Matlab Exercises

University of Newcastle upon Tyne
School of Electrical, Electronic and Computer Engineering

CONTROL SYSTEMS
Control Systems and Matlab

Introduction
18( s + 20)
. To define it type
( s + 15)( s + 25)( s + 0.4)
separately the numerator and the denominator as two different polynomials. The code is written in
an m-file.
Consider the OLTF with negative feedback: G ( s ) =
% prg1
% This m-file creates and prints the transfer function
% num stands for numerators
% den stands for denominator
num=18*[1 20]
den=conv(conv([1 15],[1 25]), [1 0.4])
printsys(num,den,'s')
prg1
num =
18
360
den =
1.0000
40.4000 391.0000 150.0000
num/den =
18 s + 360
---------------------------s^3 + 40.4 s^2 + 391 s + 150
To find the CLTF we use the command feedback(numg,deng,numh,denh)

% prg3
% This m-file creates and prints the transfer function
% numol stands for numerator of the open loop TF
% denol stands for denominator of the open loop TF
% numcl stands for numerator of the close loop TF
% dencl stands for denominator of the close loop TF
numol=18*[1 20]
denol=conv(conv([1 15],[1 25]), [1 0.4])
[numcl,dencl]=feedback(numol,denol,1,1)
printsys(numcl,dencl,'s')
prg3
numol =
18
360
denol =
1.0000
40.4000
391.0000
150.0000
numcl =
0
0
18
360
dencl =
1.0000
40.4000 409.0000
510.0000
num/den =
18 s + 360
---------------------------s^3 + 40.4 s^2 + 409 s + 510

CONTROL SYSTEMS
Step Response
To find the step response of a system use the command:
step(numerator, denominator).
-K S te p
The CLTF is
Sum
s 2+4 s
Gain
H =1
C (s )
G
=
R(s ) 1 + GH G = 1
T ra n sfe r Fcn
C (s )
K
= 2
R(s ) s + 4s + K
s 2 + 4s
So if K=1:
% prg6
% step 1
% This m-file finds the step response
num=[1];
den=[1 4 1];
step(num,den);
grid
xlabel('time')
ylabel('output')
title('step response')
S tep Res pons e
s tep res ponse
1
0.9
0.8
0.6
output
Am plitude
0.7
0.5
0.4
0.3
0.2
0.1
10
15
20
25
e .)
Tim e tim
(sec
The command step takes a default time for the transient response to be finished (i.e. 25s here)
If we want to define the time we can use the next m-file:
% prg7
% step 2
t=0:0.1:30;

CONTROL SYSTEMS
num=[1];
den=[1 4 1];
step(num,den,t);
grid
xlabel('time')
ylabel('output')
S tep Response
step respons e
1
0.9
0.8
0.6
output
A m plitude
0.7
0.5
0.4
0.3
0.2
0.1
0
10
15
Tim e tim
(sece .)
20
25
30
For more complex systems it is possible to combine the commands step & plot :
% prg8
% step 3
t=0:0.1:30;
num=[1];
den=[1 4 1];
c=step(num,den,t);
plot(t,c,'or')
grid
xlabel('time')
ylabel('output')
s tep response
0.9
0.8
0.7
output
0.6
0.5
0.4
0.3
0.2
0.1
10
15
tim e
20
25
30
More than one graph can be plotted on the same figure using a combination of plot and step:

CONTROL SYSTEMS
Note that when we found the step response we used as an argument the time. If we do not then step
will take a default number for time and so later when using the command plot, an error message
will be given because the two vectors do not have the same size.
% prg9
% step 4
t=0:0.1:20;
%k=1
num1=[1];
den1=[1 4 1];
%k=100
num2=[100];
den2=[1 4 100];
c1=step(num1,den1,t);
c2=step(num2,den2,t);
plot(t,c1,'or',t,c2)
grid
xlabel('time')
ylabel('output')
s tep response
1.6
1.4
1.2
output
1
0.8
0.6
0.4
0.2
0
10
tim e
15
20
To find the impulse response we use the command impulse. This is used exactly as the command
step. To find the ramp response we have to find the step response of the function G ( s)
s
Frequency Response Bode Diagrams

To plot the Bode diagram we use the command bode(num,den) .
.. :
% prg16
%bode 1
clc
clear all
clf
num=10;
den=[1 5 5 0];

CONTROL SYSTEMS
bode(num,den);
B ode Diagram s
50
P hase (deg); M agnitude (dB )
-50
-100
-150
0
-100
-200
-300
-2
10
10
-1
10
10
10
Frequency (rad/sec)
As with the root locus plot we can chose the frequencies:

%prg17
%bode 2
clc
clear all
clf
num=10;
den=[1 5 5 0];
w=logspace(-1, 4,100);
bode(num,den,w);
Bode Diagrams
100
Phas e (deg); M agnitude (dB)
-100
-200
-300
0
-100
-200
-300
-1
10
10
10
10
10
10
Frequency (rad/s ec )
To find the gain and phase margins we use the command margin(num,den) since it is very difficult
to calculated directly from the above figures with any accuracy. This command plots the Bode
diagram and calculates the margins:
% prg18
%bode 3
clc
clear all
clf
num=10;
den=[1 5 5 0];
margin(num,den);

CONTROL SYSTEMS
B ode Diagram s
Gm =8.0 dB (W cg=2.2); P m =25.5 deg. (W cp=1.3)
50
P has e (deg); M agnitude (dB )
-50
-100
-150
0
-100
-200
-300
-2
10
10
-1
10
10
10
Frequency (rad/sec)
Nichols diagrams
To find the Nichols plot use the command nichols(num,den).

% prg19
clc
clear all
clf
num=10;
den=[1 5 5 0];
nichols(num,den);
ngrid
Nichols
80
60
O
pe
nLo
op
G
ai
40
20
1
3
6
0.25
0.5
-1
-3
-6
Pm
-12
-20
-40
-
-20
Gm
-
Open-Loop Phase
-50
-40
With the Nichols plots we use the ngrid command.

CONTROL SYSTEMS
Nyquist diagrams
As with Nichols to create a Nyquist diagram we use the command nyquist(num,den):

% prg20
%nyquist 1
clc
clear all
clf
num=10;
den=[1 5 5 0];
nyquist(num,den);
Ny quis t Diagram s
250
200
150
Im aginary A x is
100
50
0
-50
-100
-150
-200
-250
-2.5
-2
-1.5
-1
-0.5
Real A xis
The command nyquist takes both negative and positive values for the frequency. For this reason we
see a curve which is symmetrical to the x-axis. If we want only positive frequencies then:
% prg22
%nyquist 3
clc
clear all
clf
num=10;
den=[1 5 5 0];
w=0:0.1:100;
[re,im,w]=nyquist(num,den,w);
plot(re,im);
grid

CONTROL SYSTEMS
5
-5
Gm =
-10
1
0A
-15
-20
-2
-1.8
-1.6 -1.4 -1.2
-1
-0.8 -0.6 -0.4
-0.2
All the above commands can be used for systems that are described in State Space form see later
Root Locus
The design of the root locus plot of a system is very easy and fast with the use of Matlab. This is
more obvious in more complex systems than the examples used here. To find the root locus we use
the command rlocus(xxx,yyy) where xxx is the numerator and yyy is the denominator of the OLTF
e.g.:
k
Sum
Gain
1
s 2+5 s
T ra n sfe r Fcn
% prg12
% rlocus 1
clc
clear all
num=1;
den=[1 5 0];
rlocus(num,den)

CONTROL SYSTEMS
1.5
Im ag A x is
0.5
-0.5
-1
-1.5
-6
-5
-4
-3
-2
Real Ax is
-1
The above root locus plot is for values of gain from 0 to a specific value to allow conclusions about
the behaviour and stability of the system. If we would like to define the values of gain then:
% prg13
%rlocus 2
clc
clear all
clf
k=0:1:100;
num=1;
den=[1 5 5 0];
rlocus(num,den,k)
4
Im ag A x is
-1
-2
-3
-4
-5
-4
-3
-2
-1
Real Axis
or
% prg14
%rlocus 3
clc
clear all
clf
k1=0:2:10;
k2=11:0.5:90;
k3=91:10:500;
k=[k1 k2 k3];
num=1;
den=[1 5 5 0];
rlocus(num,den,k)

CONTROL SYSTEMS
8
6
4
Im ag Ax is
0
-2
-4
-6
-8
-5
-4
-3
-2
-1
Real Ax is
For k=11 to 90 we have more samples of the locus.
To find the poles and a specific point of the locus we use the command rlocfind(xxx,yyy)
% prg15
%rlocus 4
clc
clear all
clf
k1=0:2:10;
k2=11:0.5:90;
k3=91:10:500;
k=[k1 k2 k3];
num=1;
den=[1 5 5 0];
rlocus(num,den,k);
[k,poles]=rlocfind(num,den)
After the execution of the m-file the point of interest can be defined with the mouse:
prg15
Select a point in the graphics window
selected_point =
-0.4330+ 1.1730i
k =
6.4034
poles =
-4.1691
-0.4154+ 1.1676i
-0.4154- 1.1676i
10

CONTROL SYSTEMS
8
6
4
Im ag A x is
0
-2
-4
-6
-8
-5
-4
-3
-2
-1
Real A x is
If that point were on the imaginary axis then this would produce the maximum stable gain.
The commands rlocus, rlocfind can be used for systems that are described in State Space form see
later
State Space
To describe a system in State Space we must define the matrices A,B,C,D:
% prg2
% This m-file creates and prints a system, which is defined in state %
space
a=[-40.4 -391 -150; 1 0 0; 0 1 0];
b=[1 0 0]';
c=[0 18 360];
d=[0];
printsys(a,b,c,d)
prg2
a =
b =
x1
x2
x3
x1
-40.40000
1.00000
0
x1
x2
x3
u1
1.00000
0
0
y1
x1
0
y1
u1
0
c =
d =
x2
-391.00000
0
1.00000
x3
-150.00000
0
0
x2
18.00000
x3
360.00000
11

CONTROL SYSTEMS
State Space to Transfer Function

From A, B, C, D to find the TF use the command ss2tf(,B,C,D)
% prg4
% This m-file converts a second order system
% form state space to transfer function
% num stands for numerator
A=[1 2; 4 5];
B=[1 0]';
C=[1 0];
D=[0];
[num,den]=ss2tf(A,B,C,D);
printsys(num,den,'s')
prg4
num/den =
s - 5
------------s^2 - 6 s 3
Transfer Function to State Space

From the TF can find the matrices A,B,C,D with the command tf2ss(num,den)
% prg5
% This m-file converts a second order system
% form transfer function to state space
% num stands for numenator
num=[1 -5];
den=[1 -6 -3];
[A,B,C,D]=tf2ss(num,den);
printsys(A,B,C,D)
prg5
a =
x1
x2
x1
6.00000
1.00000
x1
x2
u1
1.00000
0
y1
x1
1.00000
x2
3.00000
0
b =
c =
x2
-5.00000
d =
u1
y1
12

CONTROL SYSTEMS
Step in State Space

The command step can be used for state space defined systems:
%prg 9b
a = [6 3;1 0];
b = [1;0];
c = [1 -5];
d = [0];
step(a,b,c,d)
S tep Res pons e
7
A m plitude
0.16
0.32
0.48
0.64
0.8
Tim e (sec .)
Consider a system that can be described by the following equations:

x
1 = 1 1 x1 + 1 1 u1
6.5 0 x 2 1 0 u2
x 2
y1 1 0 x1
y = 0 1 x
2
2
The step response is:
1
LAPLACE
X = AX + BU sX (s ) = AX (s ) + BU (s ) X (s ) = (sI A) BU (s )
Y (s ) = CX (s )
Y (s ) = CX (s )
y = CX
Y (s ) = C(sI A) 1 BU (s )
Y (s )
= G(s ) = C(sI A) 1 B
U (s )
s 1s
10 s + 11 11
1
= 2

01 6.5s 10 s + s + 6.5 s + 7.565

s 1
s
2
2
Y1(s )
s + s + 6.5 s + s + 6.5 U1(s )
6 .5
U 2 (s )
Y2 (s ) s + 7.5
s 2 + s + 6.5 s 2 + s + 6.5
Y1(s )
Y (s )
s 1
s + 7 .5
= 2
= 2
, 2
U1(s ) s + s + 6.5 U1(s ) s + s + 6.5
Y1(s )
Y (s )
s
6. 5
= 2
, 2
= 2
U 2 ( s ) s + s + 6 .5 U 2 ( s ) s + s + 6 . 5
13

CONTROL SYSTEMS
So we expect four graphs:
a=[-1 -1;6.5 0];
b=[1 1;1 0];
c=[1 0;0 1];
d=[0 0;0 0];
step(a,b,c,d)
Step Response
From: U2
From: U1
0.4
To: Y 1
0.2
0
A mplitude
-0.2
-0.4
To: Y 2
1.5
1
0.5
0
0
12
120
Time (sec.)
If the step response for only one input was wanted:

step(a,b,c,d,1) or step(a,b,c,d,2)
Step Response
0.3
Step Response
0.2
0.4
To: Y 1
A mplitude
-0.2
-0.4
-0.1
-0.2
2
1.5
To: Y 2
1.5
To: Y 2
Amplitude
0.1
To: Y 1
0.2
0.5
0.5
0
0
10
12
0
0
10
12
Time (sec.)
Time (sec.)
14

CONTROL SYSTEMS
Lab Exercises:
1.
1.1
1.2
1.3
Consider the following system:

Find and plot the step response of the CL system.
Find and plot the step response of the system for k=30,60,90.
Describe the system in SS.
k
Sum
1
s 3+6 s 2+1 1 s+6
Gain
T ra n sfe r Fcn
2.1
Find the root locus plot and the maximum stable gain. Relate the step response to the CL
pole locations.
k
Sum
1
s 3+6 s 2+1 1 s+6
Gain
T ra n sfe r Fcn
2.2
Plot the root locus and find the maximum stable gain. Relate the step response to the CL
pole locations.
k
Sum
1
s 4+1 .1 s 3+1 0 .3 s 2+5 s
Gain
T ra n sfe r Fcn
15

CONTROL SYSTEMS
2.3
pole locations:
k
Sum
Gain
s 2+5 s+6
s 2+s
T ra n sfe r Fcn
2.4
pole locations:
k
Sum
2.5
Gain
1
s 3+6 s 2+2 5 s
T ra n sfe r Fcn
Find the gain and phase margin of the above OLTF

3 Produce the Bode, Nyquist and Nichols diagrams for the following systems.
320(s + 1)
G1(s ) =
s(s + 2)(s 2 + 4s + 16)
k
G2 (s ) =
, k = 4, 1.5, 0.4
s(s + 1)(s + 2)
k
G3 (s ) =
, k = 10, 100
s(s + 1)(s + 5)
16

Matlab Exercises

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University of Newcastle upon Tyne

School of Electrical, Electronic and Computer Engineering

Control Systems and Matlab

Consider the OLTF with negative feedback: G ( s ) =

To find the CLTF we use the command feedback(numg,deng,numh,denh)

Control Systems and Matlab

University of Newcastle upon Tyne

Control Systems and Matlab

University of Newcastle upon Tyne

Control Systems and Matlab

University of Newcastle upon Tyne

Frequency Response Bode Diagrams

Control Systems and Matlab

University of Newcastle upon Tyne

P hase (deg); M agnitude (dB )

As with the root locus plot we can chose the frequencies:

Phas e (deg); M agnitude (dB)

Control Systems and Matlab

University of Newcastle upon Tyne

P has e (deg); M agnitude (dB )

To find the Nichols plot use the command nichols(num,den).

With the Nichols plots we use the ngrid command.

Control Systems and Matlab

University of Newcastle upon Tyne

As with Nichols to create a Nyquist diagram we use the command nyquist(num,den):

Control Systems and Matlab

University of Newcastle upon Tyne

-1.6 -1.4 -1.2

-0.8 -0.6 -0.4

Control Systems and Matlab

University of Newcastle upon Tyne

Control Systems and Matlab

University of Newcastle upon Tyne

For k=11 to 90 we have more samples of the locus.

Control Systems and Matlab

University of Newcastle upon Tyne

Control Systems and Matlab

University of Newcastle upon Tyne

State Space to Transfer Function

Transfer Function to State Space

Control Systems and Matlab

University of Newcastle upon Tyne

Step in State Space

Consider a system that can be described by the following equations:

01 6.5s 10 s + s + 6.5 s + 7.565

Control Systems and Matlab

University of Newcastle upon Tyne

If the step response for only one input was wanted:

Control Systems and Matlab

University of Newcastle upon Tyne

Consider the following system:

Control Systems and Matlab

University of Newcastle upon Tyne

Find the gain and phase margin of the above OLTF

Control Systems and Matlab

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