Task 1:: A G (S) s+1
Task 1:: A G (S) s+1
1
a ¿ G ( S )=
s +1
MATLAB CODE:
clc
clear all
close all
s=tf('s')
sys=1/(s+1);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 1/(s+1)')
title ('pzmap ')
figure
step (sys)
legend('step response of 1/(s+1)')
title ('step response')
grid on
s te p re s po ns e
1
step response of 1/(s+1)
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9
Time (seconds)
pzmap
1
pzmap of of 1/(s+1)
0.8
0.6
0.4
Imaginary Axis (seconds-1 )
0.2
-0.2
-0.4
-0.6
-0.8
-1
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis (seconds -1 )
1
b ¿ G ( S )=
s−2
MATLAB CODE:
clc
clear all
close all
s=tf('s')
sys=1/(s-2);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 1/(s-2)')
title ('pzmap ')
figure
step (sys)
legend('step response of 1/(s-2)')
title ('step response')
grid
s te p re s po ns e
# 10 25
6
step response of 1/(s-2)
4
Amplitude
0
0 5 10 15 20 25 30
Time (seconds)
pzmap
1
pzmap of of 1/(s-2)
0.8
0.6
0.4
Imaginary Axis (seconds-1 )
0.2
-0.2
-0.4
-0.6
-0.8
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Real Axis (seconds -1 )
sys Pole Location Stable/unstable
1
G ( S )= -1 stable
s +1
1
G ( S )= 2 Unstable
s−2
MATLAB CODE:-
clc
clear all
close all
s=tf('s')
sys=3/(s^2+2*s+3);
pole (sys)
zero (sys)
pzmap(sys)
legend('pzmap of of 3/(s^2+2*s+3)')
title ('pzmap ')
figure
step (sys)
legend('step response of 3/(s^2+2*s+3)')
title ('step response')
grid
s te p re s po ns e
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7
Time (seconds)
pzmap
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis (seconds -1 )
6
b ¿ G ( S )= 2
s −2 s−3
s te p re s po ns e
# 10 25
6
4
Amplitude
0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)
pzmap
1
0.6
0.4
Imaginary Axis (seconds-1 )
0.2
-0.2
-0.4
-0.6
-0.8
-1
-1 -0.5 0 0.5 1 1.5 2 2.5 3
Real Axis (seconds -1 )
3
G ( S )= 2 -1.0000 + 1.4142i
s + 2 s+3
-1.0000 - 1.4142i
6
G ( S )= 2 -3.0000 + 0.0000i
s −2 s−3
0.0000 + 1.4142i
0.0000 - 1.4142i
clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=3/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 3/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 3/(s^3+3s^2+2s)')
title ('pzmap')
s te p re s po ns e
1.6
1.4
1.2
1
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35
Time (seconds)
pzmap
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )
6
b ¿ G ( S )=
s +3 s 2 s+2
3
clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=6/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 6/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 6/(s^3+3s^2+2s)')
title ('pzmap')
s te p re s po ns e
2
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 20 40 60 80 100 120 140
Time (seconds)
pzmap
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )
7
c ¿ G ( S) =
s +3 s2 s +2
3
clc
clear all
close all
s=tf('s')
s=tf ('s');
sys=7/(s^3+3*s^2+2*s);
y=feedback(sys,1,-1);
step(y)
grid on
legend('steo response of 7/(s^3+3s^2+2s)')
title ('step response')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 7/(s^3+3s^2+2s)')
title ('pzmap')
s te p re s po ns e
# 10 26
2
1.5
0.5
Amplitude
-0.5
-1
-1.5
0 200 400 600 800 1000 1200 1400
Time (seconds)
pzmap
2
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-2
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )
a)
b)
c)
clc
clear all
close all
s=tf ('s')
sys=16/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
step(y)
legend('step response of 16/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 16/(s^3+4*s^2+4*s)')
S te p Re s po ns e
2
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
Time (seconds)
Po le -Ze ro Map
2.5
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-2
-2.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )
sys=5/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
step(y)
legend('step response of 5/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 5/(s^3+4*s^2+4*s)')
S te p Re s po ns e
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 5 10 15
Time (seconds)
Po le -Ze ro Map
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1 )
For unstable system:
sys=20/(s^3+4*s^2+4*s);
y=feedback(sys,1,-1);
step(y)
legend('step response of 20/(s^3+4*s^2+4*s)')
figure
pole (y)
zero (y)
pzmap(y)
legend('pzmap of 20/(s^3+4*s^2+4*s)')
Po le -Ze ro Map
2.5
1.5
1
Imaginary Axis (seconds-1 )
0.5
-0.5
-1
-1.5
-2
-2.5
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds -1 )
Case Value of k
Stable 5
Marginally Stable 16
Unstable 20
SIMULINK:
s te p re s po ns e
0.9
step response at p=1
0.8
0.7
0.6
0.5
amplitude
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
time
s te p re s po ns e
1.6
step response at p=5
1.4
1.2
1
amplitude
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
time
at p=5
0.2085
----------------------
s^2 + 0.166 s + 0.2085
at p=1
0.0417
----------------------
s^2 + 0.166 s + 0.0417
FOR INTEGRATOR
S te p re s po ns e
3
step response at I=1
2.5
2
amplitude
1.5
0.5
0
0 1 2 3 4 5 6 7 8 9 10
time
at I=1
0.0417
-------------------------------------
s^3 + 0.166 s^2 - 2.22e-16 s + 0.0417
S te p re s po ns e
5
step response at I=5
4.5
3.5
3
amplitude
2.5
1.5
0.5
0
0 1 2 3 4 5 6 7 8 9 10
time
0.2085
-------------------------------------
s^3 + 0.166 s^2 - 1.11e-16 s + 0.2085
FOR DERIVATION
S te p re s po ns e
0.6
step response at derivative=5
0.5
0.4
amplitude
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
time
20.85 s - 8.154e-13
-------------------------------------
s^3 + 100.2 s^2 + 37.45 s + 1.628e-12
S te p re s po ns e
0.18
step response at derivative=1
0.16
0.14
0.12
0.1
amplitude
0.08
0.06
0.04
0.02
0
0 1 2 3 4 5 6 7 8 9 10
time
4.17 s - 5.944e-14
-------------------------------------
s^3 + 100.2 s^2 + 20.77 s + 4.581e-14