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specifications
Settling time
Peak percentage overshoot
Using above two specifications we can find dominant poles of the closed loop system
where
- damping ratio
- natural frequecy
Settling time
Using peak percentage overshoot we can find
find
we can
Using MATLAB code we can above send parameters which are useful to verify out
response after controller design
a) Proportional controller K
MATLAB CODE :
%% Finding parameters of different controllers and closed loop response
clear
clc
%% Using Proportional Controller K
%% Given uncompensated system
Guc = tf([1],[1 5 6])
%% Finding required dominant poles of closed loop system
%% Given Transisent Specifications
PO = 0.1;
Ts = 10
zeta = sqrt(log(PO)^2/(pi^2+log(PO)^2));% damping ratio
wn = 2/(Ts*zeta); % natural frequency
% Dominant poles of closed loop system
Sd = -(-zeta*wn)+wn*sqrt(1-zeta^2)*i
%% Root locus Plot
rlocus(Guc);
sgrid(zeta,0);
[K,p] = rlocfind(Guc)
%% Closed loop system response with obtained K.
G = Guc*K
Tz = feedback(Guc*K,1);
step(Tz)
Output :
K=
4.8922
p=
-2.5000 + 2.1546i
-2.5000 - 2.1546i
Closed loop system with Proportional controller
Output :
K=
1.7297
p=
-3.3734
-1.1990
-0.4277
Closed loop system :
Output
K=
2.6387
p=
-2.3078 + 1.2404i
-2.3078 - 1.2404i
-0.3844
Closed loop response
PLOT :