SOAL 2

>> num=10^8;
>> den=[1 1325 10^8];
>> omega=sqrt(den(3))

omega =

10000

>> zeta=den(2)/(2*omega)

zeta =

0.0663

>> ts=4/(zeta*omega)

ts =

0.0060

>> tp=pi/(omega*sqrt(1-zeta^2))

tp =

3.1485e-004

>> tau=1/omega

tau =

1.0000e-004

>> tr=(tau/(sqrt(1-zeta^2)))*(pi-acos(zeta))

tr =

1.6407e-004

>> overshoot=exp(-pi*zeta/(sqrt(1-zeta^2)))*100

overshoot =

81.1729
SOAL
>> num=[10 -2.5];
>> den=[4 4 1];
>> figure(1)
>> sys=tf(num,den)

Transfer function:
10 s - 2.5
---------------
4 s^2 + 4 s + 1

Step Response
1.5

0.5

0
Amplitude

-0.5

-1

-1.5

-2

-2.5
0 2 4 6 8 10 12 14 16 18
Time (sec)

SOAL 4
>> num=[40 5];
>> den=[80 24 1];
>> sys2=tf(num,den,'iodelay',6)

Transfer function:
40 s + 5
exp(-6*s) * -----------------
80 s^2 + 24 s + 1

>> figure(3)
>> bode(sys2)
>> w
??? Undefined function or variable 'w'.

>> hold off

>> w=logspace(-1,2,100);
>> bode(sys2,w)
>> hold off
>> bode(sys2,w),grid
>> [gm,pm,wcf,wcg]=margin(sys2)
Warning: The closed-loop system is unstable.
> In warning at 26
In lti.margin at 66

gm =

0.7901

pm =

-45.2064

wcf =

0.3340

wcg =

0.4510

>> sys2

Transfer function:
40 s + 5
exp(-6*s) * -----------------
80 s^2 + 24 s + 1
>> num=10^8;
>> den=[1 1325 10^8];
>> omega=sqrt(den(3))

omega =

10000

>> zeta=den(2)/(2*omega)

zeta =

0.0663

>> ts=4/(zeta*omega)

ts =

0.0060

>> tp=pi/(omega*sqrt(1-zeta^2))

tp =

3.1485e-004

>> tau=1/omega

tau =

1.0000e-004

>> tr=(tau/(sqrt(1-zeta^2)))*(pi-acos(zeta))

tr =

1.6407e-004

>> overshoot=exp(-pi*zeta/(sqrt(1-zeta^2)))*100

overshoot =

81.1729

>> num=[10 -2.5];

>> den=[4 4 1];
>> figure(1)
>> sys=tf(num,den)

Transfer function:
10 s - 2.5
---------------
4 s^2 + 4 s + 1

>> step(sys)
>> num=[2.5 1];
>> den=[-25 7.5 1];
>> sys1=tf(num,den)

Transfer function:
-2.5 s - 1
------------------
25 s^2 - 7.5 s - 1

>> num=-[2.5 1];

>> den=-[-25 7.5 1];
>> sys1=tf(num,den)

Transfer function:
-2.5 s - 1
------------------
25 s^2 - 7.5 s - 1

>> td=10;
>> p1=tf([-td/2 -2],[td/2 -2]);
>> t=0:0.5:50;
>> tau=10;
>> g1=tf(1,[tau 1]);
>> y1=step(g1*p1,t);
>> y2=step(g1,t);
>> t2=t+td;
>> figure(2)
>> plot(t,y1,'--',t2,y2)
>> num=[40 5];
>> den=[80 24 1];
>> sys2=tf(num,den,'iodelay',6)

Transfer function:
40 s + 5
exp(-6*s) * -----------------
 80 s^2 + 24 s + 1

>> figure(3)
>> bode(sys2)
>> w
??? Undefined function or variable 'w'.

>> hold off

>> w=logspace(-1,2,100);
>> bode(sys2,w)
>> hold off
>> bode(sys2,w),grid
>> [gm,pm,wcf,wcg]=margin(sys2)
Warning: The closed-loop system is unstable.
> In warning at 26
In lti.margin at 66

gm =

0.7901

pm =

-45.2064

wcf =

0.3340

wcg =

0.4510

>> sys2

Transfer function:
40 s + 5
exp(-6*s) * -----------------
80 s^2 + 24 s + 1

>> plot(bode(sys2,w),grid,ginput(w)
??? plot(bode(sys2,w),grid,ginput(w)
 |
Error: Expression or statement is incorrect--possibly unbalanced (, {, or [.

>> plot(bode(sys2,w),grid,ginput(3)
??? plot(bode(sys2,w),grid,ginput(3)
|
Error: Expression or statement is incorrect--possibly unbalanced (, {, or [.

>> sys1=zpk([],[-1 -2 -3],1)

Zero/pole/gain:
1
-----------------
(s+1) (s+2) (s+3)

>> k=0:0.1:100;
>> figure(4)
>> rlocus(sys1,k)
>>

7
x 10
5

-5

-10

-15

-20
0 10 20 30 40 50 60
 Bode Diagram
10

0
Magnitude (dB)

-10

-20

-30

-40
4
-50 x 10
0
System: sys2
Frequency (rad/sec): 0.333
Phase (deg):
-1.152-180
Phase (deg)

-2.304

-3.456
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

System: sys1
Gain: 60.5
Root Locus
Pole: 0.00488 + 3.33i
5
Damping: -0.00147
Overshoot (%): 100
4 Frequency (rad/sec): 3.33

1
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1
Real Axis