REPORT

In this report we have deal with stability in aircraft by auto control system and also by using pilot
stick control
a) Code:
clc;close all;clear all;
figure(1)
zeta=0.6;
wn=0;
s=tf('s');
G=(25*(s+0.03)*(s+1)) /((s+9)*(s^2-0.36*s +0.16) * (s+0.4));
rlocus(G);
sgrid(zeta,wn)
[k2,poles]=rlocfind(G)

To find value of k2 first we select a point on graph as shown below and value is shown on
command window

Root Locus

15
0.6

System: G
Gain: 2.08
Pole: -3.89 + 5.23i
Damping: 0.597
Overshoot (%): 9.64
Frequency (rad/s): 6.52

System: G
Gain: 0.599
Pole: -0.881 + 1.12i
Damping: 0.619
X: -0.8815 (%): 8.41
Overshoot
Y: 1.118 (rad/s): 1.42
Frequency

Imaginary Axis (seconds

-1

10

-5

-10

0.6
-15
-10

-8

-6

-4

-2

Real Axis (seconds -1)

From above K2 has values:

0.599 and 2.08

Root Locus

15
0.6

Imaginary Axis (seconds-1)

10

-5

-10
0.6
-15
-10

-8

-6

-4

-2
-1

Real Axis (seconds )

Command window result:

Select a point in the graphics window
selected_point =
-0.7725 + 1.1646i
k2 = 0.5559
poles =
-7.3677 + 0.0000i
-0.7994 + 1.0938i
-0.7994 - 1.0938i
-0.0734 + 0.0000i

Explanation:
In this part we plot the graph of root locus when pilot stick is off. Characteristics equation when
pilot stick is off is as
1+G(s)H(s)=0
From the figure H(s)= K2(s+1)/(s+9)
G(s)=(25*(s+0.03)*(s+1)) /((s+9)*(s^2-0.36*s +0.16) * (s+0.4));
Then we used rlocus command to plot the locus of the function G(s), and disturbance in the
signal is kept zero for this part.
Where zeta is imaginary number; which shows the damping factor of the system. sgrid generates,
for pole-zero and root locus plots, a grid of constant damping factors from zero to one in steps of
0.1 and natural frequencies from zero to 10 rad/sec in steps of one rad/sec, and plots the grid over
the current axis. If the current axis contains a continuous s-plane root locus diagram or pole-zero
map, sgrid draws the grid over the plot.

b)
The transfer function for Td(s) to Y(s)
Y ( s )=

G 2 (s)T d (s)
1+G 2( s) G f ( s)

Where
G f ( s )=

k 2(s+ 1)
s +9

Using final value theorm we determined that

y ss =lim s
s0

G 2(s)
1
=
1+G2 ( s)G f (s) s

11.7
k
1+11.7 ( 2 )
9

=6.5773.1587

In this part we will find the steady state error due wind guest and the input disturbance for this
wind disturbance is Td(s)=1/s

We see from the solution that steady state error is gain dependent which is shown by K2. If K2 is
small steady state error is large if we increase the gain K2 the steady state error will be large.

c) Code:

figure(2)
num=25*(s+0.03)*(s+9);
denum=(s+0.45)*(s+1.33)*((s^2)+(7.66*s)+29.78)*((s^2)+(12*s)+1);
G=(num/denum);
rlocus(G);
sgrid(zeta,wn)
[k1,poles]=rlocfind(G)

To find value of k1 first we select a point on graph as shown below and value is shown on
command window
K1 from graph is 1.38

20

Root Locus
0.6

15

System: G
Gain: 0
Pole: -3.83 + 3.89i
Damping: 0.702
Overshoot (%): 4.53
Frequency (rad/s): 5.46

Imaginary Axis (seconds -1 )

10

System: G
Gain: 1.38
Pole: -0.79 + 0.94i
Damping: 0.643
Overshoot (%): 7.13
Frequency (rad/s): 1.23

-5

-10

-15

-20
-20

0.6
-15

-10

-5

0
Real Axis (seconds -1)

10

20

Root Locus
0.6

Imaginary Axis (seconds-1)

15
10
5
0
-5
-10
-15
-20
-20

0.6
-15

-10

-5

5
-1

Real Axis (seconds )

10

15

Command Window result:

Select a point in the graphics window
selected_point =
-0.7998 + 0.9317i
k1 =
1.38
poles =
-11.9059
-3.9495
-3.9495
-0.7925
-0.7925
-0.0500

+
+
+
+

0.0000i
3.8334i
3.8334i
0.9302i
0.9302i
0.0000i

Break away point:

Root Locus

0.06

Imaginary Axis (seconds-1)

0.04

0.02

-0.02

-0.04

-0.88

-0.8795

-0.879

-0.8785

-0.878

-0.8775

-0.877

-0.8765

-0.876

-0.8755

Real Axis (seconds -1)

Asampotetes:

20

Root Locus
0.6

15

Imaginary Axis (seconds-1)

10

-5

-10

-15

-20
-20

0.6
-15

-10

-5

0
Real Axis (seconds -1)

10

15

-0.875

Angle of Departure:
=

( 2 k +1 )
(2 k +1) ( 2k + 1)
=
=
of finite poles of finite zeros
42
2

For k=0

2
For k=1
3
2

Explanation:
In this part we define nominator as follow
num=25*(s+0.03)*(s+9);
and denominator as
denum=(s+0.45)*(s+1.33)*((s^2)+(7.66*s)+29.78)*((s^2)+(12*s)+1);
the function G is ratio of nominator to denominator
G=(num/denum);
Then we can get root locus as by using rlocus command as below
rlocus(G);
sgrid generates, for pole-zero and root locus plots, a grid of constant damping factors from zero
to one in steps of 0.1 and natural frequencies from zero to 10 rad/sec in steps of one rad/sec, and
plots the grid over the current axis. If the current axis contains a continuous s-plane root locus
diagram or pole-zero map, sgrid draws the grid over the plot.

sgrid(zeta,wn)

gain K1 is find as given in the command below

[k1,poles]=rlocfind(G);

d)

The value of each block in simulink model can be changed by double clicking each
block and then putting the values.

The input signal is applied a step function and output is plotted from scope as
shown above.