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.
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.
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.
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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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
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])
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
