Mathcad for Controls 1 of 14

M := 0.001 d := 0.001 k := 1000 ω := 800

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tfinal := 0.1 steps := 1000 v ( t) := sin ( ω ⋅ t)

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Numerical Solution:
Given

d2 d
M⋅ y ( t) + d ⋅ y ( t) + k ⋅ y ( t) = v ( t)
2 dt
dt
y ( 0) = 0

y' ( 0) = 0

(
y := Odesolve t , tfinal , steps )
( )
y tfinal = −1.685 × 10 − 3

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Mathcad for Controls 2 of 14

tfinal
t := 0 , .. tfinal
steps

0.005

y ( t) 0

0.005
0 0.02 0.04 0.06 0.08 0.1
t

d
v ( t) := y ( t)
dt

v ( t)
0 0.02 0.04 0.06 0.08 0.1

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Mathcad for Controls 3 of 14

Transfer Function (Plant):

1
Gp ( s) :=
2
M⋅ s + d⋅ s + k
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Denominator Coefficients, b:

⎛ 1000 ⎞ k
b := denom ( Gp ( s) ) coeffs , s → ⎜ .1e-2 ⎟ d
⎜ ⎟
⎝ .1e-2 ⎠ M
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Zeros (none) and Poles: (polyroots can handle large polynomials)

⎛ −0.5 − 1000i ⎞
X := polyroots ( b) X= ⎜ ⎟
⎝ − 0.5 + 1000i ⎠
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Pole-Zero Map:

1000

Im ( X) 0

1000
0.6 0.5 0.4
Re ( X)

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Mathcad for Controls 4 of 14

Unit Step Response:

1
U ( s) :=
s

1
Y ( s) := Gp ( s) ⋅ U ( s) →
(.1e-2 ⋅ s2 + .1e-2 ⋅ s + 1000) ⋅ s

invlaplace , s , t ( − .50000) ⋅ t
y ( t) := Y ( s) → .10000e-2 − .10000e-2 ⋅ e ⋅ cos ( 10
float , 5

0.002

y ( t) 0.001

0
0 0.02 0.04 0.06 0.08 0.1
t

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Mathcad for Controls 5 of 14

Response to v(t): t := t

v ( t) := sin ( ω ⋅ t)
800
V ( s) := v ( t) laplace , t , s →
2
s + 640000

800
Y ( s) := Gp ( s) ⋅ V ( s) →
(.1e-2 ⋅ s2 + .1e-2 ⋅ s + 1000) ⋅ (s2 + 640000)

invlaplace , s , t

y ( t) := Y ( s) expand , s → .61728e-5 ⋅ e
( − .50000) ⋅ t
⋅ cos ( 1000.0 ⋅ t) − .2
simplify
float , 5

0.005

y ( t) 0

0.005
0 0.02 0.04 0.06 0.08 0.1
t

( )
y tfinal = −1.685 × 10 − 3

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Mathcad for Controls 6 of 14

Bode Plot: ORIGIN := 1

|
n := 1001 |
\|/
(
ω := logspace 10 2 , 10 6 , n ) ω1 = 100 ωn = 1 × 10 6

k := 1 .. n

0 1000

50

( (
20 ⋅ log Gp ω k ⋅ j )) 100

150

200
1 .10 1 .10 1 .10 1 .10
3 4 5 6
100
ωk

0 1000

50

⎛ 360 ⎞
( (
arg Gp ω k ⋅ j ⋅ ⎜ )) ⎟ 100
⎝ 2⋅ π ⎠
150

200
1 .10 1 .10 1 .10 1 .10
3 4 5 6
100
ωk

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Mathcad for Controls 7 of 14

Nyquist Plot:
1
Gp ( s) →
2
.1e-2 ⋅ s + .1e-2 ⋅ s + 1000

( ( )
ω := stack −logspace 10 6 , 10 2 , 200000 , logspace 10 2 , 10 6 , 200000 ( ))
k := 1 .. rows ( ω )

1
1
−
2

0.5

( (
Im Gp ω k ⋅ j )) 1 0.5 0 0.5 1

0.5

( (
Re Gp ω k ⋅ j ))

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Mathcad for Controls 8 of 14

Define Feedback Loop with Derivative Controller:

1
Gp ( s) →
2
.1e-2 ⋅ s + .1e-2 ⋅ s + 1000

Ki
( )
Gc s , Ki := 1 +
s
+ 0.001 ⋅ s

H ( s) := 1
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Gp ( s) ⋅ Gc s , Ki ( )
(
G s , Ki :=) ( )
1 + Gp ( s) ⋅ Gc s , Ki ⋅ H ( s) (
G s , Ki )

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Mathcad for Controls 9 of 14

Unit response, varying Ki:

2
1000. ⋅ s + 1000. ⋅ Ki + s
( ) ( )
Y s , Ki := G s , Ki ⋅ U ( s) simplify →
(3 2
s ⋅ s + 2. ⋅ s + 1001000. ⋅ s + 1000. ⋅ Ki )
convert , parfrac , s ⎛ 1000 ⋅ s + 1000 ⋅ K
⎜
( )
y t , Ki := Y s , Ki( ) invlaplace , s , t
→ invlaplace
⎜ s 4 + 2 ⋅ s 3 + 1001000 ⋅ s 2
⎝
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⎛ 1000. ⋅ Ki ⎞
⎜ ⎟
( )
a Ki := numer Y s , Ki ( ( )) coeffs , s → ⎜ 1000. ⎟
⎜ ⎟
⎝ 1 ⎠

⎛ 0 ⎞
⎜ ⎟
⎜ 1000. ⋅ Ki ⎟
( )
b Ki := denom Y s , Ki ( ( )) coeffs , s → ⎜ 1001000. ⎟
⎜ ⎟
⎜ 2. ⎟
⎜ ⎟
⎝ 1 ⎠
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( )
O Ki := polyroots a Ki ( ( )) O := O

( )
X Ki := polyroots b Ki ( ( )) X := X

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Mathcad for Controls 10 of 14

⎛ a ( Ki) 3 ⎞ k =
∏ (s − O (Ki)k) O
Y ( s , Ki) := ⎜
1
⎟⋅ 4 convert , parfrac , s →
b ( Ki) 5 ⎡⎣( −X ( Ki) 4)
⎝ ⎠
∏ (s − X (Ki)k)
k= 1

( ) ( ) ( ) ( )
−⎡O Ki 1 ⋅ X Ki 1 − O Ki 1 ⋅ O Ki 2 −
⎣
( ) ( )
y t , Ki := Y s , Ki invlaplace , s , t →
( ( )) ( ) ( ( ))
⎡⎣ −X Ki 4 + X Ki 1⎤⎦ ⋅ ⎡⎣ −X Ki 3 + X

t1 := 0 , 0.0001 .. 0.1 t2 := 0 , 0.01 .. 10

0.1 1

y ( t1 , 1) 0.05 y ( t2 , 1) 0.5
y ( t1 , 500) y ( t2 , 500)
y ( t1 , 1000) y ( t2 , 1000)
0 0.05 0.1 0 5 10

0.05 0.5

t1 t2

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Mathcad for Controls 11 of 14

Bode Plot, varying Ki:

n := 1001

(
ω := logspace 10 − 4 , 10 4 , n )
k := 1 .. n

( (
20 ⋅ log G ω k ⋅ j , 1 )) 20

20 ⋅ log ( G ( ω k ⋅ j , 500) ) 40
20 ⋅ log ( G ( ω k ⋅ j , 1000) )
60

80
1 .10 1 .10 0.01 100 1 .10 1 .10
4 3 3 4
0.1 1 10
ωk

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Mathcad for Controls 12 of 14

Nyquist Plot:

2
expand , s 1000. ⋅ s + 1000. ⋅ Ki + s
(
G s , Ki ) simplify
→
3 2
s + 2. ⋅ s + 1001000. ⋅ s + 1000. ⋅ Ki

( ( )
ω := stack −logspace 10 4 , 10 − 1 , 50000 , logspace 10 − 1 , 10 4 , 50000( ))
k := 1 .. rows ( ω )

− 0.5 1

0.5
( (
Im G ω k ⋅ j , 1 ))
Im ( G ( ω k ⋅ j , 500) )
1 0.5 0 0.5 1
Im ( G ( ω k ⋅ j , 1000) )

0.5

( ( )) ( ( )) ( ( ))
Re G ω k ⋅ j , 1 , Re G ω k ⋅ j , 500 , Re G ω k ⋅ j , 1000

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Mathcad for Controls 13 of 14

MATLAB-produced Nyquist Plot:

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Mathcad for Controls 14 of 14

Root-Locus Plot:

Ki := 1 , 11 .. 1001

1500

1000
( ( ))
Im O Ki 1

Im ( O ( Ki) 2)
500
Im ( X ( Ki) 1)

Im ( X ( Ki) 2)
1000 900 800 700 600 500 400 300 200 100
Im ( X ( Ki) 3)

Im ( X ( Ki) 4) 500

1000

1500

( ( )) ( ( )) ( ( )) ( ( )) ( ( ))
Re O Ki 1 , Re O Ki 2 , Re X Ki 1 , Re X Ki 2 , Re X Ki 3 , Re X (

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