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ECE131L-A11

Module 6

1. a) Computation
b) Graph

i. n=0

>> kp = 20/12

kp =

1.6667

e1 =

0.3750

## >> G=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt1=feedback(G,1)

Zero/pole/gain:
20 (s+1)
-------------------
(s+1.242) (s+25.76)

## >> sysR1a=tf(1,[1 0])

Transfer function:
1
-
S
>> sysC1a=series(Gt1,sysR1a)

Zero/pole/gain:
20 (s+1)
---------------------
s (s+1.242) (s+25.76)

>> impulse(sysC1a,sysR1a)

ii.

n=1

## >> G1b=zpk([-1],[0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt1b=feedback(G1b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)
>> sysR1b=tf(1,[1 0])

Transfer function:
1
-
s

>> sysC1b=series(Gt1b,sysR1b)

Zero/pole/gain:
20 (s+1)
------------------------------------
s (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC1b,sysR1b)

iii.

n=2

## >> G1c=zpk([-1],[0 0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt1c=feedback(G1c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)\

## >> sysR1b=tf(1,[1 0])

Transfer function:
1
-
s

>> sysC1c=series(Gt1c,sysR1b)

Zero/pole/gain:
20 (s+1)
----------------------------------------------
s (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC1c,sysR1b)
2. a) Computation
b) Graph

i. n=0

## >> sysR2a=tf(1,[1 0 0])

Transfer function:
1
---
s^2

## >> G2a=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt2a=feedback(G2a,1)

Zero/pole/gain:
20 (s+1)
-------------------
(s+1.242) (s+25.76)

>> sysC2a=series(Gt2a,sysR2a)

Zero/pole/gain:
20 (s+1)
-----------------------
s^2 (s+1.242) (s+25.76)

>> impulse(sysC2a,sysR2a)
ii. n=1

## >> G2b=zpk([-1],[0 -4 -3],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt2b=feedback(G2b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)

>> sysC2b=series(Gt2b,sysR2a)

Zero/pole/gain:
20 (s+1)
--------------------------------------
s^2 (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC2b,sysR2a)
Iii. n=2

## >> G2c=zpk([-1],[-4 -3 0 0],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt2c=feedback(G2c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> sysC2c=series(Gt2c,sysR2a)

Zero/pole/gain:
20 (s+1)
------------------------------------------------
s^2 (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC2c,sysR2a)
3.a) Computation
b) Graph
i. n=1
>> sysR3a=tf(1,[1 0 0 0])

Transfer function:
1
---
s^3

## >> G3a=zpk([-1],[-4 -3],[20])

Zero/pole/gain:
20 (s+1)
-----------
(s+4) (s+3)

>> Gt3a=feedback(G3a,1)

Zero/pole/gain:
20 (s+1)
-------------------
(s+1.242) (s+25.76)

>> sysC3a=series(Gt3a,sysR3a)
Zero/pole/gain:
20 (s+1)
-----------------------
s^3 (s+1.242) (s+25.76)

>> impulse(sysC3a,sysR3a)

Ii. n=2

## >> G3b=zpk([-1],[-4 -3 0],[20])

Zero/pole/gain:
20 (s+1)
-------------
s (s+4) (s+3)

>> Gt3b=feedback(G3b,1)

Zero/pole/gain:
20 (s+1)
----------------------------------
(s+0.7292) (s^2 + 6.271s + 27.43)

>> sysC3b=series(Gt3b,sysR3a)
Zero/pole/gain:
20 (s+1)
--------------------------------------
s^3 (s+0.7292) (s^2 + 6.271s + 27.43)

>> impulse(sysC3b,sysR3a)

iii. n=3

## >> G3c=zpk([-1],[-4 -3 0 0],[20])

Zero/pole/gain:
20 (s+1)
---------------
s^2 (s+4) (s+3)

>> Gt3c=feedback(G3c,1)

Zero/pole/gain:
20 (s+1)
--------------------------------------------
(s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> sysC3c=series(Gt3c,sysR3a)

Zero/pole/gain:
20 (s+1)
------------------------------------------------
s^3 (s+5.318) (s+1.409) (s^2 + 0.2731s + 2.669)

>> impulse(sysC3c,sysR3a)
Seatwork

Kp = (1 - 0.1) / 0.1
s = 0; K = ((s+1)*(s+3)/(s+0.5)) * Kp
Output:

K = 54

## sys = tf(K*[1 0.5], poly([-1 -3]))

Output:
Transfer function:
54 s + 27
-------------
s^2 + 4 s + 3

sys = feedback(sys,1,-1)
Output:
Transfer function:
54 s + 27
---------------
s^2 + 58 s + 30

## sysa = tf(1, [1 0])

Output:
Transfer function:
1
-
S

## sysc = sysa * sys

Output:
Transfer function:
54 s + 27
-------------------
s^3 + 58 s^2 + 30 s
impulse (sysa,sysc)

Output:
Interpretation
The performed activity deals with the steady state error and system types. In the first
part of the activity, step input is used to determine the steady state error of the give system.
The value of n in the s^n in the denominator of the system tells us the system type is. For
example, if n=0, then s^0 therefore s=1, the system is type 1. The position constant Kp is
calculated. Its value is then 1.6667. So when we compute for the error we get the constant,
0.3750. For n=1 and n=2, we get a value of Kp= infinity, so therefore the error is both 0. This
tells us that if the input is a step response, that type zero system has a constant error and any
value greater than 0 for n, will have an error value of 0. For the second part of the activity, we
used a ramp input the steady state error of the give system. The velocity constant Kv is
calculated. When the value of n=1, the value of Kv is 1.6667. So when we compute for the error
we get the constant, 0.6. on the other hand when the value of n=0 and greater than which is 2,
we get an infinity value of Kv and an error of 0. This tells us that if the ramp input is used, and
the value of n is equal to one, it will have a constant error and a zero error for other values such
as 0 and 1. For the last part, we used a parabolic input. Ka, which is the acceleration constant, is
determined. For n=1, the value of Ka is 0, and the error is infinity, if n=2, Ka=1.6667 and error =
0.6, and lastly if n=3, Ka= infinity and error = 0.
Conclusion
The main objective of the laboratory activity is for us to be able to determine the steady
state error of a system given a step, ramp and parabolic input. We have proven in the first part
of the activity that it is possible to know the