y s t e m k =1/0.24; disp ( k , K( m a r g i n a l )= ) disp ( =0 , ( s 2)+k , a u x i l l a r y e q u a t i o n ) s=sqrt(k ) ; disp ( s , Frequency o f o s c i l l a t i o n ( i n rad / s e c )= ) Example 10.12 10.12.sci
1 2 3 4 5 6 7 8 9 10
i eee ( 2 ) ; syms p K s ; m 3+(p s 2 ) +(K+3) s +(2(K+1) ) =s c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; c o f a 3 = c o e f f s (m, s , 3 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ] n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ; 61
11 12
r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e

routh matrix
sub
block
of
13 14
r outh =[ routh ;det ( t ) / routh ( 3 , 1 ) , 0 ] ; disp ( routh , routh= ) Example 10.13 10.13.sci
1 2 3 4 5
i eee ( 2 ) ; s=%s ; m=2 s 4+(4 s 2)+1 r outh=routh t (m) roots (m)

(m)
// G e n e r a t e s // G i v e s the
the
Routh of
Table the Polynomial
Roots
disp ( 0 , th e plane of disp ( 0 , th e plane of disp ( 4 , th e = )
number o f r o o t s l y i n g i n th e l e f t h a l f sp l a n e= ) number o f r o o t s l y i n g i n th e r i g h t h a l f sp l a n e= ) number o f r o o t s l y i n g on t he i m a g i n a r y a x i s

1 2 3 4 5 6 7 8 9 10 11 12
13
i eee ( 2 ) ; syms s k ; m 4+6 s 3+10 s 2+8 s+k ; =s c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; c o f a 3 = c o e f f s (m, s , 3 ) ; c o f a 4 = c o e f f s (m, s , 4 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 c o f a 4 ] n=length ( r ) ; r outh =[ r ( [ 5 , 3 , 1 ] ) ; r ( [ 4 , 2 ] ) , 0 ] r outh =[ routh ;det ( routh ( 1 : 2 , 1 : 2 ) ) / routh ( 2 , 1 ) ,det ( routh ( 1 : 2 , 2 : 3 ) ) / routh ( 2 , 2 ) , 0 ] ; r outh =[ routh ;det ( routh ( 2 : 3 , 1 : 2 ) ) / routh ( 3 , 1 ) ,det ( routh ( 2 : 3 , 2 : 3 ) ) / routh ( 3 , 2 ) , 0 ] ; 62
14 15
r outh =[ routh ;det ( routh ( 3 : 4 , 1 : 2 ) ) / routh ( 4 , 1 ) , 0 , 0 ] ; disp ( routh , routh= ) Example 10.15 10.15.sci
1 2 3 4 5 6 7 8 9 10 11
i eee ( 2 ) ; syms s T; m 2+(2T) s+1 =s c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 ] n=length ( r ) ; r outh =[ r ( [ 3 , 1 ] ) ; r ( 2 ) , 0 ] ; r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; disp ( routh , routh= ) Example 10.16 10.16.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
i eee ( 2 ) s=%s ; m 6+2 s 5+7 s 4+10 s 3+14 s 2+8 s+8 =s r outh=routh t (m) ; disp ( routh , routh= ) c =0; for i =1:n i f ( routh ( i , 1 ) <0) c=c +1; end end i f ( c>=1) p r i n t f ( system i s u n s t a b l e ) e l s e ( system i s s t a b l e ) end
63
Chapter 11 Root Locus Method

Install Symbolic Toolbox.Refer the spoken tutorial on the link (www.spokentutorial.org) for the installation of Symbolic Toolbox When we will execute the programm we will get the following Graphs
11.1
Scilab Code

1 2 3 4
s=%s ; s y s 1=s y s l i n ( c , 1 / ( s +1) ) ; evans ( sys1 , 2 0 0 ) p r i n t f ( I f k i s v a r i e d from 0 t o any v a l u e , r o o t l o c u s v a r i e s from k t o 0 \n ) Example 11.02 11.02.sci
1 2 3 4
s=%s ; s y s 1=s y s l i n ( c , ( s +1) / ( s +4) ) ; evans ( sys1 , 1 0 0 ) p r i n t f ( r o o t l o c u s b e g i n s a t s=4 & ends a t s=1 ) Example 11.03 11.03.sci
64
Figure 11.1: Output Graph of S 11.01

1 2 3 4
s=%s ; s y s 1=s y s l i n ( c , ( s+3%i ) ( s+3+%i ) / ( ( s+2%i ) ( s+2+%i ) ) ) ; evans ( sys1 , 1 0 0 ) p r i n t f ( R o o t l o c u s s t a r t s from s=2+i & 2 i ends a t s =3+i &3 i \n ) Example 11.04 11.04.sci
1 2 3
s=%s ; H=s y s l i n ( c , ( s +1) / ( s +2) ) ; evans (H, 1 0 0 ) 65

4
p r i n t f ( C l e a r l y from th e graph i t o b s e r v e d t h a t g i v e n p o i n t 1+ i & 3+ i does not l i e on th e r o o t l o c u s \n )

// there lie is on another the locus process of the to check whether the points system
6 7 8 9
P=1+%i ; / / P= s e l e c t e d point k1=1/r e a l ( horner (H, P) ) Ns=H( num ) ; Ds=H( den ) ; roots ( Ds+k1Ns ) // do es not
root
contains
as
particular
10 11
P=3+%i ; / / P= s e l e c t e d k2=1/r e a l ( horner (H, P) ) ;
point
66

12 13
Ns=H( num ) ; Ds=H( den ) roots ( Ds+k2Ns ) // do es

root
not
contains
as
particular

1 2 3 4
s=%s ; H=s y s l i n ( c , 1 / ( s ( s +1) ( s +3) ) ) ; evans (H, 1 0 0 ) p r i n t f ( C l e a r l y from t he graph i t o b s e r v e d t h a t g i v e n p o i n t 0.85 l i e s on t he r o o t l o c u s \n ) 67
Figure 11.4: Output of S 11.04

5
//
there lie
is on
another the locus
process of the
to
check
whether
the
points
system
6 7 8 9 10
P= 0.85; / / P= s e l e c t e d point k=1/r e a l ( horner (H, P) ) ; disp ( k , k = ) Ns=H( num ) ; Ds=H( den ) ; r o o t s ( Ds+kNs ) // c o n t a i n s P as p a r t i c u l a r r o o t
68
Figure 11.5: Output of S 11.05 Example 11.06 11.06.sci

1 2 3 4
s=%s ; H=s y s l i n ( c , 1 / ( ( s +1) ( s +5) ) ) ; evans (H, 1 0 0 ) p r i n t f ( C l e a r l y from t he graph i t o b s e r v e d t h a t g i v e n p o i n t 0.85 l i e s on t he r o o t l o c u s \n )

// there lie is on another the locus process of the to check whether the points system point
6 7 8
P=3+5%i ; / / P= s e l e c t e d k=1/r e a l ( horner (H, P) ) ; disp ( k , k = )
69

9 10
Ns=H( num ) ; Ds=H( den ) ; r o o t s ( Ds+kNs ) // c o n t a i n s P as p a r t i c u l a r r o o t Example 11.08 11.08.sci
1 2 3 4
s=%s ; H=s y s l i n ( c , ( s +2) / ( ( s +1) s ( s +4) ) ) ; evans (H, 1 0 0 ) p r i n t f ( From t he graph we o b s e r v e d that , \n a ) The no o f l o c i ending a t i n f i s 2 \n b ) Three l o c i w i l l s t a r t from s= 0,1 & 4,\n c ) One l o c i w i l l end a t 2 & 70
Figure 11.7: Output of S 11.08 r e m a i n i n g two w i l l end a t i n f ) Example 11.09 11.09.sci

1 2 3
s=%s ; H=s y s l i n ( c , ( s +2) / ( ( s +1) s ( s +4) ) ) ; evans (H, 1 0 0 ) Example 11.10 11.10.sci
n=3; 71

2 3 4 5 6 7 8 9 10 11 12
disp ( n , no o f p o l e s= ) m=1; disp (m, no o f p o l e s= ) q=0; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) q=1; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) p r i n t f ( C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s )H( s ) ) (sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / ( 72
13 14
n m) \n ) C=((014)(2) ) / 2 ; disp (C, c e n t r o i d= ) Example 11.11 11.11.sci
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
n=3; disp ( n , no o f p o l e s= ) m=0; disp (m, no o f p o l e s= ) q=0; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) q=1; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) q=2; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) p r i n t f ( C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s )H( s ) ) (sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / ( n m) \n ) C=((011)(0) ) / 3 ; disp (C, c e n t r o i d= ) Example 11.12 11.12.sci
16 17
1 2 3 4 5 6 7 8 9 10
n=4; disp ( n , no o f p o l e s= ) m=1; disp (m, no o f p o l e s= ) q=0; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) q=1; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) 73
11 12 13 14 15
q=2; O=((2 q ) +1) / ( n 1 8 0 ; m) disp (O, q= ) p r i n t f ( C e n t r o i d =((sum o f a l l r e a l p a r t o f p o l e s o f G( s )H( s ) ) (sum o f a l l r e a l p a r t o f z e r o s o f G( s )H( s ) ) / ( n m) \n ) C=((0245)(3) ) / 3 ; disp (C, c e n t r o i d= ) Example 11.13 11.13.sci
16 17
1 2 3 4
s=%s ; H=s y s l i n ( c , ( s +2) / ( ( s +1) s ( s +3) ) ) ; plzr (H) p r i n t f ( There a r e two a d j a c e n t p l a c e d p o l e s a t s=0 &s =1 \n ) p r i n t f ( One breakaway p o i n t e x i s t s between s=0 & s=1 \ n ) Example 11.14 11.14.sci
1 2 3 4
s=%s ; H=s y s l i n ( c , ( ( s +2) ( s +4) ) / ( ( s 2 ) ( s +5) ) ) ; plzr (H) p r i n t f ( There a r e two a d j a c e n t p l a c e d z e r o s a t s=2 &s =4 \n ) p r i n t f ( One b r e a k i n p o i n t e x i s t s between s=2 & s=4 \n ) Example 11.15 11.15.sci
1 2 3 4
s=%s ; H=s y s l i n ( c , ( s +6) / ( ( s +1) ( s +3) ) ) ; plzr (H) p r i n t f ( There a r e two a d j a c e n t p l a c e d p o l e s a t s=3 &s =1 \n ) 74

5
p r i n t f ( One breakaway p o i n t e x i s t s between s=3 & s=1 \n ) p r i n t f ( One b r e a k i n p o i n t e x i s t s t o th e l e f t o f z e r o s a t s=6 \n ) Example 11.16 11.16.sci
1 2 3 4
s=%s ; H=s y s l i n ( c , 1 / ( ( s +1) s ( s +3) ) ) ; plzr (H) p r i n t f ( There a r e two a d j a c e n t p l a c e d p o l e s a t s=0 &s 75
Figure 11.10: Output of S 11.14 =1 \n ) p r i n t f ( One breakaway p o i n t e x i s t s between s=0 & s=1 \ n ) Example 11.17 11.17.sci
1 2 3 4 5
s=%s ; H=s y s l i n ( c , 1 / ( ( s +1) s ( s +3) ) ) ; evans (H, 1 0 0 ) syms k ; m 3+6 s 2+8 s+k ; =s 76

6 7 8 9 10 11 12 13 14 15
c o f a 0 = c o e f f s (m, s , 0 ) ; c o f a 1 = c o e f f s (m, s , 1 ) ; c o f a 2 = c o e f f s (m, s , 2 ) ; c o f a 3 = c o e f f s (m, s , 3 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ] n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ; r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e
routh matrix
sub
block
of
16
r outh =[ routh ;det ( t ) / t ( 2 , 1 ) , 0 ] 77

17 18 19 20 21
disp ( 4 8 , K( m a r g i n a l )= ) disp ( =0 , ( 6 s 2 )+k , a u x i l l a r y e q u a t i o n ) k =48; s=sqrt(k / 6) ; disp ( s , s= ) Example 11.19 11.19.sci
1 2 3
s=%s ; H=s y s l i n ( c , 1 / ( ( s+1+%i ) s ( s+1%i ) ) ) ; evans (H, 1 0 0 ) 78

1 2 3
s=%s ; H=s y s l i n ( c , 1 / ( ( s +3) s ( s +5) ) ) ; evans (H, 1 0 0 ) Example 11.21 11.21.sci
1 2 3
s=%s ; H=s y s l i n ( c , 1 / ( ( s+2+%i ) ( s +1) ( s+2%i ) ) ) ; evans (H, 1 0 0 ) 79

1 2 3 4 5 6 7 8
s=%s ; num=r e a l ( poly ( [ 1 ] , s , c o e f f ) ) den=r e a l ( poly([1,2+%i,2%i ] , s ) ) H=num/ den evans (H, 1 0 0 ) k =1.5; disp ( k , K( d e s i g n )= )
// Kpure calculates the value of k at imaginary crossover
[ K,Y]=kpure (H) 80

10 11 12
GM =K/k ; disp (GM, v a l u e o f k a t i m a g i n a r y c r o s s o v e r /k ( d e s i g n )= ) disp (GM, g a i n margin= ) Example 11.23 11.23.sci
1 2 3 4 5
s=%s ; H=s y s l i n ( c , 1 / ( s ( ( s +3) 2 ) ) ) ; evans (H, 1 0 0 ) K=25; y=KH; / / e q 1 ) 81

6 7 8 9 10 11 12 13 14 15
disp (KH, G( s )H( s )= ) ; disp ( =1 ,KH, mod(G( s )H( s ) ) ) ;

// on solving eq 1 for s =%i w this we get an equation m
w=poly ( 0 , w ) ; m =w3+9w25 n=roots (m) s=%in ( 1 ) p=horner ( y , s ) [ R, Theta ]= polar ( p ) PM=180+Theta
82

1 2 3
s=%s ; H=s y s l i n ( c , 1 / ( ( s +1) s ( s +2) ( s +4) ) ) ; evans (H, 1 0 0 ) Example 11.26 11.26.sci
1 2 3
s=%s ; H=s y s l i n ( c , ( s +4) ( s +5) / ( ( s +1) ( s +3) ) ) ; evans (H, 1 0 0 ) 83

1 2 3 4 5 6 7 8 9
s=%s ; syms k Wn; H=s y s l i n ( c , 1 / ( ( s +3) 2 s ) ) ; evans (H, 1 0 0 ) / / r o o t l o c u s p r i n t f ( To d e t e r m i n e t h e v a l u e o f Wn \n ) disp ( kH, G( s )H( s )= ) y=1+(kH) ; disp ( =0 , y , 1+G( s )H( s ) ) evans (H, 1 0 0 ) 84

10 11 12 13 14 15 16 17 18 19 20 21
[ num , den ]=numden ( y ) c o f a 0 = c o e f f s (num , s , 0 ) ; c o f a 1 = c o e f f s (num , s , 1 ) ; c o f a 2 = c o e f f s (num , s , 2 ) ; c o f a 3 = c o e f f s (num , s , 3 ) ; r =[ c o f a 0 c o f a 1 c o f a 2 c o f a 3 ] n=length ( r ) ; r outh =[ r ( [ 4 , 2 ] ) ; r ( [ 3 , 1 ] ) ] ; r outh =[ routh ;det ( routh ) / routh ( 2 , 1 ) , 0 ] ; t=routh ( 2 : 3 , 1 : 2 ) ; / / e x t r a c t i n g t h e s q u a r e 85
sub
block
of

routh
22 23 24 25 26 27 28 29 30
matrix
r outh =[ routh ;det ( t ) / t ( 2 , 1 ) , 0 ]

// to obtain Wn
disp ( =0 , ( ( 6 s 2) +54) , a u x i l l a r y eq ) p=(6( s 2 ) )+k ; s=%iWn k =54; p=eval ( p ) Wn =sqrt ( k /6 ) p r i n t f ( With gvn v a l u e s o f z e t a adding a g r i d on r o o t l o c u s \n )
31
86
32 33
zeta =0.5; / / g i v e n sgrid ( z e t a ,Wn, 7 )

continuous and wn .
// add
grid
over
an
existing values for zeta
splane
root
with
given
34
35
p r i n t f ( NOTE: c l i c k on th e p o i n t where l o c u s i n t e r s e c t s z =0.5 f o r d e s i r e d v a l u e o f k \n ) k=1/r e a l ( horner (H, [ 1 , %i ] locate ( 1 ) ) ) / / T o o b t a i n t h e

gain at a given point of the locus
36 37 38
p=locate ( 1 )
// d e s i r e d
point
on
the
root
locus

1 2 3
s=%s ; H=s y s l i n ( c , 1 / ( ( s +4) s ( s +6) ) ) ; evans (H, 1 0 0 )
87
88
89
Chapter 12 Frequency Domain Analysis

12.1
Scilab Code

1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s F=s y s l i n ( c , [ 2 2 5 / ( ( s +6) s ) ] ) ;

variable transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
closed loop
transfer
function
compare
denominator
8 9 10 11 12 13 14
/ / Wn 2 = z ( 1 , 1 )
the //
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
z e t a=z ( 1 , 2 ) /(2Wn) // z e t a =damping factor Mr=1/(2 z e t a sqrt (1 z e t a 2) ) Wr= Wn sqrt (1 z e t a 2) Wc= Wn sqrt ((1 2 z e t a 2)+sqrt (4 z e t a 44 z e t a 2+2) ) 90
15
BW =Wc
/ / BANDWIDTH

1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s F=s y s l i n ( c , [ 3 6 / ( ( s +8) s ) ] ) ;

variable transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
closed loop
transfer
function
compare
denominator
8 9 10 11 12 13 14 15
/ / Wn 2 = z ( 1 , 1 )
the
c o e f f i c i e n t s // Wn= n a t u r a l frequency
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
z e t a=z ( 1 , 2 ) /(2Wn) // z e t a =damping factor Mr=1/(2 z e t a sqrt (1 z e t a 2) ) Wr= Wn sqrt (1 z e t a 2) Wc= Wn sqrt ((1 2 z e t a 2)+sqrt (4 z e t a 44 z e t a 2+2) ) BW =Wc / / BANDWIDTH Example 12.03 12.03.sci
1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s F=s y s l i n ( c , [ 8 1 / ( s 2+7 s ) ] ) ;

variable transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
CL=F / .B
//
closed loop
transfer
function
compare
denominator
8 9 10
/ / Wn 2 = z ( 1 , 1 )
the
c o e f f i c i e n t s // Wn= n a t u r a l frequency
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
91
11 12 13 14 15
z e t a=z ( 1 , 2 ) /(2Wn) // z e t a =damping factor Mr=1/(2 z e t a sqrt (1 z e t a 2) ) Wr= Wn sqrt (1 z e t a 2) Wc= Wn sqrt ((1 2 z e t a 2)+sqrt (4 z e t a 44 z e t a 2+2) ) BW =Wc / / BANDWIDTH Example 12.04 12.04.sci
1 2 3 4 5 6 7 8 9 10 11
// D e f i n e s
as
polynomial
variable
s=poly ( 0 , s ) ;
// C r e a t e s transfer function in forward path
F=s y s l i n ( c , [ 8 1 / ( ( s +18) s ) ] ) ;
// C r e a t e s transfer function in backward path
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C a l c u l a t e s closed loop transfer function
CL=F / .B
// compare CL with Wn 2 / ( s 2 + 2 z e t a Wn+Wn 2 ) the denominator of the of CL
y=denom(CL) / /
// E x t r a c t i n g polynomial
extracting the
c o e f f i c i e n t s
denominator
12 13 14 15 16 17 18
z=c o e f f ( y )
/ / Wn 2 = z ( 1 , 1 ) , comparing the c o e f f i c i e n t s
Wn =sqrt ( z ( 1 , 1 ) )
/ / 2 z e t a Wn= z ( 1 , 2 )
z e t a=z ( 1 , 2 ) /(2Wn)
// zeta =damping here factor becomes Mr =1 complex so the / / NOTE = other s q r t (1 2 z e t a 2 ) is Wr = 0 &
solution
19 20 21 22
Mr=1 Wr=0 Wc= Wn((1 2 z e t a 2)+sqrt (4 z e t a 44 z e t a 2+2) ) BW =Wc / / BANDWIDTH Example 12.05 12.05.sci
1 2 3
i eee ( 2 ) ; syms k a ; num=k ; 92
4 5 6 7 8 9 10
den=s ( a+s ) ; G=num/ den ; disp (G, G( s )= ) H=1; CL=G/ .H; CL=s i m p l e (CL) ; disp (CL, C( s ) /R( s )= )
transfer function CL with // compare
closed loop
11 12
[ num , den ]=numden (CL) ;

function ( CL )
13
c o f a 0 = c o e f f s ( den , s , 0 ) ;
symbolic function ( CL )
//
coeff
of
den
of
14 15 16 17 18 19 20 21 22 23 24 25 26 27
c o f a 1 = c o e f f s ( den , s , 1 ) ;
Wn =sqrt ( c o f a 0 )
// c o f a 1 = 2 z e t a Wn
z e t a=c o f a 1 /(2Wn) Mr=1/(2 z e t a sqrt (1 z e t a 2) ) p r i n t f ( Given ,Mr=1.25 \n ) ;

/ / On solving eq (1) we get
/ / 1)
k = 1 . 2 5 a 2 2
p r i n t f ( k =1.25 a 2 \n ) Wr= Wn sqrt (12 z e t a 2) / / 3) p r i n t f ( Given , Wr=12.65 \n ) ;

// on soving eq ( 3 ) , we get 2 k a 2=320 4)
p r i n t f ( 2ka2=320 \n )
// now eq 2 &4 of & k can &a be simultaneously soved to take out values
28 29 30 31 32 33 34 35 36 37
//
Let
k=x
a 2= y // c o e f f i c i e n t matrix
A= [ 1 , 1 . 2 5 ; 2 , 1 ] ; b=[0;320]; m =A\b ; x= 1 , 1 ) ; m( k=x y= 2 , 1 ) ; m( a=sqrt ( y ) Wn =db l ( eval (Wn) ) ; disp (Wn, Wn ) =
93
38 39 40 41 42 43
z e t a=db l ( eval ( z e t a ) ) ; disp ( z e t a , z e t a = ) Ts=4/( z e t a Wn) ; d i s p ( Ts , S e t t l i n g Time ( Ts )= ) Wc= Wn((1 (2 z e t a 2) )+s q r t (4 z e t a 44 z e t a 2+2) ) d i s p (Wc, BW ) =
94
Chapter 13 Bode Plot

When we will execute the programm we will get the following Graphs.
13.1
Scilab Code

1 2
s=poly ( 0 , s ) ; / / D e f i n e s F=s y s l i n ( c , [ 2 0 / ( s +2) ] )

forward path
as
polynomial
variable function in
// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) )

// C r e a t e s
transfer
4 5 6 7 8
OL=FB / / C a l c u l a t e s fmin = 0 . 1 ; / / M i n f r e q fmax =100; / / M a x f r e q scf (1) ; c l f ; bode (OL, fmin , fmax ) ;
loop system in
open l o o p in in Hz Hz
transfer
function
// P l o t s
frequency
response
of
open
Bode
diagram gain and phase margin and
show margins (OL)

associated
// d i s p l a y
crossover
frequencies

1
s=poly ( 0 , s ) ;
// D e f i n e s
as
polynomial
variable
95

2
F=s y s l i n ( c , [ 2 0 / ( ( 2 + s ) s ) ] ) ;
// C r e a t e s
transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

// C r e a t e s
transfer
4 5 6 7
OL=FB ; / / C a l c u l a t e s o p e n l o o p fmin = 0 . 0 1 ; / / M i n f r e q i n H z fmax =20; / / M a x f r e q i n H z scf (1) ; c l f ; 96
transfer
function

8
bode (OL, fmin , fmax ) ;

loop system in
// P l o t s
frequency
response
of
open
Bode
show margins (OL)

associated
// d i s p l a y
crossover
frequencies

1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e F=s y s l i n ( c , [ 4 0 / ( ( 2 + s ) s ( s +5) ) ] ) / / C r e a t e s t r a n s f e r

97
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) )

// C r e a t e s
transfer
4 5 6 7 8
OL=FB ; / / C a l c u l a t e s fmin = 0 . 1 ; / / M i n f r e q fmax =20; / / M a x f r e q scf (1) ; c l f ; bode (OL, fmin , fmax ) ;
loop system in
transfer
function
// P l o t s
frequency
response
of
open
Bode
diagram // C a l c u l a t e s frequency gain
[ GainMargin , freqGM]=g margin (OL)

margin [ dB ] and corresponding
[ Hz ] [ deg ]
10
[ Phase , freqPM]=p margin (OL)

and corresponding freq
// C a l c u l a t e s of phase
phase margin
[ Hz ]
11
PhaseMargin=180+Phase
[ deg ]
actual
phase
margin
12
show margins (OL)

associated
// d i s p l a y
gain
and
phase
margin
and
crossover
frequencies

1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e F=s y s l i n ( c , [ 4 0 / ( ( s +5)(2+ s ) s 2 ) ] ) / / C r e a t e s t r a n s f e r

function in forward path // C r e a t e s transfer
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

4 5 6 7 8
OL=FB ; / / C a l c u l a t e s fmin = 0 . 1 ; / / M i n f r e q fmax =20; / / M a x f r e q scf (1) ; c l f ; bode (OL, fmin , fmax ) ;
loop system in
transfer
function
// P l o t s
frequency
response
of
open
Bode
show margins (OL)

associated
// d i s p l a y
crossover
frequencies

1
s=poly ( 0 , s ) ;
// D e f i n e s
as
polynomial
variable
98

2
F=s y s l i n ( c , [ ( 4 0 0 ( s +2) ) / ( ( s +5)(10+ s ) s 2 ) ] )

Creates transfer function in forward path
//
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) )

// C r e a t e s
transfer
4 5 6 7 8
OL=FB / / C a l c u l a t e s fmin = 0 . 1 ; / / M i n f r e q fmax =20; / / M a x f r e q scf (1) ; c l f ; bode (OL, fmin , fmax ) ;
loop system in
transfer
function
// P l o t s
frequency
response
of
open
Bode
show margins (OL)

associated
// d i s p l a y
crossover
frequencies
99

1 2
s=poly ( 0 , s ) ; / / D e f i n e s s a s p o l y n o m i a l v a r i a b l e F=s y s l i n ( c , [ ( 2 8 8 ( s +4) ) / ( ( s +2) (144+4.8 s+s 2 ) s ) ] )

// C r e a t e s transfer function in forward path
B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) )

// C r e a t e s
transfer
4 5 6
OL=FB / / fmin = 0 . 1 ; fmax =100;
Calculates // Min / / Max freq freq
transfer
function
100

7 8
scf (1) ; c l f ; bode (OL, fmin , fmax ) ;

loop system in
// P l o t s
frequency
response
of
open
Bode
show margins (OL)

associated
// d i s p l a y
crossover
frequencies
101
102
Chapter 15 Nyquist Plot

When we will execute the programm we will get the following Graphs
15.1
Scilab Code

1 2 3 4 5
s=%s ; s y s=s y s l i n ( c , 1 / ( s +2) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e RHP i s z e r o \n hence t h e system i s s t a b l e ) Example 15.02 15.02.sci
1 2 3 4 5
s=%s ; s y s=s y s l i n ( c , 1 / ( s ( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e RHP i s z e r o \n hence t h e system i s s t a b l e )
103

1 2 3 4 5
s=%s ; s y s=s y s l i n ( c , 1 / ( s 2( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e 104
Figure 15.2: Output of S 15.02 RHP i s not e q u a l t o z e r o \n hence t he system i s unstable ) Example 15.04 15.04.sci
1 2 3 4 5
s=%s ; s y s=s y s l i n ( c , 1 / ( s 3( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e 105
Figure 15.3: Output of S 15.03 RHP i s N>0 \n hence t he system i s u n s t a b l e ) Example 15.05 15.05.sci
1 2 3 4 5
s=%s ; s y s=s y s l i n ( c , 1 / ( s 2( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n h e r e t he number o f z e r o s o f 1+G( s )H( s ) i n th e RHP i s N>0 \n hence t he system i s u n s t a b l e ) 106

1 2 3 4 5 6 7
s=%s ; P1=1; P2=2; s y s=s y s l i n ( c , 1 / ( ( s +1) ( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n\n Here t he number o f z e r o s o f 1+G( s )H( s ) i n t he RHP i s z e r o \n\n Hence t h e system i s s t a b l e )
107

1 2 3 4 5 6 7 8 9
s=%s ; s y s=s y s l i n ( c , 1 2 / ( s ( s +1) ( s +2) ) ) nyquist ( s y s ) show margins ( sys , n y q u i s t ) gm=g margin ( s y s ) i f (gm<=0) p r i n t f ( system i s u n s t a b l e ) else p r i n t f ( system i s s t a b l e ) ; end ;
108

1 2 3 4 5 6
7 8
s=%s ; s y s=s y s l i n ( c , ( 3 0 ) / ( ( s 2+2 s +2) ( s +3) ) ) nyquist ( s y s ) gm=g margin ( s y s ) show margins ( sys , n y q u i s t ) p r i n t f ( S i n c e P=0(no o f p o l e s i n RHP)=P o l e s o f G( s )H( s ) \n Here t he number o f z e r o s o f 1+G( s )H( s ) i n th e RHP i s z e r o \n Hence t h e system i s s t a b l e ) i f (gm<=0) p r i n t f ( system i s u n s t a b l e ) 109

9 10 11
else p r i n t f ( system i s s t a b l e ) end
110
111
Chapter 17 State Variable Approach

17.1
Scilab Code

1 2 3 4 5 6
s=%s ;
// C r e a t i n g cont time transfer function
TFcont=s y s l i n ( c , 3 / ( s 4+(2 s 3) +(3 s ) +2) ) SScont=t f 2 s s ( TFcont )

/ / CCF form
[ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScon ( 3 ) ) Example 17.04 17.04.sci
1 2
3 4
s=%s ; TFcont=s y s l i n ( c , [ ( 7 + 2 s + 3( s 2) ) / (5 + 12 s + 5( s 2) + s 3 ) ] ) SScont=t f 2 s s ( TFcont ) [ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) ) Example 17.06 17.06.sci
112
1 2 3 4 5 6
s=%s ;
TFcont=s y s l i n ( c , [ ( 5 ( s +1) ( s +2) ) / ( ( s +4) ( s +5) ) ] ) SScont=t f 2 s s ( TFcont )

/ / CCF form
[ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) ) Example 17.07 17.07.sci
1 2 3 4 5 6
s=%s ;
TFcont=s y s l i n ( c , ( s +1) / ( ( s +2) ( s +5) ( s +3) ) ) SScont=t f 2 s s ( TFcont )

/ / CCF form
1 2 3 4 5 6
s=%s ;
TFcont=s y s l i n ( c , ( 6 ) / ( ( s +2) 2( s +1) ) ) SScont=t f 2 s s ( TFcont )

/ / CCF form
1 2 3 4 5 6
A=[0 1; 6 5] [ Row Col ]= s i z e (A) / / S i z e o f a m a t r i x l=poly ( 0 , l ) ; m eye (Row, Col )A / / l I A =l n=det (m) / / T o F i n d T h e D e t e r m i n a n t roots ( n ) / / T o F i n d T h e V a l u e O f l Example 17.10 17.10.sci
of
l i A
A=[2 1 ; 0 3] 113
2 3 4 5 6 7 8 9 10
B= [ 0 ; 1 ] C=[1 1 ] s=poly ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e of a matrix m eye (Row, Col )A / / s I A =s n=det (m) / / To F i n d T h e D e t e r m i n a n t of p=inv (m) / / To F i n d T h e I n v e r s e O f y=CpB ; / / T o F i n d C ( s I A ) 1 B disp ( y , T r a n s f e r Function= ) Example 17.11 17.11.sci
s i A s I A
1 2 3 4 5 6 7 8 9 10 11 12 13
14 15 16 17 18 19 20 21 22
A=[0 1; 6 5] x=[1;0]; disp ( x , x ( t ) = ) s=p o l y ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e o f a matrix m eye (Row, Col )A =s // s I A n=d e t (m) //To Find The Determinant o f s i A p=i n v (m) ; // To Find The I n v e r s e Of s I A syms t s ; d i s p ( p , p hi ( s )= ) // R e s o l v e n t Matrix f o r i =1:Row f o r j =1: Col // Taking I n v e r s e L a p l a c e o f each element o f Matrix p h i ( s) q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ; end ; end ; d i s p ( q , p h i ( t )= ) // S t a t e T r a n s i t i o n Matrix r=i n v ( q ) ; r=s i m p l e ( r ) ; //To Find ph i ( t ) d i s p ( r , p h i ( t )= ) y=qx ; //x ( t )=p h i ( t ) x ( 0 ) d i s p ( y , S o l u t i o n To The g i v e n eq .= ) Example 17.12 17.12.sci 114
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
30
31 32
A=[0 1; 6 5] B= [ 0 ; 1 ] x=[1;0] disp ( x , x ( t ) = ) s=p o l y ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e o f a matrix A m eye (Row, Col )A // s I A =s n=d e t (m) //To Find The Determinant o f s i A p=i n v (m) ; // To Find The I n v e r s e Of s I A syms t s m; d i s p ( p , p hi ( s )= ) // R e s o l v e n t Matrix f o r i =1:Row f o r j =1: Col // I n v e r s e L a p l a c e o f each element o f Matrix ( p hi ( s ) ) q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ; end ; end ; d i s p ( q , p h i ( t )= ) // S t a t e T r a n s i t i o n Matrix t =(t ; m) q=e v a l ( q ) //At t=t , e v a l u a t i n g q i . e p hi ( t m m) // I n t e g r a t e q w. r . t m( I n d e f i n i t e I n t e g r a t i o n ) r=i n t e g ( qB,m) m=0 // Upper l i m i t i s t g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q m =t // Lower Limit i s 0 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q y=(hg ) ; d i s p ( y , y= ) p r i n t f ( x ( t )= p hi ( t ) x ( 0 ) + i n t e g ( ph i ( t B) w. r . t m m) from 0 t 0 t \n ) // x ( t )=ph i ( t ) x ( 0 )+i n t e g ( ph i ( t B) w. r . t m from 0 t 0 m) t y1=(qx )+y ; d i s p ( y1 , x ( t )= ) Example 17.13 17.13.sci
A=[3 0 ; 2 4 ] 115
2 3 4 5
B= [ 0 ; 1 ] Cc=cont mat (A, B) ; disp ( Cc , C o n t r o l a b i l i t y Matrix= )

/ / To Check Whether of the m a t r i x ( Cc ) is singular i . e determint Cc =0
6 7
8 9 10
i f determ ( Cc ) ==0; p r i n t f ( S i n c e t h e matrix i s S i n g u l a r , t he system i s not c o n t r o l l a b l e \n ) ; else ; p r i n t f ( The system i s c o n t r o l l a b l e \n ) end ; Example 17.14 17.14.sci
1 2 3 4 5 6
A=[2 1 ; 0 3] B= [ 4 ; 1 ] C=[1 0 ] [O]=obsv mat (A,C) ; disp (O, O b s e r v a b i l i t y Matrix= )

/ / To Check Whether of the m a t r i x ( Cc ) i s singular i . e determint Cc =0
7 8
9 10 11
i f determ (O) ==0; p r i n t f ( S i n c e t h e matrix i s S i n g u l a r , t he system i s not O b s e rv a b l e \n ) ; else ; p r i n t f ( The system i s O bs e r v a b l e \n ) end ; Example 17.16 17.16.sci
1 2 3
s=%s ;
4 5 6
TFcont=s y s l i n ( c , ( ( 5 s 2 ) +(2 s ) +6) / ( s 3+(7 s 2 ) +(11 s ) +8) ) SScont=t f 2 s s ( TFcont )

/ / CCF form
[ Ac , Bc , U, in d ]=canon ( SScont ( 2 ) , SScont ( 3 ) )
116

1 2 3 4 5 6
s=%s ;
TFcont=s y s l i n ( c , ( 8 ) / ( s ( s +2) ( s +3) ) ) SScont=t f 2 s s ( TFcont )

/ / CCF form
1 2 3 4 5 6 7 8 9 10 11 12 13
14 15 16 17 18 19 20
A=[0 1; 3 4] x=[1;0]; disp ( x , x ( t ) = ) s=p o l y ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e o f a matrix m eye (Row, Col )A =s // s I A n=d e t (m) //To Find The Determinant o f s i A p=i n v (m) ; / / To Find The I n v e r s e Of s I A syms t s ; d i s p ( p , p hi ( s )= ) // R e s o l v e n t Matrix f o r i =1:Row f o r j =1: Col // Taking I n v e r s e L a p l a c e o f each element o f Matrix p h i ( s) q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ; end ; end ; d i s p ( q , p h i ( t )= ) // S t a t e T r a n s i t i o n Matrix r=i n v ( q ) ; r=s i m p l e ( r ) ; //To Find p hi ( t ) d i s p ( r , p h i ( t )= ) Example 17.19 17.19.sci
1 2 3
A=[0 1; 3 4] B= [ 0 ; 1 ] C=[1 0 ] 117
4 5 6 7 8 9 10 11 12 13 14 15
16 17 18 19 20 21 22
23 24 25 26 27 28
29
30 31 32 33
x=[0;0] disp ( x , x ( t ) = ) s=p o l y ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e o f a matrix A m eye (Row, Col )A // s I A =s n=d e t (m) //To Find The Determinant o f s i A p=i n v (m) ; // To Find The I n v e r s e Of s I A syms t s m; d i s p ( p , p hi ( s )= ) // R e s o l v e n t Matrix f o r i =1:Row f o r j =1: Col // Taking I n v e r s e L a p l a c e o f each element o f Matrix ( ph i ( s)) q ( i , j )=i l a p l a c e ( p ( i , j ) , s , t ) ; end ; end ; d i s p ( q , p h i ( t )= ) // S t a t e T r a n s i t i o n Matrix t =(t m) q=e v a l ( q ) //At t=t , e v a l u a t i n g q i . e p hi ( t m m) r=i n t e g ( qB,m) // I n t e g r a t e q w. r . t m ( I n d e f i n i t e Integration ) m=0 // Upper l i m i t i s t g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q m =t // Lower Limit i s 0 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q y=(hg ) ; p r i n t f ( x ( t )= p hi ( t ) x ( 0 ) + i n t e g ( ph i ( t B) w. r . t m m) from 0 t 0 t \n ) // x ( t )=ph i ( t ) x ( 0 ) + i n t e g ( ph i ( t B) w. r . t m from 0 m) t0 t y1=(qx )+y ; d i s p ( y1 , x ( t )= ) y2=Cy1 ; d i s p ( y2 , Output Response= ) Example 17.20 17.20.sci
A=[0 1; 2 0 ] 118
2 3 4 5
B= [ 0 ; 3 ] Cc=cont mat (A, B) ; disp ( Cc , C o n t r o l a b i l i t y Matrix= )

6 7
8 9 10
i f determ ( Cc ) ==0; p r i n t f ( S i n c e t h e matrix i s S i n g u l a r , t he system i s not c o n t r o l l a b l e \n ) ; else ; p r i n t f ( The system i s c o n t r o l l a b l e \n ) end ; Example 17.21 17.21.sci
1 2 3 4 5 6
A=[3 0 ; 0 2] B= [ 4 ; 1 ] C=[2 0 ] [O]=obsv mat (A,C) ; disp (O, O b s e r v a b i l i t y Matrix= )

7 8
9 10 11
i f determ (O) ==0; p r i n t f ( S i n c e t h e matrix i s S i n g u l a r , t he system i s not O b s e rv a b l e \n ) ; else ; p r i n t f ( The system i s O bs e r v a b l e \n ) end ; Example 17.22 17.22.sci
1 2 3 4 5 6 7 8
i eee ( 2 ) A=[3 0 0 ; 0 1 1 ; 0 0 1] B= [ 0 ; 1 ; 0 ] s=poly ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e of m eye (Row, Col )A =s / / s I A n=det (m) / / To F i n d p=inv (m) ; / / To F i n d 119
matrix
The The
Determinant Inverse Of
of s I A
s i A
9 10
syms t s ; disp ( p , ph i ( s )= )
// R e s o l v e n t
Matrix

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22
23 24 25 26 27 28 29
30
A=[2 0 ; 1 1] B= [ 0 ; 1 ] x=[0;0] disp ( x , x ( t ) = ) s=p o l y ( 0 , s ) ; [ Row Col ]= s i z e (A) // S i z e o f a matrix A m eye (Row, Col )A // s I A =s n=d e t (m) //To Find The Determinant o f s i A p=i n v (m) ; // To Find The I n v e r s e Of s I A syms t s m; d i s p ( p , p hi ( s )= ) // R e s o l v e n t Matrix t =(t m) q=e v a l ( q ) //At t=t , e v a l u a t i n g q i . e p hi ( t m m) // I n t e g r a t e q w. r . t m ( I n d e f i n i t e I n t e g r a t i o n ) r=i n t e g ( qB,m) m=0 // Upper l i m i t i s t g=e v a l ( r ) // P u t t i n g t h e v a l u e o f upper l i m i t i n q m =t // Lower Limit i s 0 h=e v a l ( r ) // P u t t i n g t he v a l u e o f l o w e r l i m i t i n q y=(hg ) ; d i s p ( y , y= ) p r i n t f ( x ( t )= p hi ( t ) x ( 0 ) + i n t e g ( ph i ( t B) w. r . t m m) from 0 t 0 t \n ) // x ( t )=ph i ( t ) x ( 0 )+i n t e g ( ph i ( t B)w. r . t m from 0 t 0 t m) y1=(qx )+y ; d i s p ( y1 , x ( t )= ) // CONTROLABILITY OF THE SYSTEM Cc=cont mat (A, B) ; d i s p ( Cc , C o n t r o l a b i l i t y Matrix= ) //To Check Whether t h e matrix ( Cc ) i s s i n g u l a r i . e d e t e r m i n t o f Cc=0 i f determ ( Cc ) ==0;
120
31
32 33 34
p r i n t f ( S i n c e t h e matrix i s S i n g u l a r , th e system i s not c o n t r o l l a b l e \n ) ; else ; p r i n t f ( The system i s c o n t r o l l a b l e \n ) end ;
121
Chapter 18 Digital Control Systems

For the execution of the programm keep the main programm and the Function in the same folder.
18.1
Scilab Code
Example F3 ztransfer.sce
1 2 3 4
function [ Z t r a n s f e r ]= z t r a n s f e r ( s e q u e n c e ) z = poly ( 0 , z , r ) Z t r a n s f e r=s e q u e n c e (1/ z ) [ 0 : ( length ( s e q u e n c e ) 1) ] endfunction Example 18.01 18.01.01.sci
1 2 3 4 5 6 7
syms n z ; x=( 0.5) n y = ( 4 ( ( 0 . 2 ) n ) ) f 1=symsum ( x ( z(n ) ) , n , 0 , %inf ) f 2=symsum ( y ( z(n ) ) , n , 0 , %inf ) y=( f 1+f 2 ) ; disp ( y , ans= ) Example 18.08 18.08.01.sci
122
1 2 3 4
exec z t r a n s f e r . s c e ; s e q u e n c e =[0 2 0 0 3 0 0 8 ] y=z t r a n s f e r ( s e q u e n c e ) ; disp ( y , ans= )
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Scilab Code for Control Systems Theory and Applications by Smarajit Ghosh1

13 Bode Plot 13.1 Scilab Code . . . . . . . . . . . . . . . . . . . . . . . . . . .

List of Scilab Code

15.1 15.2 15.3 15.4 15.5 15.6 15.7 15.8

Output Output Output Output Output Output Output Output

15.01 15.02 15.03 15.04 15.05 15.06 15.07 15.08

104 105 106 107 108 109 110 111

Chapter 2 Laplace Transform and Matrix Algebra

Example 2.01-01 2.01.01.sci

syms t s ; y=l a p l a c e ( 13 , t , s ) ; disp ( y , ans= ) Example 2.01-02 2.01.02sci

syms t s ; y=l a p l a c e ( 4+5%e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.01-03 2.01.03.sci

syms t s ; y=l a p l a c e ( 2 t 3%e( t ) , t , s ) ; disp ( y , ans= ) 11

Example 2.03 2.03.sci

syms t s ; y= l a p l a c e ( %e( t ) +5 t +6%e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.05-02 2.05.02.sci

syms t s ; y=l a p l a c e ( 5+6 t 2+3%e(2 t ) , t , s ) ; disp ( y , ans= ) 12

Example 2.06 2.06.sci

syms t s ; y=l a p l a c e ( 3 %e(3 t ) , t , s ) ; disp ( y , ans= ) Example 2.11 2.11.sci

s=%s ; p=poly ( [ 3 1 ] , s , c o e f f ) ; q=poly ( [ 0 1 1 2] , s , r o o t s ) ; f=p/q ; syms t s ; y=i l a p l a c e ( f , s , t ) ; disp ( y , f ( t )= )

Chapter 3 Transfer Function

Example 3.02 3.02.sci

syms t s ; f=%e(3 t ) ; y=l a p l a c e ( %e(3 t ) , t , s ) ; disp ( y , G( s )= ) Example 3.03 3.03.sci

syms t s y=l a p l a c e (%e(3 t ) sin (2 t ) , t , s ) ; disp ( y , ans= ) Example 3.16 3.16.sci

syms t s ; x=64%e(5 t ) /5+%e(3 t )

s=%s ; G=s y s l i n ( c , ( 5 ( s +2) ) / ( ( s +3) ( s +4) ) ) ; disp (G, G( s )= ) 15

x=denom(G) ; disp ( x , C h a r a c t e r i s t i c s Polynomial= ) y=roots ( x ) ; disp ( y , P o l e s o f a system= ) Example 3.19 3.19.sci

g ( s ) =( s 2+3 s +2) / ( s 2+7 s + 1 2 )

Chapter 4 Control system Components

Example 4.01 4.01.sci

Example 4.02 4.02.sci

p r i n t f ( Torque= KmVm=2 \n ) t =2; 19

Chapter 6 Control system Components

function [ y]= p a r a l l e l ( sys1 , s y s 2 ) y=s y s 1+s y s 2 endfunction Example F2 serial.sce

function [ y]= s e r i e s ( sys1 , s y s 2 ) y=s y s 1 s y s 2 endfunction Example 6.01 6.01.sci

Example 6.04 6.04.sci

C=C1+C2 ; C=s i m p l e (C) ; disp (C, R e s u l t a n t Output= ) Example 6.08 6.08.sci

exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 H1 H2 ;

exec p a r a l l e l . s c e ; exec s e r i e s . s c e ; syms G1 G2 G3 G4 G5 G6 G7 H1 H2 H3 ; a=p a r a l l e l (G1 , G2) ; b=p a r a l l e l ( a , G3) ;

exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 H3 ;

exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 ;

exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 ;

exec s e r i e s . s c e ; exec p a r a l l e l . s c e ; syms G1 G2 G3 G4 H1 H2 H3 ;

a=s e r i e s (H1 , H2) ; b=1/a ; c=1/H1 ; d=G3 / . a ;

Chapter 8 Time Domain Analysis of Control Systems

Example 8.02 8.02.sci

Example 8.03-01 8.03.01.sci

s=%s ; p=poly ( [ 1 0 ] , s , c o e f f ) ; q=poly ( [ 0 0 1 ] , s , c o e f f ) ; G=p/q ; H= 0 . 7 ; y=GH; / / t y p e 2 disp ( y , G( s )H( s )= )

p r i n t f ( For type1 Kp=i n f & Kv=i n f \n ) syms s ; Ka=l i m i t ( s 2y , s , 0 ) ; / / K a = a c c e l a r a t i o n

disp (Ka , Ka= ) Example 8.03-02 8.03.02.sci

p=poly ( [ 5 ] , s , c o e f f ) ; q=poly ( [ 5 3 1 ] , s , c o e f f ) ; G=p/q H=0.6 y=GH / / t y p e 0

Example 8.03-03 8.03.03.sci

p=poly ( [ 1 0 . 1 3 0 . 4 ] , s , c o e f f ) ; q=poly ( [ 0 0 5 3 1 ] , s , c o e f f ) ; G=10p/q / / g a i n FACTOR = 1 0 H=0.8 y=GH / / t y p e 2 30

syms s Ka=l i m i t ( s 2y , s , 0 ) Example 8.04 8.04.sci

p=poly ( [ 4 1 ] , s , c o e f f ) ; q=poly ( [ 0 0 6 5 1 ] , s , c o e f f ) ; syms K r e a l ; y=Kp/q / / g a i n FACTOR =K disp ( y , G( s )H( s )= )

p r i n t f ( For type1 Kp=i n f & Kv=i n f \n ) syms A s t ; Ka=l i m i t ( s 2y , s , 0 ) ; / / K a = a c c e l a r a t i o n

disp (Ka , Ka= )

p r i n t f ( Given r ( t )=A( t 2) /2 \n ) R=l a p l a c e ( A t 2/2 , t , s ) ; disp (R, R( s )= )

e=l i m i t ( s R/(1+y ) , s , 0 ) disp ( e , Ess= ) Example 8.05 8.05.sci

p=poly ( [ 6 0 ] , s , c o e f f ) ; q=poly ( [ 1 2 7 1 ] , s , c o e f f ) ; G=p/q ; disp (G, G( s )= ) H=1; y=GH F=1/(1+y ) ; 31

s=poly ( 0 , s ) ; / / D e f i n e s s a s F=s y s l i n ( c , [ 2 5 / ( ( s +1) s ) ] ) ;

B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

Wn 2 / ( s 2 + 2 z e t a Wn+Wn 2 ) the the denominator c o e f f i c i e n t s of of CL the

F=s y s l i n ( c , [ 2 0 / ( s 2+5 s +5) ] ) ;

B=s y s l i n ( c ,(1+0 s ) /(1+0 s ) ) ;

Wn 2 / ( s 2 + 2 z e t a Wn+Wn 2 ) the the denominator c o e f f i c i e n t s of of CL the