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Cep Control

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11 views12 pages

Cep Control

Uploaded by

mhkzark
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Transfer Function:

Code:

clear all
clc
A=[0 1;-0.152 -0.152];
B=[0;0.017];
C=[1 0];
D=0;
sys=ss2tf(A,B,C,D);
[num,denum]=ss2tf(A,B,C,D);
g=tf(num,denum)

Result:

Step Response:
Code:
clear all
clc
A=[0 1;-0.152 -0.152];
B=[0;0.017];
C=[1 0];
D=0;
sys=ss2tf(A,B,C,D);
[num,denum]=ss2tf(A,B,C,D);
g=tf(num,denum)
stepinfo(g);
h=feedback(g,1);
stepinfo(h);
hold on
s=tf('s');
P=0.017/(s^2+0.152*s+0.152)
step(P)
Result:
VZ

Step Info:

 Simulink Result:
Ramp Response:
Impulse Response:
Canonical Form:
Code:
num=[0 0.017 0];
denum=[1 0.152 0.152];
Gp=tf(num,denum);

GpssObs = canon(Gp,'companion');
GpssObsA = GpssObs.A
GpssObsB = GpssObs.B
GpssObsC = GpssObs.C
GpssObsD = GpssObs.D

Result:
Roots of Transfer Function:

Poles and Zeros Map:


clear all
clc
A=[0 1;-0.152 -0.152];
B=[0;0.017];
C=[1 0];
D=0;
sys=ss2tf(A,B,C,D);
[num,denum]=ss2tf(A,B,C,D);
g=tf(num,denum)
stepinfo(g)
pzmap(g)
Ruth Hurwitz Stability Criterion:
MATLAB Code:
clc;
disp(' ')
D=input('Input coefficients of characteristic equation,i.e:[an an-1 an-2 ...
a0]= ');
l=length (D);
disp(' ')
disp('----------------------------------------')
disp('Roots of characteristic equation is:')
roots(D)
if mod(l,2)==0
m=zeros(l,l/2);
[cols,rows]=size(m);
for i=1:rows
m(1,i)=D(1,(2*i)-1);
m(2,i)=D(1,(2*i));
end
else
m=zeros(l,(l+1)/2);
[cols,rows]=size(m);
for i=1:rows
m(1,i)=D(1,(2*i)-1);
end
for i=1:((l-1)/2)
m(2,i)=D(1,(2*i));
end
end
for j=3:cols

if m(j-1,1)==0
m(j-1,1)=0.001;
end

for i=1:rows-1
m(j,i)=(-1/m(j-1,1))*det([m(j-2,1) m(j-2,i+1);m(j-1,1) m(j-1,i+1)]);
end
end
disp('--------The Routh-Hurwitz array is:--------'),m
% --------------------End of Bulding array--------------------------------
% Checking for sign change
Temp=sign(m);a=0;
for j=1:cols
a=a+Temp(j,1);
end
if a==cols
disp(' ----> System is Stable <----')
else
disp(' ----> System is Unstable <----')
end

Results:

Root locus on Matlab:


Using PID Tuner:
Final Code after PID Tuner:
clear all
clc
A=[0 1;-0.152 -0.152];
B=[0;0.017];
C=[1 0];
D=0;
sys=ss2tf(A,B,C,D);
[num,denum]=ss2tf(A,B,C,D);
g=tf(num,denum);
stepinfo(g);
hold on
Kp=285.8179;
Ki=51.5319;
Kd=396.3167;
x=pid(Kp,Ki,Kd);
y=feedback(x*g,1);
stepinfo(y)
step(y)
Simulink Model:

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