EXP 5: State Space to Transfer Function

Code 1:

A=[-2 –1;-3 –5];

B=[1 2]’;

C=[3 2];

D=[0];

[num,den]=ss2tf(A,B,C,D)

printsys(num,den,’s’)
Output:

Code 2:

A=[0 2 3;0 6 5;1 4 2];

B=[0 1 1]';

C=[1 2 0];

D=[0];

[num,den]=ss2tf(A,B,C,D)

printsys(num,den,'s')
Output:

Transfer Function to State Space

num=[24];

den=[1 9 26 24];

[A,B,C,D]=tf2ss(num,den)

Output:
Code 2:

num=[30];

den=[1 8 9 6 1 30];

[A,B,C,D]=tf2ss(num,den)

Output:
EXP 6: Determine Pole Zero Location, Values of Natural Frequency and Damping Ratio
Code a:

y=tf([400],[1 12 400])

pzmap(y);

sgrid

[wn,zeta]=damp(y)

Output:
Code b:

y=tf([900],[1 90 900])

pzmap(y)

sgrid

[wn,zeta]=damp(y)

Output:
Code c:

y=tf([225],[1 30 225])

pzmap(y)

sgrid

[wn,zeta]=damp(y)

Output:
Code d:

y=tf([625],[1 0 625])

pzmap(y)

sgrid

[wn,zeta]=damp(y)

Output:
Code 1:

wn=10;

zeta=0.3;

[num0,den]=ord2(wn,zeta)

num=wn^2;
printsys(num,den,'s')

Output:

Code 2:

wn=20;

zeta=0;

[num0,den]=ord2(wn,zeta)

num=wn^2;
printsys(num,den,'s')

Output:

Code 3:

wn=25;

zeta=0.8;

[num0,den]=ord2(wn,zeta)
num=wn^2;

printsys(wn,zeta,'s')

Output:

Code 4:

wn=30;

zeta=1.0;

[num0,den]=ord2(wn,zeta)

num=wn^2;
printsys(num,den,'s')

Output:
EXP 7: Transient and Steady State Responses

Code:

num = 10;

den = [1 2 10];

subplot(3,1,1); % Unit Step Response

step(num, den);

title('Step');

subplot(3,1,2); % Unit Impulse Response

impulse(num, den);

title('Impulse');

% Unit Ramp Response

r = t; % Ramp input: r(t) = t

t = 0:0.01:5; % Time vector

sys = tf(num, den); % Transfer function

subplot(3,1,3);

lsim(sys, r, t); % Simulate ramp response

title('Ramp');
Output:

EXP 8: Obtain the Unit-Ramp Response of three transfer functions using ‘lsim’ command

Code:

r = t; % Ramp input: r(t) = t

t = 0:0.01:10; % Simulate from t = 0 to 10 seconds

% Define transfer functions

sys1 = tf(1, [1 3 2]); % G1(s) = 1 / (s^2 + 3s + 2)

sys2 = tf([2 5], [1 4 5]); % G2(s) = (2s + 5) / (s^2 + 4s + 5)

sys3 = tf(10, [1 2 10]); % G3(s) = 10 / (s^2 + 2s + 10)

y1 = lsim(sys1, r, t);

y2 = lsim(sys2, r, t);

y3 = lsim(sys3, r, t);

subplot(3,1,1); % Plot the results

plot(t, y1);

title('Ramp Response of G1(s) = 1 / (s^2 + 3s + 2)');

subplot(3,1,2);

plot(t, y2);

title('Ramp Response of G2(s) = (2s + 5) / (s^2 + 4s + 5)');

subplot(3,1,3);

plot(t, y3);

title('Ramp Response of G3(s) = 10 / (s^2 + 2s + 10)');

EXP 9: Include step response of overdamped, underdamped, critically damped and

Code:
t = 0:0.01:1; % Time vector long enough to show all responses

num1 = [625];

den1 = [1 0 625];

t1 = tf(num1, den1);

subplot(2,2,1)

step(t1, t)
title('Undamped')

num2 = [400];

den2 = [1 12 400];

t2 = tf(num2, den2);

subplot(2,2,2)

step(t2, t)

title('Underdamped')

num3 = [225];

den3 = [1 30 225];

t3 = tf(num3, den3);

subplot(2,2,3)

step(t3, t)

title('Critically Damped')

num4 = [900];

den4 = [1 90 900];

t4 = tf(num4, den4);

subplot(2,2,4)

step(t4, t)

title('Overdamped')
Output:

EXP 10: Show graphically how the change of the damping ratio changes the step response
for single transfer function of constant natural frequency of 1rad/sec.
Code:

t = 0:0.01:10; % Time vector

% Transfer function for zeta = 0 (Undamped)

num1 = [1];

den1 = [1 0 1];

t1 = tf(num1,den1);

subplot(3,2,1)

step(t1, t)

title('0')

num2 = [1]; % Transfer function for zeta = 0.2

den2 = [1 2*0.2 1];

t2 = tf(num2,den2);

subplot(3,2,2)

step(t2, t)

title('0.2')
num3 = [1]; % Transfer function for zeta = 0.4

den3 = [1 2*0.4 1];

t3 = tf(num3,den3);

subplot(3,2,3)

step(t3, t)

title('0.4')

num4 = [1]; % Transfer function for zeta = 0.6

den4 = [1 2*0.6 1];

t4 = tf(num4,den4);

subplot(3,2,4)

step(t4, t)

title('0.6')

% Transfer function for zeta = 0.8

num5 = [1];

den5 = [1 2*0.8 1];

t5 = tf(num5,den5);

subplot(3,2,5)

step(t5, t)

title('0.8')

% Transfer function for zeta = 1.0 (Critically damped)

den6 = [1 2*1 1];

t6 = tf(num6,den6);

subplot(3,2,6)

step(t6, t)

title('1.0')

Output:
EXP 11: Step Response of 2 nd Order system According to Pole Movement.

Code 1:

den1=poly([-1+2i -1-2i]);

den2=poly([-1.5+2i -1.5-2i]);

den3=poly([-2+2i -2-2i]);

num1=den1(3);
num2=den2(3);

num3=den3(3);

f1=tf(num1,den1)

f2=tf(num2,den2)

f3=tf(num3,den3)

pzmap(f1,f2,f3)

t=0:0.1:10;

c1=step(num1,den1,t);

c2=step(num2,den2,t);

c3=step(num3,den3,t);

plot(t,c1,t,c2,t,c3)
Output:
Code 2:

den1=poly([-1+2i -1-2i]);

den2=poly([-1+4i -1-4i]);

den3=poly([-1+6i -1-6i]);

num1=den1(3);

num2=den2(3);

num3=den3(3);

f1=tf(num1,den1)

f2=tf(num2,den2)
f3=tf(num3,den3)

pzmap(f1,f2,f3)

t=0:0.1:10;

c1=step(num1,den1,t);

c2=step(num2,den2,t);

c3=step(num3,den3,t);

plot(t,c1,t,c2,t,c3)
Output:

Code 3:

den1=poly([-1+2i -1-2i]);

den2=poly([-2+4i -2-4i]);

den3=poly([-3+6i -3-6i]);

num1=den1(3);

num2=den2(3);

num3=den3(3);

f1=tf(num1,den1)
f2=tf(num2,den2)

f3=tf(num3,den3)

pzmap(f1,f2,f3)

t=0:0.1:10;

c1=step(num1,den1,t);

c2=step(num2,den2,t);

c3=step(num3,den3,t);

plot(t,c1,t,c2,t,c3)
Output:

EXP 12: Underdamped System Parameters

Code:
m = 5; % mass (kg)

b = 5; % damping coefficient (N·s/m)

k = 28; % spring constant (N/m)

% Transfer function denominator only

num = 1;

den = [m b k];

sys = tf(num,den);

% Get step response info

info = stepinfo(sys);

% Display

fprintf('Rise Time %.4f sec\n', info.RiseTime);

fprintf('Peak Time %.4f sec\n', info.PeakTime);

fprintf('Overshoot %.4f %% \n', info.Overshoot);

fprintf('Settling Time %.4f sec\n', info.SettlingTime);

Output:
EXP 13: Second Order Approximation

Code:

% Base second-order system

num = [1];
den = [1 2 10]; % Example: wn=√10, zeta=0.316

sys = tf(num, den);

% 1. Add far pole (at -50)

sysPF = tf(num, conv(den, [1 50])); %PF=PoleFar

% 2. Add far zero (at -50)

sysZF = tf(conv(num, [1 50]), den); %ZF=ZeroFar

% 3. Add right-half-plane zero (at +2)

sysNM = tf(conv(num, [1 -2]), den); %NM=NonMinimum

% Plot all step responses

step(sys,'b', sysPF,'g--', sysZF,'r-.', sysNM,'m:');

Output:
EXP 14: Reduction of Multiple Subsystems

Code 1:

numg=[1 1];

deng=[500 0 0];
numh=[1 1];

denh=[1 2];

[num,den]=feedback(numg,deng,numh,denh,-1);

printsys(num,den)

Output 1:

Code 2:
% Define G(s)

numg = [1 1]; % Numerator of G(s): s + 1

deng = [500 0 0]; % Denominator of G(s): 500s^2

% Define Gc(s)

numh = [1 1]; % Numerator of Gc(s): s + 1

denh = [1 2]; % Denominator of Gc(s): s + 2

num = conv(numg, numh); % (s+1)*(s+1)

den = conv(deng, denh); % (500s^2)*(s+2)

% Display result

printsys(num, den)

Output:

Code 3
Output

EXP 15: Steady State Error

Code:

num=1000*[1 8];

den=poly([-7 -9]);
G=tf(num,den);

kp=dcgain(G)

estep=1/(1+kp)

Output:

EXP 16: Root Locus Technique

G=1/(s*(s+2)(s^2+2s+10)); % Plot the root locus

rlocus(G);

% Plot root locus with a damping ratio line (for example: zeta = 0.5)
zeta=0.5; % Damping ratio

sgrid(zeta,0) % Plot constant damping ratio line

Output:
EXP 17: Frequency Response Analysis

Code a:

G = 10 / (s * (s + 1) * (s + 2));

bode(G)

Output:
Code b:

G = 1000 / ((s + 3) * (s + 4) * (s + 5) * (s + 6));

bode(G)

Output:
Code c:

G = 50 * (s + 3) / ((s + 2) * (s + 4));

bode(G)

Output:
Q: Determine the Gain Margin, Phase Margin, Gain Crossover Frequency, phase crossover
frequency of any transfer function using both figure and margin command.

Code:

G = 10 / (s * (s + 2) * (s + 5)); % Using margin command (prints and plots all info)

figure;

margin(G); % This gives GM, PM, ω_gc, ω_pc on the plot

[GM, PM, w_gc, w_pc] = margin(G);

% Convert to dB

GM_dB = 20 * log10(GM);

Output:
Code a:

a=[0 1;-25 -4];

b=[0;25];

c=[1 0];

d=[0];

bode(a,b,c,d)

Output:
EXP 18: Routh-Hurwitz Criterion for Stability
Question

Code:

syms K; a3 = 1; a2 = K - 1; a1 = 2*K - 4; a0 = 24;

r2 = [a2, a0];

r3_1 = simplify((a2a1 - a3a0)/a2); % Avoid division by 0

ineq1 = a2 > 0; ineq2 = r3_1 > 0;

assume(K, 'real'); S1 = solve(ineq1, K, 'ReturnConditions', true); S2 = solve(ineq2, K,

disp('Condition from a2 > 0:'); disp(S1.conditions);

disp('Condition from Routh array row 3 > 0:'); disp(S2.conditions);

% Optional: Find intersection of intervals manually fplot(r3_1, [0, 10]); grid on; xlabel('K');
ylabel('Routh Row 3 Value'); title('Routh Criterion Condition for Stability');
Output:
EXP 19: Improvement of a system using PID Controller
Question:

Code:
Output: