David Clark

MAE 488 Homework #8

10.26)
Input
I=[2]
C=[2]
s1=-10;
s2=-8;
A=[s1 1 (-1)*(2*(s1)^2+2*(s1));s2 1 (-1)*(2*(s2)^2+2*(s2))]
Arref=rref(A)
Kp1=Arref(1,3)
Ki1=Arref(2,3)
s1=-10;
s2=-20;
B=[s1 1 (-1)*(2*(s1)^2+2*(s1));s2 1 (-1)*(2*(s2)^2+2*(s2))]
Brref=rref(B)
Kp2=Brref(1,3)
Ki2=Brref(2,3)
s1=-10;
s2=-50;
C=[s1 1 (-1)*(2*(s1)^2+2*(s1));s2 1 (-1)*(2*(s2)^2+2*(s2))]
Crref=rref(C)
Kp3=Crref(1,3)
Ki3=Crref(2,3)
%part B
sys1=tf([Kp1, Ki1],[I, (2+(Kp1)), Ki1])
step(sys1)
sys2=tf([Kp2, Ki2],[I, (2+(Kp2)), Ki2])
step(sys2)
sys3=tf([Kp3, Ki3],[I, (2+(Kp3)), Ki3])
step(sys3)

Output
I=
2

C=
2

A=
-10 1 -180
-8 1 -112

Arref =
1 0 34
0 1 160
 David Clark
MAE 488 Homework #8
Kp1 =
34
Ki1 =
160
B=
-10 1 -180
-20 1 -760
Brref =
1 0 58
0 1 400
Kp2 =
58
Ki2 =
400
C=
-10 1 -180
-50 1 -4900
Crref =
1 0 118
0 1 1000
Kp3 =
118
Ki3 =
1000
 David Clark
MAE 488 Homework #8

Transfer function:
34 s + 160
------------------
2 s^2 + 36 s + 160
 David Clark
MAE 488 Homework #8

Transfer function:
58 s + 400
------------------
2 s^2 + 60 s + 400
 David Clark
MAE 488 Homework #8

Transfer function:
118 s + 1000
--------------------
2 s^2 + 120 s + 1000

10.42)
Input
s1a=(-0.5)
s2a=(-5)-5i
s3a=(-5)+5i
A=[(s1a)^2, (s1a), 1, (-10*(s1a)^3-2*(s1a)^2);
(s2a)^2, (s2a), 1, (-10*(s2a)^3-2*(s2a)^2);
(s3a)^2, (s3a), 1, (-10*(s3a)^3-2*(s3a)^2)]
Arref=rref(A)
Kd1=Arref(1,4)
Kp1=Arref(2,4)
Ki1=Arref(3,4)

s1b=(-0.5)
s2b=-1
s3b=-2
B=[(s1b)^2, (s1b), 1, (-10*(s1b)^3-2*(s1b)^2);
 David Clark
MAE 488 Homework #8
(s2b)^2, (s2b), 1, (-10*(s2b)^3-2*(s2b)^2);
(s3b)^2, (s3b), 1, (-10*(s3b)^3-2*(s3b)^2)]
Brref=rref(B)
Kd2=Brref(1,4)
Kp2=Brref(2,4)
Ki2=Brref(3,4)

sys1=tf([Kd1, Kp1, Ki1],[10, (2+Kd1), Kp1, Ki1])

step(sys1)
sys2=tf([Kd2, Kp2, Ki2],[10, (2+Kd2), Kp2, Ki2])
step(sys2)
bode(sys1)
bode(sys2)

Output
s1a =
-0.5000
s2a =
-5.0000 - 5.0000i
s3a =
-5.0000 + 5.0000i
A=
1.0e+003 *
0.0003 -0.0005 0.0010 0.0008
0 + 0.0500i -0.0050 - 0.0050i 0.0010 -2.5000 + 2.4000i
0 - 0.0500i -0.0050 + 0.0050i 0.0010 -2.5000 - 2.4000i
Arref =
1 0 0 103
0 1 0 550
0 0 1 250
Kd1 =
103
Kp1 =
550
Ki1 =
250
s1b =
-0.5000
s2b =
-1
s3b =
-2
B=
0.2500 -0.5000 1.0000 0.7500
1.0000 -1.0000 1.0000 8.0000
4.0000 -2.0000 1.0000 72.0000
Brref =
1 0 0 33
 David Clark
MAE 488 Homework #8
0 1 0 35
0 0 1 10

Kd2 =
33
Kp2 =
35
Ki2 =
10

Transfer function:
103 s^2 + 550 s + 250
------------------------------
10 s^3 + 105 s^2 + 550 s + 250

Transfer function:
33 s^2 + 35 s + 10
---------------------------
10 s^3 + 35 s^2 + 35 s + 10
 David Clark
MAE 488 Homework #8
 David Clark
MAE 488 Homework #8

10.53)
Input
Kp1=18;
Kl1=40;
Kp2=18;
Kl2=20;
Kp3=108;
Kl3=200;
sys1=tf( [Kp1, Kl1-20*Kp1, -20*Kl1],[-100, -40-20*Kp1, -20*Kl1] )
sys2=tf( [Kp2, Kl2-20*Kp2, -20*Kl2],[-100, -40-20*Kp2, -20*Kl2] )
sys3=tf( [Kp3, Kl3-20*Kp3, -20*Kl3],[-100, -40-20*Kp3, -20*Kl3] )
step(sys1, sys2, sys3)
sys1T=tf( [5*Kp1, (5*Kl1-100*Kp1+2*Kp1), (-100*Kl1+2*Kl1-40*Kp1), (-40*Kl1)],
[-100, -40, -40*Kp1-20*Kl1])
step(sys1T)
 David Clark
MAE 488 Homework #8
Output

10.55)
Input
Kd=58;
Kp=55;
sys=tf([10,(2+Kd),Kp,0],[1])
rlocus(sys)
 David Clark
MAE 488 Homework #8
Output