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CS Lab

This document provides examples of using MATLAB functions to analyze and plot various control system characteristics including: - Root locus plots using rlocus() and rlocusplot() - Step responses using feedback() and step() - Impulse and step responses for state space models using impulse() and step() - Bode plots using bode() - Nyquist plots using nyquist(), nyquist1(), and lnyquist() - Gain and phase margins using margin() It also explains the Nyquist stability criterion for determining closed loop stability based on the number and direction of encirclements of -1 in the Nyquist plot.

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Jeremy Hensley
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27 views

CS Lab

This document provides examples of using MATLAB functions to analyze and plot various control system characteristics including: - Root locus plots using rlocus() and rlocusplot() - Step responses using feedback() and step() - Impulse and step responses for state space models using impulse() and step() - Bode plots using bode() - Nyquist plots using nyquist(), nyquist1(), and lnyquist() - Gain and phase margins using margin() It also explains the Nyquist stability criterion for determining closed loop stability based on the number and direction of encirclements of -1 in the Nyquist plot.

Uploaded by

Jeremy Hensley
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 16

Root Locus

1. Plot the root-locus of the following system.

h = tf([2 5 1],[1 2 3]);


rlocus(h)

Use the plot handle to change the title of the plot.


sys = rss(3);
h = rlocusplot(sys);
p = getoptions(h); % Get options for plot.
p.Title.String = 'My Title'; % Change title in options.
setoptions(h,p); % Apply options to plot.

The following MATLAB script plots the root loci for


s = tf('s');
G = 1/(s*(s+7)*(s+11));
rlocus(G);
axis equal;
Clicking at the point of intersection of the root locus with the imaginary axis gives the data
shown in Fig

Fig.3 shows step responses for two values of K


>> K = 860;
>> step(feedback(K*G,1),5)
>> hold;
% Current plot held
>> K = 1460;

>> step(feedback(K*G,1),5)

State Space Analysis


Impulse Response Plot of Second-Order State-Space Model

Plot the impulse response of the second-order state-space model

a = [-0.5572 -0.7814;0.7814
b = [1 -1;0 2];
c = [1.9691 6.4493];
sys = ss(a,b,c,0);
impulse(sys)

0];

Plot the step response of above second-order state-space model.


a = [-0.5572,-0.7814;0.7814,0];
b = [1,-1;0,2];
c = [1.9691,6.4493];
sys = ss(a,b,c,0);
step(sys)

Consider the system shown in Fig.

The plant transfer function G(s) is given as


clear all;
close all;
s = tf('s');
G = (s+1)/(s*(0.1*s-1));
rlocus(G);
axis equal;
sgrid;
title('Root locus for (s+1)/s(0.1s-1)');
[K,p]=rlocfind(G)

Obtain the Bode plot of the system given by the transfer function

num = 1;
den = [2 1];
sys = tf (num,den);
grid;
bode(sys)

Plot the Bode magnitude and phase for the system with transfer function

hd = tf([0.04798 0.0464],[1 -1.81 0.9048],0.1)


hd =
0.04798z + 0.0464
--------------------Z^2 - 1.81 z + 0.9048

Compute the gain and phase margins


[Gm,Pm,Wgm,Wpm] = margin(hd)
Gm =
2.0517
Pm =
13.5711
Wgm =

5.4374
Wpm =
4.3544
Display the gain and phase margins graphically
margin(hd)

G = tf([.5 1.3],[1 1.2 1.6 0]);


T = feedback(G,1);
bode(G), grid

Then, right-click on the plot and select the Characteristics -> Minimum Stability Margins
submenu. Finally, click on the blue dot markers. The resulting plot is shown below

sys = 1/(s^2 + 0.5*s + 1);


bode(sys)

sys = 1/(s^2 + 0.5*s + 1);


w = 0.3;
t = 0:0.1:100;
u = sin(w*t);
[y,t] = lsim(sys,u,t);
plot(t,y,t,u)
axis([50 100 -2 2])

Note that the output (blue) tracks the input (green) fairly well; it is perhaps a few
degrees behind the input as expected. However, if we set the frequency of the input
higher than the bandwidth frequency for the system, we get a very distorted
response (with respect to the input)
sys = 1/(s^2 + 0.5*s + 1);
w = 3;
t = 0:0.1:100;
u = sin(w*t);
[y,t] = lsim(sys,u,t);
plot(t,y,t,u)
axis([90 100 -1 1])

Nyquist Plot

s = tf('s');
sys = 0.5/(s - 0.5);
nyquist(sys)
axis([-1 0 -1 1])

Note that this function has a pole at the origin. We will see the difference between
using the nyquist, nyquist1, and lnyquist commands with this particular function.
sys = (s + 2)/(s^2);
nyquist(sys)

nyquist1(sys)

lnyquist(sys)

Note that the nyquist plot is not the correct one, the nyquist1 plot is correct, but it's
hard to see what happens close to the -1 point, and the lnyquist plot is correct and
has an appropriate scale.

The Nyquist criterion then states that:

= the number of open-loop (unstable) poles of G(s)H(s)

= the number of times the Nyquist diagram encircles -1

clockwise encirclements of -1 count as positive encirclements

counter-clockwise encirclements of -1 count as negative encirclements

= the number of right-half-plane (positive, real) poles of the closed-loop system

roots([1 -8 15])
ans =

5
3
The poles of the open-loop transfer function are both positive. Therefore, we
need two anti-clockwise (N = -2) encirclements of the Nyquist diagram in order
to have a stable closed-loop system (Z = P + N). If the number of
encirclements is less than two or the encirclements are not anti-clockwise,
our system will be unstable.
sys = (s^2 + 10*s + 24)/(s^2 - 8*s + 15);
nyquist(sys)

There are two anti-clockwise encirclements of -1. Therefore, the system is stable for
a gain of 1

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