lecture_28_exmp 1

lecture_28_exmp 1 - p = imag(p_des)/tan(angle_p) -...

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I:\CourseWork\ME421_Fall06\Lecture\Lecture_28.m Page 1 November 30, 2006 10:12:34 AM Num_0 = 0.8*[1 3]; Den_0_a = [1 2]; Den_0_b = [1 0.2 5]; G_o = tf(Num_0, conv(Den_0_a, Den_0_b)); xi = 0.9; omega_n = 8; figure(1), step(G_o); figure(2), rlocus(G_o), figure(2), sgrid(xi, omega_n); % Desired dominant pole: p_des = -xi*omega_n + sqrt(1-xi^2)*omega_n*j; num_l = Den_0_a; G_l = tf(num_l, 1); G_l_p = evalfr(G_l, p_des); Gnum_1 = tf(Num_0, 1); Gden_1 = tf(Den_0_a, 1); Gden_2 = tf(Den_0_b, 1); Gden_1_p = evalfr(Gden_1, p_des); Gden_2_p = evalfr(Gden_2, p_des); Gnum_1_p = evalfr(Gnum_1, p_des); angle_p = angle(G_l_p) + angle(Gnum_1_p) - . .. angle(Gden_1_p) - angle(Gden_2_p) + pi;
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Unformatted text preview: p = imag(p_des)/tan(angle_p) - real(p_des); G_lead = tf(num_l, [1 p]); G_oc = G_lead*G_o; G_oc = tf(Num_0, conv([1 p], Den_0_b)); figure(3), rlocus(G_oc); sgrid(0.6, 2); K_l = 1/abs(real(evalfr(G_oc, p_des))); G_lead = K_l*G_lead; G_oc = G_lead*G_o; G_cl_1 = feedback(G_oc, 1); K_lag = 10; p_lag = 0.1; z_lag = K_lag*p_lag; G_lag = tf([1 z_lag], [1 p_lag]); G_oc_2 = G_lag*G_lead*G_o; I:\CourseWork\ME421_Fall06\Lecture\Lecture_28.m Page 2 November 30, 2006 10:12:34 AM G_cl_2 = feedback(G_oc_2,1); figure(4), step(G_o), hold on, step(G_cl_1), step(G_cl_2);...
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lecture_28_exmp 1 - p = imag(p_des)/tan(angle_p) -...

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