Scilab Textbook Companion for

Automatic Control Systems

by B. C. Kuo And F. Golnaraghi 1

Created by
Arpita V Huddar
B.Tech (pursuing)
Electronics Engineering
NIT Karnataka
College Teacher
S.Rekha
Cross-Checked by
Sonanya Tatikola, IITB

July 31, 2019

1 Funded 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 the ”Textbook Companion Project”
section at the website http://scilab.in
Book Description

Title: Automatic Control Systems

Author: B. C. Kuo And F. Golnaraghi

Publisher: Princton Hall Of India Private Limited, New Delhi

Edition: 7

Year: 1995

ISBN: 81-203-0968-5

1
 Scilab numbering policy used in this document and the relation to the
above book.

Exa Example (Solved example)

Eqn Equation (Particular equation of the above book)

AP Appendix to Example(Scilab Code that is an Appednix to a particular

Example of the above book)

For example, Exa 3.51 means solved example 3.51 of this book. Sec 2.3 means
a scilab code whose theory is explained in Section 2.3 of the book.

2
Contents

List of Scilab Codes 4

2 Mathematical Foundation 6

3 Transfer Functions Block Diagrams and Signal Flow Graphs 15

4 Mathematical Modelling of Physical Systems 23

5 State Variable Analysis 28

6 Stability of Linear Control Systems 34

7 Time Domain Analysis of Control Systems 41

8 Root Locus Technique 50

9 Frequency Domain Analysis 78

3
List of Scilab Codes

Exa 2.1 laplace transform of step function . . . . . . 6

Exa 2.2 laplace transform of exponential function . . 6
Exa 2.3 final value thereom . . . . . . . . . . . . . . 6
Exa 2.4 inverse laplace . . . . . . . . . . . . . . . . . 7
Exa 2.5 partial fractions . . . . . . . . . . . . . . . . 7
Exa 2.7 inverse laplace transform . . . . . . . . . . . 8
Exa 2.8 inverse laplace transform . . . . . . . . . . . 8
Exa 2.9 inverse laplace transform . . . . . . . . . . . 8
Exa 2.10 determinant of matrix . . . . . . . . . . . . 9
Exa 2.12 transpose of matrix . . . . . . . . . . . . . . 9
Exa 2.13 adjoint of matrix . . . . . . . . . . . . . . . 9
Exa 2.14 equality of matrices . . . . . . . . . . . . . . 10
Exa 2.15 addition of matrices . . . . . . . . . . . . . 10
Exa 2.16 conformability for multiplication of matrices 11
Exa 2.17 multiplication of matrices . . . . . . . . . . 11
Exa 2.18 inverse of 2x2 matrix . . . . . . . . . . . . . 12
Exa 2.19 inverse of 3x3 matrix . . . . . . . . . . . . . 12
Exa 2.20 rank of a matrix . . . . . . . . . . . . . . . 13
Exa 2.21 z transform . . . . . . . . . . . . . . . . . . 13
Exa 2.22 z transform . . . . . . . . . . . . . . . . . . 14
Exa 2.23 z transform . . . . . . . . . . . . . . . . . . 14
Exa 2.25 final value thereom . . . . . . . . . . . . . . 14
Exa 3.1 closed loop transfer function matrix . . . . . 15
Exa 3.3 masons gain formula applied to SFG in figure
3 15 . . . . . . . . . . . . . . . . . . . . . . 15
Exa 3.4 masons gain formula . . . . . . . . . . . . . 16
Exa 3.5 masons gain formula . . . . . . . . . . . . . 17
Exa 3.6 masons gain formula . . . . . . . . . . . . . 18

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Exa 3.7 masons gain formula . . . . . . . . . . . . . 18
Exa 3.9 masons gain formula . . . . . . . . . . . . . 19
Exa 3.10 masons gain formula . . . . . . . . . . . . . 20
Exa 3.11 masons gain formula . . . . . . . . . . . . . 21
Exa 4.1 transfer fnuction of system . . . . . . . . . . 23
Exa 4.2 transfer fnuction of electric network . . . . . 24
Exa 4.3 gear trains . . . . . . . . . . . . . . . . . . . 24
Exa 4.4 mass spring system . . . . . . . . . . . . . . 25
Exa 4.5 mass spring system . . . . . . . . . . . . . . 25
Exa 4.9 incremental encoder . . . . . . . . . . . . . 26
Exa 5.1 state transition equation . . . . . . . . . . . 28
Exa 5.7 characteristic equation from transfer function 29
Exa 5.8 characteristic equation from state equation . 29
Exa 5.9 eigen values . . . . . . . . . . . . . . . . . . 29
Exa 5.12 ccf form . . . . . . . . . . . . . . . . . . . . 30
Exa 5.13 ocf form . . . . . . . . . . . . . . . . . . . . 30
Exa 5.14 dcf form . . . . . . . . . . . . . . . . . . . . 31
Exa 5.18 system with identical eigen values . . . . . . 32
Exa 5.19 controllability . . . . . . . . . . . . . . . . . 32
Exa 5.20 controllability . . . . . . . . . . . . . . . . . 32
Exa 5.21 observability . . . . . . . . . . . . . . . . . . 33
Exa 6.1 stability of open loop systems . . . . . . . . 34
Exa 6.2 rouths tabulation to determine stability . . 35
Exa 6.3 rouths tabulation to determine stability . . 35
Exa 6.4 first element in any row of rouths tabulation
is z . . . . . . . . . . . . . . . . . . . . . . . 36
Exa 6.5 elements in any row of rouths tabulations are
all . . . . . . . . . . . . . . . . . . . . . . . 36
Exa 6.6 determining critical value of K . . . . . . . . 37
Exa 6.7 determining critical value of K . . . . . . . . 38
Exa 6.8 stability of closed loop systems . . . . . . . 39
Exa 6.9 bilinear transformation method . . . . . . . 39
Exa 6.10 bilinear transformation method . . . . . . . 40
Exa 7.1 type of system . . . . . . . . . . . . . . . . 41
Exa 7.2 steady state errors from open loop tf . . . . 41
Exa 7.3 steady state errors from closed loop tf . . . 43
Exa 7.4 steady state errors from closed loop tf . . . 44
Exa 7.5 steady state errors from closed loop tf . . . 46

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Exa 7.6 steady state errors from closed loop tf . . . 48
Exa 8.1 poles and zeros . . . . . . . . . . . . . . . . 50
Exa 8.2 root locus . . . . . . . . . . . . . . . . . . . 50
Exa 8.3 root locus . . . . . . . . . . . . . . . . . . . 53
Exa 8.4 root locus . . . . . . . . . . . . . . . . . . . 54
Exa 8.5 root locus . . . . . . . . . . . . . . . . . . . 55
Exa 8.8 angle of departure and angle of arrivals . . . 56
Exa 8.9 multiple order pole . . . . . . . . . . . . . . 56
Exa 8.10 intersection of root loci with real axis . . . . 58
Exa 8.11 breakaway points . . . . . . . . . . . . . . . 60
Exa 8.12 breakaway points . . . . . . . . . . . . . . . 60
Exa 8.13 breakaway points . . . . . . . . . . . . . . . 62
Exa 8.14 breakaway points . . . . . . . . . . . . . . . 64
Exa 8.15 root sensitivity . . . . . . . . . . . . . . . . 64
Exa 8.16 calculation of K on root loci . . . . . . . . . 65
Exa 8.17 properties of root loci . . . . . . . . . . . . 68
Exa 8.18 effect of addition of poles to system . . . . . 68
Exa 8.19 effect of addition of zeroes to system . . . . 69
Exa 8.20 effect of moving poles near jw axis . . . . . 73
Exa 8.21 effect of moving poles awat from jw axis . . 73
Exa 9.1 nyquist plot . . . . . . . . . . . . . . . . . . 78
Exa 9.2 nyquist plot . . . . . . . . . . . . . . . . . . 78
Exa 9.3 stability of non minimum phase loop tf . . . 81
Exa 9.4 stability of minimum phase loop tf . . . . . 83
Exa 9.5 stability of non minimum phase loop tf . . . 83
Exa 9.6 stability of non minimum phase loop tf . . . 86
Exa 9.7 stability of non minimum phase loop tf . . . 86
Exa 9.8 effect of addition of poles . . . . . . . . . . . 88
Exa 9.9 effect of addition of zeroes . . . . . . . . . . 88
Exa 9.10 multiple loop systems . . . . . . . . . . . . . 91
Exa 9.14 gain margin and phase margin . . . . . . . . 94
Exa 9.15 bode plot . . . . . . . . . . . . . . . . . . . 96
Exa 9.17 relative stability . . . . . . . . . . . . . . . . 97

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List of Figures

8.1 poles and zeros . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.2 root locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
8.3 root locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
8.4 root locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.5 root locus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.6 angle of departure and angle of arrivals . . . . . . . . . . . . 57
8.7 intersection of root loci with real axis . . . . . . . . . . . . . 58
8.8 breakaway points . . . . . . . . . . . . . . . . . . . . . . . . 59
8.9 breakaway points . . . . . . . . . . . . . . . . . . . . . . . . 61
8.10 breakaway points . . . . . . . . . . . . . . . . . . . . . . . . 62
8.11 breakaway points . . . . . . . . . . . . . . . . . . . . . . . . 63
8.12 root sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.13 root sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.14 calculation of K on root loci . . . . . . . . . . . . . . . . . . 67
8.15 effect of addition of poles to system . . . . . . . . . . . . . . 69
8.16 effect of addition of poles to system . . . . . . . . . . . . . . 70
8.17 effect of addition of zeroes to system . . . . . . . . . . . . . 71
8.18 effect of addition of zeroes to system . . . . . . . . . . . . . 72
8.19 effect of moving poles near jw axis . . . . . . . . . . . . . . . 74
8.20 effect of moving poles near jw axis . . . . . . . . . . . . . . . 75
8.21 effect of moving poles awat from jw axis . . . . . . . . . . . 76
8.22 effect of moving poles awat from jw axis . . . . . . . . . . . 77

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9.1 nyquist plot . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.2 nyquist plot . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
9.3 stability of non minimum phase loop tf . . . . . . . . . . . . 81
9.4 stability of minimum phase loop tf . . . . . . . . . . . . . . 82
9.5 stability of non minimum phase loop tf . . . . . . . . . . . . 84
9.6 stability of non minimum phase loop tf . . . . . . . . . . . . 85
9.7 stability of non minimum phase loop tf . . . . . . . . . . . . 87
9.8 effect of addition of poles . . . . . . . . . . . . . . . . . . . . 89
9.9 effect of addition of poles . . . . . . . . . . . . . . . . . . . . 90
9.10 effect of addition of zeroes . . . . . . . . . . . . . . . . . . . 91
9.11 effect of addition of zeroes . . . . . . . . . . . . . . . . . . . 92
9.12 multiple loop systems . . . . . . . . . . . . . . . . . . . . . . 93
9.13 gain margin and phase margin . . . . . . . . . . . . . . . . . 95
9.14 bode plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
9.15 relative stability . . . . . . . . . . . . . . . . . . . . . . . . . 97

8
 Chapter 2

Mathematical Foundation

Scilab code Exa 2.1 laplace transform of step function

1 // l a p l a c e t r a n s f o r m o f unit function
2 syms t s
3 y = laplace ( ’ 1 ’ ,t , s )
4 disp (y , ”F ( s )=” )

Scilab code Exa 2.2 laplace transform of exponential function

1 // l a p l a c e t r a n s f o r m o f e x p o n e n t i a l f u n c t i o n
2 syms t s ;
3 y = laplace ( ’ %eˆ( −1∗ t ) ’ ,t , s ) ;
4 disp (y , ” a n s=” )

Scilab code Exa 2.3 final value thereom

1 // f i n a l v a l u e t h e r e o m
2 syms s

9
3 d = poly ([0 2 1 1] , ’ s ’ , ’ c o e f f ’ )
4 n = poly ([5] , ’ s ’ , ’ c o e f f ’ )
5 f=n/d;
6 disp (f , ”F ( s )=” )
7 x=s*f;
8 y = limit (x ,s ,0) ; // f i n a l v a l u e t h e o r e m
9 disp (y , ” f ( i n f )=” )

Scilab code Exa 2.4 inverse laplace

1 // i n v e r s e l a p l a c e
2 syms s
3 F =1/( s ^2+1) //w=1
4 disp (F , ”F ( s )=” )
5 f = ilaplace ( F )
6 disp (f , ” f ( t )=” )
7 printf ( ” s i n c e s ∗F ( s ) h a s two p o l e s on i m a g i n a r y a x i s
o f s p l a n e , f i n a l v a l u e t h e r e o m c a n n o t be a p p l i e d
in t h i s case ”)

Scilab code Exa 2.5 partial fractions

1 // p a r t i a l f r a c t i o n s
2 n = poly ([3 5] , ’ s ’ , ’ c o e f f ’ )
3 d = poly ([6 11 6 1] , ’ s ’ , ’ c o e f f ’ )
4 f=n/d;
5 disp (f , ”F ( s )=” )
6 pf = pfss ( f )
7 disp ( pf )

10
 Scilab code Exa 2.7 inverse laplace transform

1 // i n v e r s e l a p l a c e t r a n s f o r m
2 n = poly ([4] , ’ s ’ , ’ c o e f f ’ )
3 d = poly ([4 8 1] , ’ s ’ , ’ c o e f f ’ ) //w=2 , damping r a t i o =2
4 G=n/d;
5 disp (G , ”G( s )=” )
6 pf = pfss ( G )
7 disp ( pf , ”G( s )=” )
8 syms s t
9 g1 = ilaplace ( pf (1) ,s , t )
10 g2 = ilaplace ( pf (2) ,s , t )
11 disp ( g1 + g2 , ” g ( t )=” )

Scilab code Exa 2.8 inverse laplace transform

1 // i n v e r s e l a p l a c e t r a n s f o r m
2 n = poly ([5 -1 -1] , ’ s ’ , ’ c o e f f ’ )
3 d = poly ([0 -1 -2] , ’ s ’ , ’ r o o t s ’ )
4 Y=n/d;
5 disp (Y , ”Y( s )=” )
6 pf = pfss ( Y )
7 disp ( pf , ”Y( s )=” )
8 syms s t
9 y1 = ilaplace ( pf (1) ,s , t )
10 y2 = ilaplace ( pf (2) ,s , t )
11 y3 = ilaplace ( pf (3) ,s , t )
12 disp ( y1 + y2 + y3 , ” g ( t )=” )
13 l = limit ( Y *s ,s ,0)
14 disp (l , ” l i m i t o f y ( t ) a s t t e n d s t o i n f i n i t y =” )

Scilab code Exa 2.9 inverse laplace transform

11
 1 // i n v e r s e l a p l a c e t r a n s f o r m
2 n = poly ([1000] , ’ s ’ , ’ c o e f f ’ )
3 d = poly ([0 1000 34.5 1] , ’ s ’ , ’ c o e f f ’ )
4 Y=n/d;
5 disp (Y , ”Y( s )=” )
6 pf = pfss ( Y )
7 disp ( pf , ”Y( s )=” )
8 syms s t
9 y1 = ilaplace ( pf (1) ,s , t )
10 y2 = ilaplace ( pf (2) ,s , t )
11 y3 = ilaplace ( pf (3) ,s , t )
12 disp ( y1 + y2 + y3 , ” y ( t )=” )

Scilab code Exa 2.10 determinant of matrix

1 // d e t e r m i n a n t o f t h e m a t r i x
2 A =[1 2;3 4]
3 d = det ( A )
4 disp ( d )

Scilab code Exa 2.12 transpose of matrix

1 // t r a n s p o s e o f a m a t r i x
2 A =[3 2 1;0 -1 5]
3 t =A ’
4 disp ( t )

Scilab code Exa 2.13 adjoint of matrix

1 // a d j o i n t o f a m a t r i x

12
 2 A =[1 2;3 4]
3 i = inv ( A )
4 a = i .* det ( A )
5 disp ( a )

Scilab code Exa 2.14 equality of matrices

1 // e q u a l i t y o f m a t r i c e s
2 A =[1 2;3 4]
3 B =[1 2;3 4]
4 x =1;
5 for i =1:2
6 for j =1:2
7 if A (i , j ) ~= B (i , j ) then
8 x =0
9 end
10 end
11 end
12 if x ==1 then
13 disp ( ” m a t r i c e s a r e e q u a l ” )
14 else
15 disp ( ” m a t r i c e s a r e n o t e q u a l ” )
16 end

Scilab code Exa 2.15 addition of matrices

1 // a d d i t i o n o f m a t r i c e s
2 A =[3 2; -1 4;0 -1]
3 B =[0 3; -1 2;1 0]
4 s=A+B
5 disp ( s )

13
 Scilab code Exa 2.16 conformability for multiplication of matrices

1 // c o n f o r m a b l i l i t y f o r m u l t i p l i c a t i o n o f m a t r i c e s
2 A =[1 2 3;4 5 6]
3 B =[1 2 3]
4 C = size ( A )
5 D = size ( B )
6 if C (1 ,2) == D (1 ,1) then
7 disp ( ” m a t r i c e s are conformable for
m u l t i p l i c a t i o n AB” )
8 else
9 disp ( ” m a t r i c e s are not conformable f o r
m u l t i p l i c a t i o n AB” )
10 end
11 if D (1 ,2) == C (1 ,1) then
12 disp ( ” m a t r i c e s are conformable for
m u l t i p l i c a t i o n BA” )
13 else
14 disp ( ” m a t r i c e s are not conformable f o r
m u l t i p l i c a t i o n BA” )
15 end

Scilab code Exa 2.17 multiplication of matrices

1 // m u l t i p l i c a t i o n o f m a t r i c e s
2 A =[3 -1;0 1;2 0]
3 B =[1 0 -1;2 1 0]
4 C = size ( A )
5 D = size ( B )
6 if C (1 ,2) == D (1 ,1) then
7 AB = A * B
8 disp ( AB , ”AB=” )

14
 9 else
10 disp ( ” m a t r i c e s are not conformable f o r
m u l t i p l i c a t i o n AB” )
11 end
12 if D (1 ,2) == C (1 ,1) then
13 BA = B * A
14 disp ( BA , ”BA=” )
15 else
16 disp ( ” m a t r i c e s are not conformable for
m u l t i p l i c a t i o n BA” )
17 end

Scilab code Exa 2.18 inverse of 2x2 matrix

1 // i n v e r s e o f 2 X 2 matrix
2 A =[1 2;3 4]
3 d = det ( A )
4 if det ( A ) ~=0 then
5 i = inv ( A )
6 disp (i , ”Aˆ−1=” )
7 else
8 disp ( ” i n v e r s e o f a s i n g u l a r matrix doesnt e x i s t ”
)
9 end

Scilab code Exa 2.19 inverse of 3x3 matrix

1 // i n v e r s e o f a 3 X 3 m a t r i x
2 A =[1 2 3;4 5 6;7 8 9]
3 d = det ( A )
4 if det ( A ) ~=0 then
5 i = inv ( A )
6 disp (i , ”Aˆ−1=” )

15
 7 else
8 disp ( ” i n v e r s e o f a s i n g u l a r m a t r i x d o e s n t e x i s t ”
)
9 end

Scilab code Exa 2.20 rank of a matrix

1 // r a n k o f a m a t r i x
2 A =[0 1;0 1]
3 [E ,Q , Z , stair , rk1 ]= ereduc (A ,1. d -15)
4 disp ( rk1 , ” r a n k o f A=” )
5 B =[0 5 1 4;3 0 3 2]
6 [E ,Q , Z , stair , rk2 ]= ereduc (B ,1. d -15)
7 disp ( rk2 , ” r a n k o f B=” )
8 C =[3 9 2;1 3 0;2 6 1]
9 [E ,Q , Z , stair , rk3 ]= ereduc (C ,1. d -15)
10 disp ( rk3 , ” r a n k o f C=” )
11 D =[3 0 0;1 2 0;0 0 1]
12 [E ,Q , Z , stair , rk4 ]= ereduc (D ,1. d -15)
13 disp ( rk4 , ” r a n k o f D=” )

Scilab code Exa 2.21 z transform

1 // z t r a n s f o r m
2 syms n z ;
3 a =1;
4 x = %e ^ -( a * n ) ;
5 X = symsum ( x *( z ^( - n ) ) ,n ,0 , %inf )
6 disp (X , ” a n s=” )

16
 Scilab code Exa 2.22 z transform

1 // z t r a n s f o r m
2 syms n z ;
3 x =1;
4 X = symsum ( x *( z ^( - n ) ) ,n ,0 , %inf )
5 disp (X , ” a n s=” )

Scilab code Exa 2.23 z transform

1 // z t r a n s f o r m
2 // t=k ∗T
3 syms k z ;
4 a =1;
5 T =1;
6 x = %e ^ -( a * k * T ) ;
7 X = symsum ( x *( z ^( - k ) ) ,k ,0 , %inf )
8 disp (X , ” a n s=” )

Scilab code Exa 2.25 final value thereom

1 // f i n a l v a l u e thereom
2 z = %z
3 sys = syslin ( ’ c ’ ,0.792* z ^2/(( z -1) *( z ^2 -0.416* z +0.208) )
)
4 syms z
5 l = limit ( sys *(1 - z ^ -1) ,z ,1)
6 disp (l , ” l i m i t a s k a p p r o a c h e s i n f i n i t y =” )

17
 Chapter 3

Transfer Functions Block

Diagrams and Signal Flow
Graphs

Scilab code Exa 3.1 closed loop transfer function matrix

1 // c l o s e d l o o p t r a n s f e r f u n c t i o n m a t r i x
2 s = %s
3 G =[1/( s +1) -1/ s ;2 1/( s +2) ]
4 H =[1 0;0 1]
5 GH = G * H
6 disp ( GH , ”G( s )H( s )=” )
7 I =[1 0;0 1]
8 x = I + GH
9 y = inv ( x )
10 M=y*G
11 disp (M , ”M( s )=” )

Scilab code Exa 3.3 masons gain formula applied to SFG in figure 3 15

18
 1 // mason ’ s g a i n f o r m u l a a p p l i e d t o SFG i n f i g u r e 3−15
2 syms G H
3 M1 = G // a s s e e n from SFG t h e r e i s o n l y one
forward path
4 L11 = - G * H // o n l y one l o o p and no non t o u c h i n g
loops
5 delta =1 - L11
6 delta1 =1
7 Y = M1 * delta1 / delta
8 disp (Y , ”Y( s ) /R( s )=” )

Scilab code Exa 3.4 masons gain formula

1 // masons g a i n f o r m u l a a p p l i e d t o SFG i n f i g u r e 3 −8(d

)
2 // two f o r w a r d p a t h s
3 syms a12 a23 a24 a25 a32 a34 a43 a44 a45
4 M1 = a12 * a23 * a34 * a45
5 M2 = a12 * a25
6 // f o u r l o o p s
7 L11 = a23 * a32
8 L21 = a34 * a43
9 L31 = a24 * a32 * a43
10 L41 = a44
11 // one p a i r o f non t o u c h i n g l o o p s
12 L12 = a23 * a32 * a44
13 delta =1 -( L11 + L21 + L31 + L41 ) +( L12 )
14 delta1 =1
15 delta2 =1 -( L21 + L41 )
16 x =( M1 * delta1 + M2 * delta2 ) / delta
17 disp (x , ” y5 / y1=” )
18 // i f y2 i s o u t p u t node
19 M1 = a12
20 delta1 =1 -( L21 + L41 )
21 y =( M1 * delta1 ) / delta

19
22 disp (y , ” y2 / y1=” )

Scilab code Exa 3.5 masons gain formula

1 // mason ’ s g a i n f o r m u l a a p p l i e d t o SFG i n f i g u r e 3−16

2 // y2 a s o u t p u t node
3 syms G1 G2 G3 G4 G5 H1 H2 H3 H4
4 M1 =1
5 L11 = - G1 * H1
6 L21 = - G3 * H2
7 L31 = G1 * G2 * G3 * - H3
8 L41 = - H4
9 L12 = G1 * H1 * G3 * H2
10 L22 = G1 * H1 * H4
11 L32 = G3 * H2 * H4
12 L42 = - G1 * G2 * G3 * H3 * H4
13 L13 = - G1 * H1 * G3 * H2 * H4
14 delta =1 -( L11 + L21 + L31 + L41 ) +( L12 + L22 + L32 + L42 ) + L13
15 delta1 =1 -( L21 + L41 ) +( L32 )
16 x = M1 * delta1 / delta
17 disp (x , ” y2 / y1=” )
18 // y4 a s o u t p u t node
19 M1 = G1 * G2
20 delta1 =1 -( L41 )
21 y = M1 * delta1 / delta
22 disp (y , ” y4 / y1=” )
23 // y6 o r y7 a s o u t p u t node
24 M1 = G1 * G2 * G3 * G4
25 M2 = G1 * G5
26 delta1 =1
27 delta2 =1 -( L21 )
28 z =( M1 * delta1 + M2 * delta2 ) / delta
29 disp (z , ” y6 / y1=y7 / y1=” )

20
 Scilab code Exa 3.6 masons gain formula

1 // mason ’ s g a i n f o r m u l a a p p l i e d t o SFG i n f i g u r e 3−16

2 // y2 a s o u t p u t node
3 syms G1 G2 G3 G4 G5 H1 H2 H3 H4
4 M1 =1
5 L11 = - G1 * H1
6 L21 = - G3 * H2
7 L31 = G1 * G2 * G3 * - H3
8 L41 = - H4
9 L12 = G1 * H1 * G3 * H2
10 L22 = G1 * H1 * H4
11 L32 = G3 * H2 * H4
12 L42 = - G1 * G2 * G3 * H3 * H4
13 L13 = - G1 * H1 * G3 * H2 * H4
14 delta =1 -( L11 + L21 + L31 + L41 ) +( L12 + L22 + L32 + L42 ) + L13
15 delta1 =1 -( L21 + L41 ) +( L32 )
16 x = M1 * delta1 / delta
17 disp (x , ” y2 / y1=” )
18 // y7 a s o u t p u t node
19 M1 = G1 * G2 * G3 * G4
20 M2 = G1 * G5
21 delta1 =1
22 delta2 =1 -( L21 )
23 y =( M1 * delta1 + M2 * delta2 ) / delta
24 disp (y , ” y7 / y1=” )
25 z=y/x // ( y7 / y2 ) =( y7 / y1 ) / ( y2 / y1 )
26 disp (z , ” y7 / y2=” )

Scilab code Exa 3.7 masons gain formula

1 // b l o c k d i a g r a m i s c o n v e r t e d t o SFG

21
 2 // mason ’ s g a i n f o r m u l a a p p l i e d t o SFG i n f i g u r e 3−17
3 //E a s o u t p u t node
4 syms G1 G2 G3 G4 H1 H2
5 M1 =1
6 L11 = - G1 * G2 * H1
7 L21 = - G2 * G3 * H2
8 L31 = - G1 * G2 * G3
9 L41 = - G1 * G4
10 L51 = - G4 * H2
11 delta =1 -( L11 + L21 + L31 + L41 + L51 )
12 delta1 =1 -( L21 + L51 + L11 )
13 x = M1 * delta1 / delta
14 disp (x , ”E( s ) /R( s )=” )
15 //Y a s o u t p u t node
16 M1 = G1 * G2 * G3
17 M2 = G1 * G4
18 delta1 =1
19 delta2 =1
20 y =( M1 * delta1 + M2 * delta2 ) / delta
21 disp (y , ”Y( s ) /R( s )=” )

Scilab code Exa 3.9 masons gain formula

1 // f i n d i n g t r a n s f e r f u n c t i o n from s t a t e d i a g r a m by
applying gain formula
2 // s t a t e d i a g r a m i s shown i n f i f u r e 3−21
3 syms s
4 // i n i t i a l c o n d i t i o n s a r e s s e t t o z e r o
5 M1 = s ^ -1* s ^ -1
6 L11 = -3* s ^ -1
7 L21 = -2* s ^ -1* s ^ -1
8 delta =1 -( L11 + L21 )
9 delta1 =1
10 x = M1 * delta1 / delta
11 disp (x , ”Y( s ) /R( s )=” )

22
 Scilab code Exa 3.10 masons gain formula

1 // a p p l y i n g g a i n f o r m u l a t o s t a t e d i a g r a m 3−22
2 // r ( t ) , x1 ( t ) and x2 ( t ) a r e i n p u t n o d e s
3 // y ( t ) i s o u t p u t node
4 // s u p e r p o s i t i o n p r i n c i p l e h o l d s good
5
6 syms s r x1 x2
7 // r ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
8 M1 =0
9 delta1 =1
10 delta =1
11 a =( M1 * delta1 ) / delta
12 y1 = a * r
13 disp ( y1 , ” y1 ( t )=” )
14
15 // x1 ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
16 M1 =1
17 delta1 =1
18 b =( M1 * delta1 ) / delta
19 y2 = b * x1
20 disp ( y2 , ” y2 ( t )=” )
21
22 // x2 ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
23 M1 =0
24 delta1 =1
25 c =( M1 * delta1 ) / delta
26 y3 = c * x2
27 disp ( y3 , ” y3 ( t )=” )
28
29 disp ( y1 + y2 + y3 , ” y ( t )=” )

23
 Scilab code Exa 3.11 masons gain formula

1 // a p p l y i n g g a i n f o r m u l a t o s t a t e d i a g r a m i n f i g u r e
3 −23( b )
2 // r ( t ) , x1 ( t ) , x2 ( t ) and x3 ( t ) a r e i n p u t n o d e s
3 // y ( t ) i s o u t p u t node
4 // s u p e r p o s i t i o n p r i n c i p l e h o l d s good
5
6 syms s a0 a1 a2 a3 r x1 x2 x3
7 // r ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
8 M1 =0
9 delta1 =1
10 L11 = - a0 * a3
11 delta =1 -( L11 )
12 a =( M1 * delta1 ) / delta
13 y1 = a * r
14 disp ( y1 , ” y1 ( t )=” )
15
16 // x1 ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
17 M1 =1
18 delta1 =1
19 b =( M1 * delta1 ) / delta
20 y2 = b * x1
21 disp ( y2 , ” y2 ( t )=” )
22
23 // x2 ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
24 M1 =0
25 delta1 =1
26 c =( M1 * delta1 ) / delta
27 y3 = c * x2
28 disp ( y3 , ” y3 ( t )=” )
29
30 // x3 ( t ) a s i n p u t node and y ( t ) a s o u t p u t node
31 M1 = a0
32 delta1 =1
33 d =( M1 * delta1 ) / delta
34 y4 = d * x3
35 disp ( y4 , ” y4 ( t )=” )

24
36
37 disp ( y1 + y2 + y3 + y4 , ” y ( t )=” )

25
 Chapter 4

Mathematical Modelling of
Physical Systems

Scilab code Exa 4.1 transfer fnuction of system

1 // t r a n s f e r f u n c t i o n o f t h e s y s t e m
2 // from s t a t e d i a g r a m i n 4 −1(b )
3 // i n i t i a l c o n d i t i o n s a r e t a k e n a s z e r o
4 // c o n s i d e r i n g v o l t a g e a c r o s s c a p a c i t o r a s o u t p u t
5 syms R L C
6 s = %s
7 M1 =(1/ L ) *( s ^ -1) *(1/ C ) *( s ^ -1)
8 L11 = -( s ^ -1) *( R / L )
9 delta =1 -( L11 )
10 delta1 =1
11 x = M1 * delta1 / delta
12 disp (x , ” Ec ( s ) /E( s )=” )
13 // c o n s i d e r i n g c u r r e n t i n t h e c i r c u i t a s o u t p u t
14 M1 =(1/ L ) *( s ^ -1)
15 delta1 =1
16 y = M1 * delta1 / delta
17 disp (y , ” I ( s ) /E( s )=” )

26
 Scilab code Exa 4.2 transfer fnuction of electric network

1 // t r a n s f e r f u n c t i o n o f e l e c t r i c n e t w o r k
2 // from s t a t e d i a g r a m i n 4 −2(b )
3 // i n i t a l c o n d i t i o n s a r e t a k e n a s z e r o
4 // c o n s i d e r i n g i 1 a s o u t p u t
5 syms R1 R2 L1 L2 C
6 s = %s
7 M1 =(1/ L1 ) *( s ^ -1)
8 L11 = -( s ^ -1) *( R1 / L1 )
9 L21 = -( s ^ -1) *(1/ C ) *( s ^ -1) *(1/ L1 )
10 L31 = -( s ^ -1) *(1/ L2 ) *( s ^ -1) *(1/ C )
11 L41 = -( s ^ -1) *( R2 / L2 )
12 L12 = L11 * L31
13 L22 = L11 * L41
14 L32 = L21 * L41
15 delta =1 -( L11 + L21 + L31 + L41 ) +( L12 + L22 + L32 )
16 delta1 =1 -( L31 + L41 )
17 x = M1 * delta1 / delta
18 disp (x , ” I 1 ( s ) /E( s )=” )
19 // c o n s i d e r i n g i 2 a s o u t p u t
20 M1 =(1/ L1 ) *( s ^ -1) *(1/ C ) *( s ^ -1) *(1/ L2 ) *( s ^ -1)
21 delta1 =1
22 y = M1 * delta1 / delta
23 disp (y , ” I 2 ( s ) /E( s )=” )
24 // c o n s i d e r i n g v o l t a g e a c r o s s c a p a c i t o r a s o u t p u t
25 M1 =(1/ L1 ) *( s ^ -1) *(1/ C ) *( s ^ -1)
26 delta1 =1 - L41
27 z = M1 * delta1 / delta
28 disp (z , ” Ec ( s ) /E( s )=” )

Scilab code Exa 4.3 gear trains

27
1 // g e a r t r a i n s
2 printf ( ” Given \n i n e r t i a ( J2 ) =0.05 oz−i n .− s e c ˆ2 \n
f r i c t i o n a l t o r q u e ( T2 ) =2oz−i n . \n N1/N2 ( r ) =1/5 ” )
3 J2 =0.05;
4 disp ( J2 , ” J2=” )
5 T2 =2;
6 disp ( T2 , ”T2=” )
7 r =1/5
8 disp (r , ”N1/N2=” )
9 printf ( ” J1 =(N1/N2 ) ˆ2∗ J2 \n T1=(N1/N2 ) ∗T2” )
10 J1 =( r ) ^2* J2 ;
11 disp ( J1 , ” The r e f l e c t e d i n e r t i a on s i d e o f N1=” )
12 T1 =( r ) * T2
13 disp ( T1 , ” The r e f l e c t e d coulumb f r i c t i o n i s =” )

Scilab code Exa 4.4 mass spring system

1 // mass−s p r i n g s y s t e m
2 // f r e e body d i a g r a m and s t a t e d i a g r a m a r e drawn a s
shown i n f i g u r e 4 −18( b ) and 4 −18( c )
3 // a p p l y i n g g a i n f o r m u l a t o s t a t e d i a g r a m
4 syms K M B
5 s = %s
6 M1 =(1/ M ) *( s ^ -2)
7 L11 = -( B / M ) *( s ^ -1)
8 L21 = -( K / M ) *( s ^ -2)
9 delta =1 -( L11 + L21 )
10 delta1 =1
11 x = M1 * delta1 / delta
12 disp (x , ”Y( s ) /F ( s )=” )

Scilab code Exa 4.5 mass spring system

28
1 // mass−s p r i n g s y s t e m
2 // f r e e body d i a g r a m and s t a t e d i a g r a m a r e drawn a s
shown i n f i g u r e 4 −19( b ) and 4 −19( c )
3 // a p p l y i n g g a i n f o r m u l a t o s t a t e d i a g r a m
4 syms K M B
5 s = %s
6 // c o n s i d e r i n g y1 a s o u t p u t
7 M1 =(1/ M )
8 L11 = -( B / M ) *( s ^ -1)
9 L21 = -( K / M ) *( s ^ -2)
10 L31 =( K / M ) *( s ^ -2)
11 delta =1 -( L11 + L21 + L31 )
12 delta1 =1 -( L11 + L21 )
13 x = M1 * delta1 / delta
14 disp (x , ”Y1 ( s ) /F ( s )=” )
15 // c o n s i d e r i n g y2 a s o u t p u t
16 M1 =(1/ K ) *( K / M ) *( s ^ -2)
17 delta1 =1
18 y = M1 * delta1 / delta
19 disp (y , ”Y2 ( s ) /F ( s )=” )

Scilab code Exa 4.9 incremental encoder

1 // i n c r e m e n t a l e n c o d e r
2 // 2 s i n u s o i d a l s i g n a l s
3 // g e n e r a t e s f o u r z e r o c r o s s i n g s p e r c y c l e ( z c )
4 // p r i n t w h e e l h a s 96 c h a r a c t e r s on i t s p h e r i p h e r y ( ch )
and e n c o d e r h a s 480 c y c l e s ( c y c )
5 zc =4
6 ch =96
7 cyc =480
8 zcpr = cyc * zc // z e r o c r o s s i n g s p e r r e v o l u t i o n
9 disp ( zcpr , ” z e r o c r o s s i n g s p e r r e v o l u t i o n =” )
10 zcpc = zcpr / ch // z r e o c r o s s i n g s p e r c h a r a c t e r
11 disp ( zcpc , ” z e r o c r o s s i n g s p e r c h a r a c t e r =” )

29
12 // 500 khz c l o c k i s u s e d
13 // 500 p u l s e s / z e r o c r o s s i n g
14 shaft_speed =500000/500
15 x = shaft_speed / zcpr
16 disp (x , ” a n s=” ) // i n r e v p e r s e c

30
 Chapter 5

State Variable Analysis

Scilab code Exa 5.1 state transition equation

1 // s t a t e t r a n s i t i o n e q u a t i o n
2 // a s s e e n from s t a t e e q u a t i o n A=[0 1; −2 −3] B = [ 0 ; 1 ]
E=0;
3 A =[0 1; -2 -3]
4 B =[0;1]
5 s = poly (0 , ’ s ’ ) ;
6 [ Row Col ]= size ( A ) // S i z e o f a m a t r i x
7 m = s * eye ( Row , Col ) -A // s I −A
8 n = det ( m ) //To Find The D e t e r m i n a n t o f s i
−A
9 p = inv ( m ) ; // To Find The I n v e r s e Of s I −A
10 U =1/ s
11 p=p*U
12 syms t s ;
13 disp (p , ” p h i ( s )=” ) // R e s o l v e n t M a t r i x
14 for i =1: Row
15 for j =1: Col
16 // Taking I n v e r s e L a p l a c e o f e a c h e l e m e n t o f M a t r i x
phi ( s )
17 q (i , j ) = ilaplace ( p (i , j ) ,s , t ) ;
18 end ;

31
19 end ;
20 disp (q , ” p h i ( t )=” ) // S t a t e T r a n s i t i o n M a t r i x
21 y = q * B ; // x ( t )=p h i ( t ) ∗ x ( 0 )
22 disp (y , ” S o l u t i o n To The g i v e n eq .= ” )

Scilab code Exa 5.7 characteristic equation from transfer function

1 // c h a r a c t e r i s t i c e q u a t i o n from t r a n s f e r function
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s ^3+5* s ^2+ s +2) )
4 c = denom ( sys )
5 disp (c , ” c h a r a c t e r i s t i c e q u a t i o n=” )

Scilab code Exa 5.8 characteristic equation from state equation

1 // c h a r a c t e r i s t i c e q u a t i o n from s t a t e e q u a t i o n
2 A =[0 1 0;0 0 1; -2 -1 -5]
3 B =[0;0;1]
4 C =[1 0 0]
5 D =[0]
6 [ Row Col ]= size ( A )
7 Gr = C * inv ( s * eye ( Row , Col ) -A ) * B + D
8 c = denom ( Gr )
9 disp (c , ” c h a r a c t e r i s t i c e q u a t i o n=” )

Scilab code Exa 5.9 eigen values

1 // e i g e n v a l u e s
2 A =[0 1 0;0 0 1; -2 -1 -5]
3 e = spec ( A ) // s p e c g i v e s eigen values of matrix
4 disp (e , ” e i g e n v a l u e s=” )

32
 Scilab code Exa 5.12 ccf form

1 //OCF form
2 s = %s
3 A =[1 2 1;0 1 3;1 1 1]
4 B =[1;0;1]
5 [ row , col ]= size ( A )
6 c = s * eye ( row , col ) -A
7 x = det ( c )
8 r = coeff ( x )
9 M =[ r (1 ,2) r (1 ,3) 1; r (1 ,3) 1 0;1 0 0]
10 S =[ B A * B A ^2* B ]
11 disp (S , ” c o n t r o l l a b i l i t y m a t r i x=” )
12 if ( det ( S ) ==0) then
13 printf ( ” s y s t e m c a n n o t be t r a n s f o r m e d i n t o c c f
form ” )
14 else
15 printf ( ” s y s t e m can be t r a n s f o r m e d i n t o c c f form ”
)
16 end
17 P=S*M
18 disp (P , ”P=” )
19 Accf = inv ( P ) * A * P
20 Bccf = inv ( P ) * B
21 disp ( Accf , ” A c c f=” )
22 disp ( Bccf , ” B c c f=” )

Scilab code Exa 5.13 ocf form

1 //OCF form
2 A =[1 2 1;0 1 3;1 1 1]

33
 3 B =[1;0;1]
4 C =[1 1 0]
5 D =0
6 [ row , col ]= size ( A )
7 c = s * eye ( row , col ) -A
8 x = det ( c )
9 r = coeff ( x )
10 M =[ r (1 ,2) r (1 ,3) 1; r (1 ,3) 1 0;1 0 0]
11 V =[ C ; C * A ; C * A ^2]
12 disp (V , ” o b s e r v a b i l i t y m a t r i x=” )
13 if ( det ( V ) ==0) then
14 printf ( ” s y s t e m c a n n o t be t r a n s f o r m e d i n t o o c f
form ” )
15 else
16 printf ( ” s y s t e m can be t r a n s f o r m e d i n t o o c f form ”
)
17 end
18 Q = inv ( M * V )
19 disp (Q , ”Q=” )
20 Aocf = inv ( Q ) * A * Q
21 Cocf = C * Q
22 B = inv ( Q ) * B
23 disp ( Aocf , ” A o c f=” )
24 disp ( Cocf , ” C o c f=” )

Scilab code Exa 5.14 dcf form

1 //DCF form
2 A =[0 1 0;0 0 1; -6 -11 -6]
3 x = spec ( A )
4 T =[1 1 1; x (1 ,1) x (2 ,1) x (3 ,1) ;( x (1 ,1) ) ^2 ( x (2 ,1) ) ^2
( x (3 ,1) ) ^2]
5 Adcf = inv ( T ) * A * T
6 disp ( Adcf , ” Adcf=” )

34
 Scilab code Exa 5.18 system with identical eigen values

1 // s y s t e m w i t h i d e n t i c a l e i g e n v a l u e s
2 A =[1 0;0 1] // lamda1=1
3 B =[2;3] // b11=2 b21=3
4 S =[ B A * B ]
5 if det ( S ) ==0 then
6 printf ( ” s y s t e m i s u n c o n t r o l l a b l e ” )
7 else
8 printf ( ” s y s t e m i s c o n t o l l a b l e ” )
9 end

Scilab code Exa 5.19 controllability

1 // c o n t r o l l a b i l i t y
2 A =[ -2 1;0 -1]
3 B =[1;0]
4 S =[ B A * B ]
5 if det ( S ) ==0 then
6 printf ( ” s y s t e m i s u n c o n t r o l l a b l e ” )
7 else
8 printf ( ” s y s t e m i s c o n t o l l a b l e ” )
9 end

Scilab code Exa 5.20 controllability

1 // c o n t r o l l a b i l i t y
2 A =[1 2 -1;0 1 0;1 -4 3]
3 B =[0;0;1]

35
 4 S =[ B A * B A ^2* B ]
5 if det ( S ) ==0 then
6 printf ( ” s y s t e m i s u n c o n t r o l l a b l e ”)
7 else
8 printf ( ” s y s t e m i s c o n t o l l a b l e ”)
9 end

Scilab code Exa 5.21 observability

1 // o b s e r v a b i l i t y
2 A =[ -2 0;0 -1]
3 B =[3;1]
4 C =[1 0]
5 V =[ C ; C * A ]
6 if det ( V ) ==0 then
7 printf ( ” s y s t e m i s u n o b s e r v a b l e ” )
8 else
9 printf ( ” s y s t e m i s o b s e r v a b l e ” )
10 end

36
 Chapter 6

Stability of Linear Control

Systems

Scilab code Exa 6.1 stability of open loop systems

1 // s t a b i l i t y o f open l o o p s y s t e m s
2 s = %s
3 sys1 = syslin ( ’ c ’ ,20/(( s +1) *( s +2) *( s +3) ) )
4 disp ( sys1 , ”M( s )=” )
5 printf ( ” s y s 1 i s s t a b l e a s t h e r e a r e no p l o e s o r
z e r o e s i n RHP” )
6 sys2 = syslin ( ’ c ’ ,20*( s +1) /(( s -1) *( s ^2+2* s +2) ) )
7 disp ( sys2 , ”M( s )=” )
8 printf ( ” s y s 2 i s u n s t a b l e due t o p o l e a t s =1” )
9 sys3 = syslin ( ’ c ’ ,20*( s -1) /(( s +2) *( s ^2+4) ) )
10 disp ( sys3 , ”M( s )=” )
11 printf ( ” s y s 3 i s m a r g i n a l l y s t a b l e o r m a r g i n a l l y
u n s t a b l e due t o s=j 2 and s=−j 2 ” )
12 sys4 = syslin ( ’ c ’ ,10/(( s +10) *( s ^2+4) ^2) )
13 disp ( sys4 , ”M( s )=” )
14 printf ( ” s y s 4 i s u n s t a b l e due t o m u l t i p l e o r d e r p o l e
a t s=j 2 and s=−j 2 ” )
15 sys5 = syslin ( ’ c ’ ,10/( s ^4+30* s ^3+ s ^2+10* s ) )
16 disp ( sys5 , ”M( s )=” )

37
17 printf ( ” s y s 5 i s s t a b l e i f p o l e a t s =0 i s p l a c e d
i n t e n t i o n a l l y ”)

Scilab code Exa 6.2 rouths tabulation to determine stability

1 // r o u t h s t a b u l a t i o n s t o d e t e r m i n e s t a b i l i t y
2 s = %s ;
3 m = s ^3 -4* s ^2+ s +6;
4 disp ( m )
5 r = coeff ( m )
6 n = length ( r )
7 routh = routh_t ( m ) // T h i s F u n c t i o n g e n e r a t e s t h e Routh
table
8 disp ( routh , ” r o u t h s t a b u l a t i o n=” )
9 c =0;
10 for i =1: n
11 if ( routh (i ,1) <0)
12 c = c +1;
13 end
14 end
15 if (c >=1)
16 printf ( ” s y s t e m i s u n s t a b l e ” )
17 else printf ( ” s y s t e m i s s t a b l e ” )
18 end

Scilab code Exa 6.3 rouths tabulation to determine stability

1 // r o u t h s t a b u l a t i o n s t o d e t e r m i n e s t a b i l i t y
2 s = %s ;
3 m =2* s ^4+ s ^3+3* s ^2+5* s +10;
4 disp ( m )
5 r = coeff ( m )
6 n = length ( r )

38
7 routh = routh_t ( m ) // T h i s F u n c t i o n g e n e r a t e s t h e Routh
table
8 disp ( routh , ” r o u t h s t a b u l a t i o n=” )
9 c =0;
10 for i =1: n
11 if ( routh (i ,1) <0)
12 c = c +1;
13 end
14 end
15 if (c >=1)
16 printf ( ” s y s t e m i s u n s t a b l e ” )
17 else printf ( ” s y s t e m i s s t a b l e ” )
18 end

Scilab code Exa 6.4 first element in any row of rouths tabulation is z

1 // f i r s t e l e m e n t i n any row o f r o u t h s t a b u l a t i o n i s
zero
2 s = %s
3 m = s ^4+ s ^3+2* s ^2+2* s +3
4 r = coeff ( m ) ; // E x t r a c t s t h e c o e f f i c i e n t o f t h e
polynomial
5 n = length ( r ) ;
6 routh = routh_t ( m )
7 disp ( routh , ” r o u t h=” )
8 printf ( ” s i n c e t h e r e a r e two s i g n c h a n g e s i n t h e
rouths tabulation , sys i s uns ta ble ”)

Scilab code Exa 6.5 elements in any row of rouths tabulations are all

1 // e l e m e n t s i n one row o f r o u t h s t a b u l a t i o n s a r e a l l
zero
2 s = %s ;

39
 3 m = s ^5+4* s ^4+8* s ^3+8* s ^2+7* s +4;
4 disp ( m )
5 r = coeff ( m )
6 n = length ( r )
7 routh = routh_t ( m )
8 disp ( routh , ” r o u t h s t a b u l a t i o n s=” )
9 c =0;
10 for i =1: n
11 if ( routh (i ,1) <0)
12 c = c +1;
13 end
14 end
15 if (c >=1)
16 printf ( ” s y s t e m i s u n s t a b l e ” )
17 else printf ( ” s y s t e m i s m a r g i n a l l y s t a b l e ” )
18 end

Scilab code Exa 6.6 determining critical value of K

1 // d e t e r m i n i n g c r i t i c a l v a l u e o f K
2 s = %s
3 syms K
4 m = s ^3+3408.3* s ^2+1204000* s +1.5*10^7* K
5 cof_a_0 = coeffs (m , ’ s ’ ,0) ;
6 cof_a_1 = coeffs (m , ’ s ’ ,1) ;
7 cof_a_2 = coeffs (m , ’ s ’ ,2) ;
8 cof_a_3 = coeffs (m , ’ s ’ ,3) ;
9
10 r =[ cof_a_0 cof_a_1 cof_a_2 cof_a_3 ]
11
12 n = length ( r ) ;
13 routh =[ r ([4 ,2]) ; r ([3 ,1]) ];
14 routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0];
15 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 sub b l o c k
of routh matrix

40
16 routh =[ routh ; - det ( t ) / t (2 ,1) ,0]
17 disp ( routh , ” r o u t h s t a b u l a t i o n=” )
18 routh (3 ,1) =0 // For m a r g i n a l y s t a b l e s y s t e m
19 sys = syslin ( ’ c ’ ,1.5*10^7/( s ^3+3408.3* s ^2+1204000* s ) )
20 k = kpure ( sys )
21 disp (k , ”K( m a r g i n a l )=” )
22 disp ( ’ =0 ’ , routh (2 ,1) *( s ^2) +1.5*10^7* k , ” a u x i l l a r y
equation ”)
23 p = poly ([1.5*10^7* k ,0 ,3408.3] , ’ s ’ , ’ c o e f f ’ )
24 s = roots ( p )
25 disp (s , ” F r e q u e n c y o f o s c i l l a t i o n ( i n r a d / s e c )=” )

Scilab code Exa 6.7 determining critical value of K

1 // d e t e r m i n i n g c r i t i c a l v a l u e o f K
2 s = %s
3 syms K
4 m = s ^3+3* K * s ^2+( K +2) * s +4
5 cof_a_0 = coeffs (m , ’ s ’ ,0) ;
6 cof_a_1 = coeffs (m , ’ s ’ ,1) ;
7 cof_a_2 = coeffs (m , ’ s ’ ,2) ;
8 cof_a_3 = coeffs (m , ’ s ’ ,3) ;
9
10 r =[ cof_a_0 cof_a_1 cof_a_2 cof_a_3 ]
11
12 n = length ( r ) ;
13 routh =[ r ([4 ,2]) ; r ([3 ,1]) ];
14 routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0];
15 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 sub b l o c k
of routh matrix
16 routh =[ routh ; - det ( t ) / t (2 ,1) ,0]
17 disp ( routh , ” r o u t h s t a b u l a t i o n=” )
18 routh (3 ,1) =0 // For m a r g i n a l y s t a b l e s y s t e m
19 sys = syslin ( ’ c ’ ,s *(3* s +1) /( s ^3+2* s +4) )
20 k = kpure ( sys )

41
21 disp (k , ”K( m a r g i n a l )=” )

Scilab code Exa 6.8 stability of closed loop systems

1 // s t a b i l i t y o f c l o s e d l o o p s y s t e m s
2 z = %z
3 sys1 = syslin ( ’ c ’ ,5* z /(( z -0.2) *( z -0.8) ) )
4 disp ( sys1 , ”M( z )=” )
5 printf ( ” s y s 1 i s s t a b l e ” )
6 sys2 = syslin ( ’ c ’ ,5* z /(( z +1.2) *( z -0.8) ) )
7 disp ( sys2 , ”M( z )=” )
8 printf ( ” s y s 2 i s u n s t a b l e due t o p o l e a t z =−1.2 ” )
9 sys3 = syslin ( ’ c ’ ,5*( z +1) /( z *( z -1) *( z -0.8) ) )
10 disp ( sys3 , ”M( z )=” )
11 printf ( ” s y s 3 i s m a r g i n a l l y s t a b l e due t o z=1” )
12 sys4 = syslin ( ’ c ’ ,5*( z +1.2) /( z ^2*( z +1) ^2*( z +0.1) ) )
13 disp ( sys4 , ”M( z )=” )
14 printf ( ” s y s 4 i s u n s t a b l e due t o m u l t i p l e o r d e r p o l e
a t z=−1” )

Scilab code Exa 6.9 bilinear transformation method

1 // b i l i n e a r t r a n s f o r m a t i o n method
2 r = %s
3 // p=z ˆ 3 + 5 . 9 4 ∗ z ˆ 2 + 7 . 7 ∗ z −0.368
4 // s u b s t i t u t i n g z =(1+ r ) /(1 − r ) we g e t
5 m =3.128* r ^3 -11.47* r ^2+2.344* r +14.27
6 x = coeff ( m )
7 n = length ( x )
8 routh = routh_t ( m )
9 disp ( routh , ” r o u t h s t a b u l a t i o n s ” )
10 c =0;
11 for i =1: n

42
12 if ( routh (i ,1) <0) then
13 c = c +1
14 end
15 end
16 if (c >=1) then
17 printf ( ” s y s t e m i s u n s t a b l e ” )
18 else printf ( ” s y s t e m i s s t a b l e ” )
19 end

Scilab code Exa 6.10 bilinear transformation method

1 // b i l i n e a r t r a n s f o r m a t i o n method
2 s = %s
3 syms K
4 // p=z ˆ3+ z ˆ2+ z+K
5 // s u b s t i t u t i n g z =(1+ r ) /(1 − r ) we g e t
6 m =(1 - K ) * s ^3+(1+3* K ) * s ^2+3*(1 - K ) * s +3+ K
7 cof_a_0 = coeffs (m , ’ s ’ ,0) ;
8 cof_a_1 = coeffs (m , ’ s ’ ,1) ;
9 cof_a_2 = coeffs (m , ’ s ’ ,2) ;
10 cof_a_3 = coeffs (m , ’ s ’ ,3) ;
11
12 r =[ cof_a_0 cof_a_1 cof_a_2 cof_a_3 ]
13
14 n = length ( r ) ;
15 routh =[ r ([4 ,2]) ; r ([3 ,1]) ];
16 routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0];
17 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 sub b l o c k
of routh matrix
18 routh =[ routh ; - det ( t ) / t (2 ,1) ,0]
19 disp ( routh , ” r o u t h s t a b u l a t i o n=” )

43
 Chapter 7

Time Domain Analysis of

Control Systems

Scilab code Exa 7.1 type of system

1 // t y p e o f s y s t e m
2 s = %s
3 G1 = syslin ( ’ c ’ ,(1+0.5* s ) /( s *(1+ s ) *(1+2* s ) *(1+ s + s ^2) ) )
4 disp ( G1 , ”G( s )=” )
5 printf ( ” t y p e 1 a s i t h a s one s term i n d e n o m i n a t o r ” )
6 G2 = syslin ( ’ c ’ ,(1+2* s ) / s ^3)
7 disp ( G2 , ”G( s )=” )
8 printf ( ” t y p e 3 a s i t h a s 3 p o l e s a t o r i g i n ” )

Scilab code Exa 7.2 steady state errors from open loop tf

1 // s t e a d y s t a t e e r r o r s from open l o o p t r a n s f e r
function
2 s = %s ;
3 // t y p e 1 s y s t e m
4 G = syslin ( ’ c ’ ,( s +3.15) /( s *( s +1.5) *( s +0.5) ) ) //K=1

44
 5 disp (G , ”G( s )=” )
6 H =1;
7 y=G*H;
8 disp (y , ”G( s )H( s )=” )
9 syms s ;
10 Kv = limit ( s *y ,s ,0) ; //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
11 Ess =1/ Kv
12 // R e f e r i n g t h e t a b l e 7 . 1 g i v e n i n t h e book , For t y p e
1 s y s t e m Kp=%inf , E s s=0 & Ka=0 , E s s=% i n f
13 printf ( ” For t y p e 1 s y s t e m \n s t e p i n p u t Kp= i n f E s s=0
\n \n p a r a b o l i c i n p u t Ka=0 E s s= i n f \n ” )
14 disp ( Kv , ” ramp i n p u t Kv=” )
15 disp ( Ess , ” E s s=” )
16 // t y p e 2 s y s t e m
17 p = poly ([1] , ’ s ’ , ’ c o e f f ’ ) ;
18 q = poly ([0 0 12 1] , ’ s ’ , ’ c o e f f ’ ) ;
19 G = p / q ; //K=1
20 disp (G , ”G( s )=” )
21 H =1;
22 y=G*H;
23 disp (y , ”G( s )H( s )=” )
24 Ka = limit ( s ^2* y ,s ,0) ; //Ka= p a r a b o l i c e r r o r
coefficient
25 Ess =1/ Ka
26 // R e f e r i n g t h e t a b l e 7 . 1 g i v e n i n t h e book , For t y p e
2 s y s t e m Kp=%inf , E s s=0 & Kv=i n f , E s s=0
27 printf ( ” For t y p e 2 s y s t e m \n s t e p i n p u t Kp= i n f E s s=0
\n ramp i n p u t Kv= i n f E s s=0 \n ” )
28 disp ( Ka , ” p a r a b o l i c i n p u t Ka=” )
29 disp ( Ess , ” E s s=” )
30 // t y p e 2 s y s t e m
31 p = poly ([5 5] , ’ s ’ , ’ c o e f f ’ ) ;
32 q = poly ([0 0 60 17 1] , ’ s ’ , ’ c o e f f ’ ) ;
33 G = p / q ; //K=1
34 disp (G , ”G( s )=” )
35 H =1;
36 y=G*H;
37 disp (y , ”G( s )H( s )=” )

45
38 Ka = limit ( s ^2* y ,s ,0) ; //Ka= p a r a b o l i c error
coefficient
39 Ess =1/ Ka
40 // R e f e r i n g t h e t a b l e 7 . 1 g i v e n i n t h e book , For t y p e
2 s y s t e m Kp=%inf , E s s=0 & Kv=i n f , E s s=0
41 printf ( ” For t y p e 2 s y s t e m \n s t e p i n p u t Kp= i n f E s s=0
\n ramp i n p u t Kv= i n f E s s=0 \n ” )
42 disp ( Ka , ” p a r a b o l i c i n p u t Ka=” )
43 disp ( Ess , ” E s s=” )

Scilab code Exa 7.3 steady state errors from closed loop tf

1 // s t e a d y s t a t e e r r o r s from c l o s e d l o o p t r a n s f e r
functions
2 s = %s
3 p = poly ([3.15 1 0] , ’ s ’ , ’ c o e f f ’ ) ; //K=1
4 q = poly ([3.15 1.75 2 1] , ’ s ’ , ’ c o e f f ’ ) ;
5 M=p/q
6 disp (M , ”M( s )=” )
7 H =1;
8 R =1;
9 b = coeff ( p )
10 a = coeff ( q )
11
12 // s t e p i n p u t
13 if ( a (1 ,1) == b (1 ,1) ) then
14 printf ( ” f o r u n i t s t e p i n p u t E s s=0” )
15 else
16 Ess =1/ H *(1 -( b (1 ,1) * H / a (1 ,1) ) ) * R
17 disp ( Ess , ” f o r u n i t s t e p i n p u t E s s=” )
18 end
19
20 // ramp i n p u t
21 c =0
22 for i =1:2

46
23 if ( a (1 , i ) -b (1 , i ) * H ==0) then
24 c = c +1
25 end
26 end
27 if ( c ==2)
28 printf ( ” f o r u n i t ramp i n p u t E s s=0” )
29 else if ( c ==1) then
30 Ess =( a (1 ,2) -b (1 ,2) * H ) / a (1 ,1) * H
31 disp ( Ess , ” f o r u n i t ramp i n p u t E s s=” )
32 else printf ( ” f o r u n i t ramp i n p u t E s s= i n f ” )
33 end
34 end
35
36 // p a r a b o l i c i n p u t
37 c =0
38 for i =1:3
39 if ( a (1 , i ) -b (1 , i ) * H ==0) then
40 c = c +1
41 end
42 end
43 if ( c ==3)
44 printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=0” )
45 else if ( c ==2) then
46 Ess =( a (1 ,3) -b (1 ,3) * H ) / a (1 ,1) * H
47 disp ( Ess , ” f o r u n i t p a r a b o l i c i n p u t E s s=”
)
48 else printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=
i n f ”)
49 end
50 end

Scilab code Exa 7.4 steady state errors from closed loop tf

1 // s t e a d y s t a t e e r r o r s from c l o s e d l o o p t r a n s f e r
functions

47
 2 s = %s
3 p = poly ([5 5 0] , ’ s ’ , ’ c o e f f ’ ) ;
4 q = poly ([5 5 60 17 1] , ’ s ’ , ’ c o e f f ’ ) ;
5 M=p/q
6 disp (M , ”M( s )=” )
7 H =1;
8 R =1;
9 b = coeff ( p )
10 a = coeff ( q )
11
12 // s t e p i n p u t
13 if ( a (1 ,1) == b (1 ,1) ) then
14 printf ( ” f o r u n i t s t e p i n p u t E s s=0 \n ” )
15 else
16 Ess =1/ H *(1 -( b (1 ,1) * H / a (1 ,1) ) ) * R
17 disp ( Ess , ” f o r u n i t s t e p i n p u t E s s=” )
18 end
19
20 // ramp i n p u t
21 c =0
22 for i =1:2
23 if ( a (1 , i ) -b (1 , i ) * H ==0) then
24 c = c +1
25 end
26 end
27 if ( c ==2)
28 printf ( ” f o r u n i t ramp i n p u t E s s=0 \n ” )
29 else if ( c ==1) then
30 Ess =( a (1 ,2) -b (1 ,2) * H ) / a (1 ,1) * H
31 disp ( Ess , ” f o r u n i t ramp i n p u t E s s=” )
32 else printf ( ” f o r u n i t ramp i n p u t E s s= i n f \n ”
)
33 end
34 end
35
36 // p a r a b o l i c input
37 c =0
38 for i =1:3

48
39 if ( a (1 , i ) -b (1 , i ) * H ==0) then
40 c = c +1
41 end
42 end
43 if ( c ==3)
44 printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=0 \n ” )
45 else if ( c ==2) then
46 Ess =( a (1 ,3) -b (1 ,3) * H ) / a (1 ,1) * H
47 disp ( Ess , ” f o r u n i t p a r a b o l i c i n p u t E s s=”
)
48 else printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=
i n f \n ” )
49 end
50 end

Scilab code Exa 7.5 steady state errors from closed loop tf

1 // s t e a d y s t a t e e r r o r s from c l o s e d l o o p t r a n s f e r
functions
2 s = %s
3 p = poly ([5 1 0] , ’ s ’ , ’ c o e f f ’ ) ;
4 q = poly ([5 5 60 17 1] , ’ s ’ , ’ c o e f f ’ ) ;
5 M=p/q
6 disp (M , ”M( s )=” )
7 H =1;
8 R =1;
9 b = coeff ( p )
10 a = coeff ( q )
11
12 // s t e p i n p u t
13 if ( a (1 ,1) == b (1 ,1) ) then
14 printf ( ” f o r u n i t s t e p i n p u t E s s=0 \n ” )
15 else
16 Ess =1/ H *(1 -( b (1 ,1) * H / a (1 ,1) ) ) * R
17 disp ( Ess , ” f o r u n i t s t e p i n p u t E s s=” )

49
18 end
19
20 // ramp i n p u t
21 c =0
22 for i =1:2
23 if ( a (1 , i ) -b (1 , i ) * H ==0) then
24 c = c +1
25 end
26 end
27 if ( c ==2)
28 printf ( ” f o r u n i t ramp i n p u t E s s=0 \n ” )
29 else if ( c ==1) then
30 Ess =( a (1 ,2) -b (1 ,2) * H ) / a (1 ,1) * H
31 disp ( Ess , ” f o r u n i t ramp i n p u t E s s=” )
32 else printf ( ” f o r u n i t ramp i n p u t E s s= i n f \n ”
)
33 end
34 end
35
36 // p a r a b o l i c i n p u t
37 c =0
38 for i =1:3
39 if ( a (1 , i ) -b (1 , i ) * H ==0) then
40 c = c +1
41 end
42 end
43 if ( c ==3)
44 printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=0 \n ” )
45 else if ( c ==2) then
46 Ess =( a (1 ,3) -b (1 ,3) * H ) / a (1 ,1) * H
47 disp ( Ess , ” f o r u n i t p a r a b o l i c i n p u t E s s=”
)
48 else printf ( ” f o r u n i t p a r a b o l i c i n p u t E s s=
i n f \n ” )
49 end
50 end

50
 Scilab code Exa 7.6 steady state errors from closed loop tf

1 // s t e a d y s t a t e e r r o r s from c l o s e d l o o p t r a n s f e r
functions
2 s = %s
3 p = poly ([5 1 0] , ’ s ’ , ’ c o e f f ’ ) ;
4 q = poly ([10 10 60 17 1] , ’ s ’ , ’ c o e f f ’ ) ;
5 M=p/q
6 disp (M , ”M( s )=” )
7 H =2;
8 R =1;
9 b = coeff ( p )
10 a = coeff ( q )
11
12 // s t e p i n p u t
13 if ( a (1 ,1) == b (1 ,1) ) then
14 printf ( ” f o r s t e p i n p u t E s s=0 \n ” )
15 else
16 Ess =1/ H *(1 -( b (1 ,1) * H / a (1 ,1) ) ) * R
17 disp ( Ess , ” f o r s t e p i n p u t E s s=” )
18 end
19
20 // ramp i n p u t
21 c =0
22 for i =1:2
23 if ( a (1 , i ) -b (1 , i ) * H ==0) then
24 c = c +1
25 end
26 end
27 if ( c ==2)
28 printf ( ” f o r ramp i n p u t E s s=0 \n ” )
29 else if ( c ==1) then
30 Ess =( a (1 ,2) -b (1 ,2) * H ) / a (1 ,1) * H
31 disp ( Ess , ” f o r ramp i n p u t E s s=” )

51
32 else printf ( ” f o r ramp i n p u t E s s= i n f \n ” )
33 end
34 end
35
36 // p a r a b o l i c i n p u t
37 c =0
38 for i =1:3
39 if ( a (1 , i ) -b (1 , i ) * H ==0) then
40 c = c +1
41 end
42 end
43 if ( c ==3)
44 printf ( ” f o r p a r a b o l i c i n p u t E s s=0 \n ” )
45 else if ( c ==2) then
46 Ess =( a (1 ,3) -b (1 ,3) * H ) / a (1 ,1) * H
47 disp ( Ess , ” f o r p a r a b o l i c i n p u t E s s=” )
48 else printf ( ” f o r p a r a b o l i c i n p u t E s s= i n f \n ”
)
49 end
50 end

52
 Chapter 8

Root Locus Technique

Scilab code Exa 8.1 poles and zeros

1 // p o l e s and z e r o e s
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +1) /( s *( s +2) *( s +3) ) )
4 plzr ( sys )
5 printf ( ” t h r e e p o i n t s on t h e r o o t l o c i a t which K=0
and t h o s e a t which K= i n f a r e shown i n f i g ” )

Scilab code Exa 8.2 root locus

1 // r o o t l o c u s
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +1) /( s *( s +2) *( s +3) ) )
4 evans ( sys )
5 printf ( ” number o f b r a n c h e s o f r o o t l o c i i s 3 as
e q u a t i o n i s o f 3 rd o r d e r ”)

53
Figure 8.1: poles and zeros

54
Figure 8.2: root locus

55
 Figure 8.3: root locus

Scilab code Exa 8.3 root locus

1 // r o o t l o c u s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +2) *( s +1) ) )
4 clf
5 evans ( sys )
6 printf ( ” r o o t l o c i i s s y m m e t i c a l t o b o t h a x i s ” )

56
 Figure 8.4: root locus

Scilab code Exa 8.4 root locus

1 // r o o t l o c u s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +2) *( s ^2+2* s +2) ) )
4 clf
5 evans ( sys )
6 printf ( ” when p o l e z e r o c o n f i g u r a t i o n i s s y m m e t r i c a l
wrt a p o i n t i n s p l a n e , t h e n r o o t l o c i is
symmetrical to that point ”)

57
 Figure 8.5: root locus

Scilab code Exa 8.5 root locus

1 // r o o t l o c u s
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +1) /( s *( s +4) *( s ^2+2* s +2) ) )
4 clf
5 evans ( sys )
6 n =4;
7 disp (n , ” no o f p o l e s=” )
8 m =1;
9 disp (m , ” no o f p o l e s=” )

58
10 // a n g l e o f a s y m p t o t e s
11 printf ( ” a n g l e o f a s y m p t o t e s o f RL” )
12 for i =0:( n -m -1)
13 O =((2* i ) +1) /( n - m ) *180
14 disp (O , ” q=” )
15 end
16 printf ( ” a n g l e o f a s y m p t o t e s o f CRL” )
17 for i =0:( n -m -1)
18 O =(2* i ) /( n - m ) *180
19 disp (O , ” q=” )
20 end
21 // c e n t r o i d
22 printf ( ” C e n t r o i d =(( sum o f a l l r e a l p a r t o f poles of
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 ” )
23 C =((0 -4 -1 -1) -( -1) ) /( n - m ) ;
24 disp (C , ” c e n t r o i d=” )

Scilab code Exa 8.8 angle of departure and angle of arrivals

1 // a n g l e o f d e p a r t u r e and a n g l e o f a r r i v a l s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +3) *( s ^2+2* s +2) ) )
4 clf
5 evans ( sys )
6 printf ( ” a n g l e o f a r r i v a l and d e p a r t u r e o f r o o t loci
on t h e r e a l a x i s a r e n o t a f f e c t e d by c o m p l e x
p o l e s and z e r o e s o f G( s )H( s ) ” )

Scilab code Exa 8.9 multiple order pole

59
Figure 8.6: angle of departure and angle of arrivals

60
 Figure 8.7: intersection of root loci with real axis

1 // m u l t i p l e o r d e r p o l e
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +3) /( s *( s +2) ^3) )
4 clf
5 evans ( sys )
6 printf ( ” t h i s shows t h a t w h o l e r e a l axis i s occupied
by RL and CRL” )

Scilab code Exa 8.10 intersection of root loci with real axis

1 // i n t e r s e c t i o n o f r o o t l o c i w i t h r e a l a x i s

61
 Figure 8.8: breakaway points

2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +3) *( s ^2+2* s +2) ) )
4 clf
5 evans ( sys )
6 K = kpure ( sys )
7 disp (K , ” v a l u e o f K where RL c r o s s e s jw a x i s=” )
8 p = poly ([ K 6 8 5 1] , ’ s ’ , ’ c o e f f ’ )
9 x = roots ( p )
10 x1 = clean ( x (1 ,1) )
11 x2 = clean ( x (2 ,1) )
12 disp ( x2 , x1 , ” c r o s s o v e r p o i n t s on jw a x i s=” )

62
 Scilab code Exa 8.11 breakaway points

1 // breakaway p o i n t s
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +4) /( s *( s +2) ) )
4 evans ( sys )
5 syms s
6 d = derivat ( sys )
7 n = numer ( d )
8 a = roots ( n ) // a=breakaway p o i n t s
9 disp (a , ” breakaway p o i n t s=” )
10 for i =1:2
11 K = - a (i ,1) *( a (i ,1) +2) /( a (i ,1) +4)
12 disp ( a (i ,1) ,” s=” )
13 disp (K , ”K=” )
14 end
15 printf ( ” i f K i s p o s i t i v e breakaway p o i n t l i e s on RL
o r e l s e on CRL” )

Scilab code Exa 8.12 breakaway points

1 // breakaway p o i n t s
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +2) /( s ^2+2* s +2) )
4 evans ( sys )
5 syms s
6 d = derivat ( sys )
7 n = numer ( d )
8 a = roots ( n ) // a=breakaway p o i n t s
9 disp (a , ” breakaway p o i n t s=” )
10 for i =1:2
11 K = -( a (i ,1) ^2+2* a (i ,1) +2) /( a (i ,1) +2)
12 disp ( a (i ,1) ,” s=” )

63
Figure 8.9: breakaway points

64
 Figure 8.10: breakaway points

13 disp (K , ”K=” )
14 end
15 printf ( ” i f K i s p o s i t i v e breakaway p o i n t l i e s on RL
o r e l s e on CRL” )

Scilab code Exa 8.13 breakaway points

1 // breakaway p o i n t s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +4) *( s ^2+4* s +20) ) )
4 evans ( sys )

65
 Figure 8.11: breakaway points

5 syms s
6 d = derivat ( sys )
7 n = numer ( d )
8 a = roots ( n ) // a=breakaway p o i n t s
9 disp (a , ” breakaway p o i n t s=” )
10 for i =1:3
11 K = - a (i ,1) *( a (i ,1) +4) *( a (i ,1) ^2+4* a (i ,1) +20)
12 disp ( a (i ,1) ,” s=” )
13 disp (K , ”K=” )
14 end
15 printf ( ” i f K i s p o s i t i v e breakaway p o i n t l i e s on RL
o r e l s e on CRL” )

66
 Scilab code Exa 8.14 breakaway points

1 // breakaway p o i n t s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s ^2+2* s +2) ) )
4 evans ( sys )
5 syms s
6 d = derivat ( sys )
7 n = numer ( d )
8 a = roots ( n ) // a=breakaway p o i n t s
9 disp (a , ” breakaway p o i n t s=” )
10 for i =1:2
11 K = - a (i ,1) ^2+2* a (i ,1) +2
12 disp ( a (i ,1) ,” s=” )
13 disp (K , ”K=” )
14 end
15 printf ( ” i f K i s c o m p l e x t h e n p o i n t i s n o t a b r e a k
away p o i n t ” )

Scilab code Exa 8.15 root sensitivity

1 // r o o t s e n s i t i v i t y
2 s = %s
3 sys1 = syslin ( ’ c ’ ,1/( s *( s +1) ) )
4 evans ( sys1 )
5
6 sys2 = syslin ( ’ c ’ ,( s +2) /( s ^2*( s +1) ^2) )
7 evans ( sys2 )
8
9 printf ( ” r o o t d e n s i t i v i t y a t breakaway p o i n t s is
i n f i n i t e ”)

67
 Figure 8.12: root sensitivity

Scilab code Exa 8.16 calculation of K on root loci

1 // c a l c u l a t i o n o f K on r o o t l o c i
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +2) /( s ^2+2* s +2) )
4 evans ( sys )
5 // v a l u e o f K a t s =0

68
Figure 8.13: root sensitivity

69
Figure 8.14: calculation of K on root loci

70
 6 printf ( ”K=A∗B/C \n A and B a r e l e n t h s o f v e c t o r s
drawn from p o l e s o f s y s \n C i s l e n t h s o f v e c t o r
drawn from z e r o o f s y s ” )
7 A = sqrt (( -1) ^2+1^2)
8 B = sqrt (( -1) ^2+( -1) ^2)
9 C = -2
10 K=A*B/C
11 disp (K , ” v a l u e o f K a t s =0 i s ” )

Scilab code Exa 8.17 properties of root loci

1 // p r o p e r t i e s o f r o o t l o c i
2 s = %s
3 sys = syslin ( ’ c ’ ,( s +3) /( s *( s +5) *( s +6) *( s ^2+2* s +2) ) )
4 d = denom ( sys )
5 n = numer ( sys )
6 p = roots ( d )
7 z = roots ( n )
8 disp (p , ” p o l e s o f s y s=” )
9 disp (z , ” z e r o e s o f s y s=” )
10 n = length ( p )
11 m = length ( z )
12 disp (n , ” no o f p o l e s=” )
13 disp (m , ” no o f z e r o e s=” )
14 if (n > m ) then
15 disp (n , ” no o f b r a n c h e s o f RL=” )
16 else
17 disp (m , ” no o f b r a n c h e s o f CRL=” )
18 end
19 printf ( ” t h e r o o t l o c i a r e s y m m e t r i c a l w i t h r e s p e c t
to the r e a l a x i s of the plane ”)

Scilab code Exa 8.18 effect of addition of poles to system

71
 Figure 8.15: effect of addition of poles to system

1 // e f f e c t o f a d d i t i o n o f p o l e s t o s y s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +1) ) ) // a=1
4 evans ( sys )
5 sys1 = syslin ( ’ c ’ ,1/( s *( s +1) *( s +2) ) ) // b=2
6 evans ( sys1 )
7 printf ( ” a d d i n g a p o l e t o s y s h a s e f f e c t o f p u s h i n g
t h e r o o t l o c i t o w a r d s t h e RHP” )

72
Figure 8.16: effect of addition of poles to system

73
 Figure 8.17: effect of addition of zeroes to system

Scilab code Exa 8.19 effect of addition of zeroes to system

1 // e f f e c t o f a d d i t i o n o f z e r o e s t o s y s
2 s = %s
3 sys = syslin ( ’ c ’ ,1/( s *( s +1) ) ) // a=1
4 evans ( sys )
5 sys1 = syslin ( ’ c ’ ,( s +2) /( s *( s +1) ) ) // b=2
6 // e v a n s ( s y s 1 )
7 printf ( ” a d d i n g a LHP z e r o t o s y s h a s e f f e c t of
moving and b e n d i n g t h e r o o t l o c i t o w a r d s t h e LHP”
)

74
Figure 8.18: effect of addition of zeroes to system

75
 Scilab code Exa 8.20 effect of moving poles near jw axis

1 // e f f e c t o f moving p o l e n e a r jw a x i s
2 s = %s
3 sys1 = syslin ( ’ c ’ ,( s +1) /( s ^2*( s +10) ) ) // a=10 b=1
4 evans ( sys1 )
5 sys2 = syslin ( ’ c ’ ,( s +1) /( s ^2*( s +9) ) ) // a=9
6 evans ( sys2 )
7 sys3 = syslin ( ’ c ’ ,( s +1) /( s ^2*( s +8) ) ) // a=8
8 evans ( sys3 )
9 sys4 = syslin ( ’ c ’ ,( s +1) /( s ^2*( s +3) ) ) // a=3
10 evans ( sys4 )
11 sys5 = syslin ( ’ c ’ ,( s +1) /( s ^2*( s +1) ) ) // a=1
12 evans ( sys5 )
13 printf ( ” a s p o l e i s moved t o w a r d s jw a x i s RL a l s o
moves t o w a r d s jw a x i s ” )

Scilab code Exa 8.21 effect of moving poles awat from jw axis

1 // e f f e c t o f moving p o l e away from jw a x i s

2 s = %s
3 sys1 = syslin ( ’ c ’ ,( s +2) /( s *( s ^2+2* s +1) ) ) // a=1
4 evans ( sys1 )
5 sys2 = syslin ( ’ c ’ ,( s +1) /( s *( s ^2+2* s +1.12) ) ) // a =1.12
6 evans ( sys2 )
7 sys3 = syslin ( ’ c ’ ,( s +1) /( s *( s ^2+2* s +1.185) ) ) // a
=1.185
8 evans ( sys3 )

76
Figure 8.19: effect of moving poles near jw axis

77
Figure 8.20: effect of moving poles near jw axis

78
 Figure 8.21: effect of moving poles awat from jw axis

9 sys4 = syslin ( ’ c ’ ,( s +1) /( s *( s ^2+2* s +3) ) ) // a=3

10 evans ( sys4 )
11 printf ( ” a s p o l e i s moved away from jw a x i s RL a l s o
moves away from jw a x i s ” )

79
Figure 8.22: effect of moving poles awat from jw axis

80
 Chapter 9

Frequency Domain Analysis

Scilab code Exa 9.1 nyquist plot

1 // n y q u i s t p l o t
2 s = %s ;
3 sys = syslin ( ’ c ’ ,1/( s *( s +2) *( s +10) ) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 K = kpure ( sys )
7 disp (K , ” s y s t e m i s s t a b l e f o r 0<K<” )

Scilab code Exa 9.2 nyquist plot

1 // n y q u i s t p l o t
2 s = %s ;
3 sys = syslin ( ’ c ’ ,s *( s ^2+2* s +2) /( s ^2+5* s +1) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )

81
Figure 9.1: nyquist plot

82
Figure 9.2: nyquist plot

83
 Figure 9.3: stability of non minimum phase loop tf

6 printf ( ” 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 h e number o f z e r o s o f 1+G( s )H( s ) i n
t h e RHP i s N>0 \n h e n c e t h e s y s t e m i s u n s t a b l e ” )

Scilab code Exa 9.3 stability of non minimum phase loop tf

1 // s t a b i l i t y o f non minimum p h a s e l o o p
transfer function
2 s = %s ;
3 sys = syslin ( ’ c ’ ,( s ^2 - s +1) / s *( s ^2 -6* s +5) )
4 nyquist ( sys )

84
 Figure 9.4: stability of minimum phase loop tf

5 show_margins ( sys , ’ n y q u i s t ’ )
6 printf ( ”Z=0 h e n c e s y s i s c l o s e d l o o p s t a b l e but a s
i t i s a non minimum p h a s e l o o p f u n c t i o n i t s h o u l d
s a t i s f y angle c r i t e r i o n ”)
7 Z =0 // no o f z e r o e s o f 1+G( s )H( s ) i n RHP
8 P =2 // no o f p o l e s i n RHP
9 Pw =1 // no o f p o l e s on jw a x i s i n c l u d i n g o r i g i n
10 theta =( Z -P -0.5* Pw ) *180
11 disp ( theta , ” t h e t a=” )
12 printf ( ” t h e t a from n y q u i s t p l o t = −90 \n h e n c e
system i s unstabe ”)

85
 Scilab code Exa 9.4 stability of minimum phase loop tf

1 // s t a b i l i t y o f minimum p h a s e l o o p t r a n s f e r f u n c t i o n
2 s = %s ;
3 sys = syslin ( ’ c ’ ,1/( s *( s +2) *( s +10) ) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 Z =0 // no o f z e r o e s o f 1+G( s )H( s ) i n RHP
7 P =0 // no o f p o l e s i n RHP
8 Pw =1 // no o f p o l e s on jw a x i s i n c l u d i n g o r i g i n
9 theta =( Z -P -0.5* Pw ) *180
10 disp ( theta , ” t h e t a=” )
11 printf ( ” t h e t a from n y q u i s t p l o t = −90 \n h e n c e
system i s stabe ”)

Scilab code Exa 9.5 stability of non minimum phase loop tf

1 // s t a b i l i t y o f non minimum p h a s e l o o p
transfer function
2 s = %s ;
3 sys = syslin ( ’ c ’ ,(s -1) / s *( s +1) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 P =0 // no o f p o l e s i n RHP
7 Pw =1 // no o f p o l e s on jw a x i s i n c l u d i n g o r i g i n
8 theta =90 // a s s e e n from n y q u i s t p l o t
9 Z =( theta /180) +0.5* Pw + P
10 disp (Z , ”Z=” )
11 printf ( ”Z i s n o t e q u a l t o 0 . \n h e n c e s y s t e m i s
unstabe ”)

86
Figure 9.5: stability of non minimum phase loop tf

87
Figure 9.6: stability of non minimum phase loop tf

88
 Scilab code Exa 9.6 stability of non minimum phase loop tf

1 // s t a b i l i t y o f non minimum p h a s e l o o p
transfer function
2 s = %s ;
3 sys = syslin ( ’ c ’ ,10*( s +2) /( s ^3+3* s ^2+10) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 printf ( ”Z=0 h e n c e s y s i s c l o s e d l o o p s t a b l e but a s
i t i s a non minimum p h a s e l o o p f u n c t i o n i t s h o u l d
s a t i s f y angle c r i t e r i o n ”)
7 Z =0 // no o f z e r o e s o f 1+G( s )H( s ) i n RHP
8 P =2 // no o f p o l e s i n RHP
9 Pw =0 // no o f p o l e s on jw a x i s i n c l u d i n g o r i g i n
10 theta =( Z -P -0.5* Pw ) *180
11 disp ( theta , ” t h e t a f o r s t a b i l i t y =” )
12 printf ( ” t h e t a from n y q u i s t p l o t = −360 \n h e n c e
system i s stabe ”)

Scilab code Exa 9.7 stability of non minimum phase loop tf

1 // s t a b i l i t y o f non minimum p h a s e l o o p
transfer function
2 s = %s ;
3 sys = syslin ( ’ c ’ ,1/( s +2) *( s ^2+4) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 Z =0 // no o f z e r o e s o f 1+G( s )H( s ) i n RHP( f o r s y s t o be
stable )
7 P =0 // no o f p o l e s i n RHP

89
Figure 9.7: stability of non minimum phase loop tf

90
 8 Pw =2 // no o f p o l e s on jw a x i s i n c l u d i n g o r i g i n
9 theta =( Z -P -0.5* Pw ) *180
10 disp ( theta , ” f o r s t a b i l i t y t h e t a=” )
11 printf ( ” t h e t a from n y q u i s t p l o t = 135 \n h e n c e
system i s unstabe ”)

Scilab code Exa 9.8 effect of addition of poles

1 // e f f e c t o f a d d i t i o n o f p o l e s
2 s = %s ;
3 sys1 = syslin ( ’ c ’ ,1/( s ^2*( s +1) ) ) // t a k i n g T1=1
4 nyquist ( sys1 )
5 show_margins ( sys1 , ’ n y q u i s t ’ )
6 sys2 = syslin ( ’ c ’ ,1/( s ^3*( s +1) ) )
7 // n y q u i s t ( s y s 2 )
8 // s h o w m a r g i n s ( s y s 2 , ’ n y q u i s t ’ )
9 printf ( ” t h e s e two p l o t s show t h a t a d d i t i o n o f poles
d e c r e a s e s s t a b i l i t y ”)

Scilab code Exa 9.9 effect of addition of zeroes

1 // e f f e c t o f a d d i t i o n o f z e r o e s
2 s = %s ;
3 sys1 = syslin ( ’ c ’ ,1/( s *( s +1) *(2* s +1) ) ) // t a k i n g T1=1 ,T2
=2
4 nyquist ( sys1 )
5 show_margins ( sys1 , ’ n y q u i s t ’ )
6 sys2 = syslin ( ’ c ’ ,(3* s +1) /( s *( s +1) *(2* s +1) ) ) //Td=3
7 // n y q u i s t ( s y s 2 )

91
Figure 9.8: effect of addition of poles

92
Figure 9.9: effect of addition of poles

93
 Figure 9.10: effect of addition of zeroes

8 // s h o w m a r g i n s ( s y s 2 , ’ n y q u i s t ’ )
9 printf ( ” t h e s e two p l o t s show t h a t a d d i t i o n o f p o l e s
i n c r e a s e s s t a b i l i t y ”)

Scilab code Exa 9.10 multiple loop systems

1 // m u l t i p l e l o o p s y s t e m s

94
Figure 9.11: effect of addition of zeroes

95
Figure 9.12: multiple loop systems

96
2 s = %s ;
3 Z = 0;
4 innerloop = syslin ( ’ c ’ ,6/ s *( s +1) *( s +2) )
5 nyquist ( innerloop )
6 show_margins ( innerloop , ’ n y q u i s t ’ )
7 printf ( ” n y q u i s t p l o t i n t e r s e c t s jw a x i s a t −1 s o
i n n e r l o o p i s marginally s t a b l e ”)
8 outerloop = syslin ( ’ c ’ ,100*( s +0.1) /( s +10) *( s ^3+3* s
^2+2* s +6) )
9 // n y q u i s t ( o u t e r l o o p )
10 show_margins ( outerloop , ’ n y q u i s t ’ )
11 P =0 // no o f p o l e s on RHP
12 Pw =2 // no o f p o l e s on jw a x i s
13 theta = -(Z -P -0.5* Pw ) *180
14 Z =0 // f o r o u t e r l o o p t o be s t a b l e
15 disp ( theta , ” t h e t a f o r s t a b i l i t y =” )
16 printf ( ” t h e t a a s s e e n from n y q u i s t p l o t i s same a s
t h a t r e q u i r e d f o r s t a b i l i t y \n h e n c e o u t e r l o o p
i s s t a b l e ”)

Scilab code Exa 9.14 gain margin and phase margin

1 // g a i n m a r g i n and p h a s e m a r g i n
2 s = %s ;
3 sys = syslin ( ’ c ’ ,(2500) /( s *( s +5) *( s +50) ) )
4 nyquist ( sys )
5 show_margins ( sys , ’ n y q u i s t ’ )
6 gm = g_margin ( sys )
7 pm = p_margin ( sys )
8 disp ( gm , ” g a i n m a r g i n=” )
9 disp ( pm , ” p h a s e m a r g i n=” )

97
Figure 9.13: gain margin and phase margin

98
 Figure 9.14: bode plot

Scilab code Exa 9.15 bode plot

1 // bode p l o t
2 s = %s ;
3 sys = syslin ( ’ c ’ ,(2500) /( s *( s +5) *( s +50) ) )
4 bode ( sys )
5 show_margins ( sys , ’ bode ’ )
6 gm = g_margin ( sys )
7 pm = p_margin ( sys )
8 disp ( gm , ” g a i n m a r g i n=” )

99
 Figure 9.15: relative stability

9 disp ( pm , ” p h a s e m a r g i n=” )
10 if ( gm <=0 | pm <=0)
11 printf ( ” s y s t e m i s u n s t a b l e ” )
12 else
13 printf ( ” s y s t e m i s s t a b l e ” )
14 end

Scilab code Exa 9.17 relative stability

1 // r e l a t i v e stability
2 s = %s ;

100
 3 sys = syslin ( ’ c ’ ,(100) *( s +5) *( s +40) /( s ^3*( s +100) *( s
+200) ) ) //K=1
4 bode ( sys )
5 show_margins ( sys , ’ bode ’ )
6 gm = g_margin ( sys )
7 pm = p_margin ( sys )
8 disp ( gm , ” g a i n m a r g i n=” )
9 disp ( pm , ” p h a s e m a r g i n=” )
10 if ( gm <=0 | pm <=0)
11 printf ( ” s y s t e m i s u n s t a b l e ” )
12 else
13 printf ( ” s y s t e m i s s t a b l e ” )
14 end

101