Scilab Manual for

Control System Engineering

by Prof Priyen S. Patel
Electrical Engineering
Swarrnim Institute Of Technology1

Solutions provided by
Prof Priyen S. Patel
Electrical Engineering
Swarrnim Institute Of Technology

February 23, 2024

1 Funded by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro. This Scilab Manual and Scilab codes
written in it can be downloaded from the ”Migrated Labs” section at the website
http://scilab.in
1
Contents

List of Scilab Solutions 3

1 To study open loop control system. 5

2 To study closed loop control system. 7

3 Develop a program to study transfer function from poles

and zeros. 9

4 Develop a program to study transient response for given

system. 12

5 Develop a program to study the controllability and observ-

ability of a given system. 16

6 Develop a program to study routh stability criterion. 19

7 Develop a program to study step responses of a 2nd order

system. 23

8 Develop a program to obtain Root locus using Scilab. 25

9 Develop a program to obtain Nyquist Plot using Scilab. 30

10 Develop a program to obtain Bode Plot using Scilab. 35

2
List of Experiments

Solution 3.01 Obtain Transfer Function . . . . . . . . . . . . . . 9

Solution 4.01 Transient Response . . . . . . . . . . . . . . . . . 12
Solution 5.01 Controllability and Observability . . . . . . . . . 16
Solution 6.01 Routh Stability Criterion . . . . . . . . . . . . . . 19
Solution 7.01 Step Response of 2nd order system . . . . . . . . 23
Solution 8.01 Root Locus . . . . . . . . . . . . . . . . . . . . . 25
Solution 9.01 Nyquist plot . . . . . . . . . . . . . . . . . . . . . 30
Solution 10.01 Bode Plot . . . . . . . . . . . . . . . . . . . . . . 35

3
List of Figures

1.1 Open Loop system . . . . . . . . . . . . . . . . . . . . . . . 6

1.2 Open Loop system . . . . . . . . . . . . . . . . . . . . . . . 6

2.1 Close Loop system . . . . . . . . . . . . . . . . . . . . . . . 8

2.2 Close Loop system . . . . . . . . . . . . . . . . . . . . . . . 8

3.1 Obtain Transfer Function . . . . . . . . . . . . . . . . . . . 11

4.1 Transient Response . . . . . . . . . . . . . . . . . . . . . . . 13

4.2 Transient Response . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 Transient Response . . . . . . . . . . . . . . . . . . . . . . . 15

5.1 Controllability and Observability . . . . . . . . . . . . . . . 18

6.1 Routh Stability Criterion . . . . . . . . . . . . . . . . . . . . 20

6.2 Routh Stability Criterion . . . . . . . . . . . . . . . . . . . . 22

7.1 Step Response of 2nd order system . . . . . . . . . . . . . . 24

8.1 Root Locus . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.2 Root Locus . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
8.3 Root Locus . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9.1 Nyquist plot . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

9.2 Nyquist plot . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
9.3 Nyquist plot . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

10.1 Bode Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

10.2 Bode Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10.3 Bode Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4
Experiment: 1

To study open loop control

system.

This code can be downloaded from the website wwww.scilab.in

5
Figure 1.1: Open Loop system

Figure 1.2: Open Loop system

6
Experiment: 2

To study closed loop control

system.

This code can be downloaded from the website wwww.scilab.in

7
Figure 2.1: Close Loop system

Figure 2.2: Close Loop system

8
 Experiment: 3

Develop a program to study

transfer function from poles
and zeros.

Scilab code Solution 3.01 Obtain Transfer Function

1 // OS : Windows 7
2 // S c i l a b : 6 . 0 . 1
3
4 // To f i n d T r a n s f e r f u n c t i o n o f g i v e n s y s t e m
5
6 clc
7 close
8 s = %s ;
9 // From P o l e & Z e r o
10 // For F i r s t o r d e r t r a n s f e r f u n c t i o n
11 z1 = input ( ’ e n t e r t h e v a l u e o f z 1 = ’ ) // z 1=0
12 p1 = input ( ’ e n t e r t h e v a l u e o f p1 = ’ ) // p1=−5
13 tf1 =( s - z1 ) /(( s - p1 ) )
14 disp ( tf1 , ” T r a n s f e r f u n c t i o n o f f i r s t o r d e r s y s t e m =
”)
15
16

9
17 // For S e c o n d o r d e r t r a n s f e r f u n c t i o n
18 z1 = input ( ’ e n t e r t h e v a l u e o f z 1 = ’ ) // z 1=−2
19 p1 = input ( ’ e n t e r t h e v a l u e o f p1 = ’ ) // p1=−5
20 p2 = input ( ’ e n t e r t h e v a l u e o f p2 = ’ ) // p2=1
21 tf2 =( s - z1 ) /(( s - p1 ) *( s - p2 ) )
22 disp ( tf2 , ” T r a n s f e r f u n c t i o n o f S e c o n d o r d e r s y s t e m
= ”)
23
24 // From Numerator & De nomi nato r
25
26 numm = input ( ’ e n t e r t h e Co− e f f i c i e n t o f n u m e r a t o r : ’ )
; // [ 1 ]
27 denn = input ( ’ e n t e r t h e Co− e f f i c i e n t o f d e n o m i n a t o r :
’ ) ; // [ −7 3 3 1 ]
28
29 A = poly ([ numm ] , ’ s ’ , ’ c ’ )
30 B = poly ([ denn ] , ’ s ’ , ’ c ’ )
31
32 tff = syslin ( ’ c ’ ,A , B )
33 disp ( tff , ’ T r a n s f e r F u n c t i o n is : ’)

10
Figure 3.1: Obtain Transfer Function

11
 Experiment: 4

Develop a program to study

transient response for given
system.

Scilab code Solution 4.01 Transient Response

1 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

2 // To s t u d y T r a n s i e n t R e s p o n s e o f g i v e n s y s t e m .
3 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

4
5
6 // OS : Windows 7
7 // S c i l a b : 6 . 0 . 1
8
9 clc

12
Figure 4.1: Transient Response

Figure 4.2: Transient Response

13
10 close
11 s = %s
12 // To form Numerator i n form o f wnˆ2
13 num = input ( ’ E n t e r t h e v a l u e o f Numerator = ’ ) //num
=16
14 wn = sqrt ( num )
15 // To form d e n o m i n a t o r i n form o f S ˆ2+(2∗ z e t a ∗wn ) ∗ s+
wnˆ2
16 a = input ( ’ E n t e r t h e v a l u e o f c o e f f i c i e n t o f term S ˆ2
= ’ ) // a=1
17 b = input ( ’ E n t e r t h e v a l u e o f c o e f f i c i e n t o f term S= ’
) // b =1.6
18 den = [ a * s ^2+ b * s + wn ^2]
19 TF = syslin ( ’ c ’ ,num , den ) // t r a n s f e r f u n c t i o n
20 disp ( TF , ” T r a n s f e r F u n c t i o n o f s y s t e m = ” )
21 t =0:0.1:10;
22 y1 = csim ( ’ s t e p ’ , t , TF ) ; // t i m e r e s p o n s e
23 title ( ’ T r a n s i e n t R e s p o n s e o f g i v e n s y s t e m ’ ) ;
24 xlabel ( ’ Time −−−−−−−−−−−> ’ ) ;
25 ylabel ( ’C( t )−−−−−−−−−−−−> ’ ) ;
26 plot (t , y1 )
27 disp ( wn , ” V a l u e o f wn =” )
28 z = b /(2* wn )
29 disp (z , ” V a l u e o f z e t a =” )
30 if z <1 then
31 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
32 disp ( ” s y s t e m I s Under Damped” )
33 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
34 elseif z ==1 then
35 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
36 disp ( ” s y s t e m I s C r i t i c a l l y Damped” )
37 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
38 else
39 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
40 disp ( ” s y s t e m I s C r i t i c a l l y Damped” )
41 disp ( ”−−−−−−−−−−−−−−−−−−−−−−” )
42 end
43 wd = wn *( sqrt (1 - z ^2) ) ;

14
 Figure 4.3: Transient Response

44 disp ( wd , ”Damped f r e q u e n c y =” )
45 theta = atan (( sqrt (1 - z ^2) / z ) ) ;
46 disp ( theta , ” A n g l e i n r a d i a n s=” )
47 Tr = (( %pi - theta ) / wd )
48 disp ( Tr , ” R i s e TIme =” )
49 Tp = %pi / wd
50 disp ( Tp , ” Peak TIme =” )
51 Ts =4/( z * wn )
52 disp ( Ts , ” S e t t l i n g Time =” )
53 Mp =100* %e ^(( - z * %pi ) /( sqrt (1 - z ^2) ) )
54 disp ( Mp , ” Peak o v e r s h o o t % =” )

15
 Experiment: 5

Develop a program to study

the controllability and
observability of a given system.

Scilab code Solution 5.01 Controllability and Observability

1
2 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3 // To Study t h e c o n t r o l l a b i l i t y and o b s e r v a b i l i t y o f
a given system .
4 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

5
6 // OS : Windows 7
7 // S c i l a b : 6 . 0 . 1
8 clc ;
9 clear all ;
10
11 // S t a t e s p a c e r e p r e s e n t a t i o n
12

16
13 A = input ( ’ E n t e r t h e v a l u e o f M a t r i x A = ’ ) ; // [ 0 0 0 ; 1
0 −3; 0 1 − 4 ] ;
14 B = input ( ’ E n t e r t h e v a l u e o f M a t r i x B = ’ ) ; // [ 4 0 ; 10;
0];
15 C = input ( ’ E n t e r t h e v a l u e o f M a t r i x C = ’ ) ; // [ 0 0 1 ] ;
16 D = input ( ’ E n t e r t h e v a l u e o f M a t r i x D = ’ ) ; // [ 0 ] ;
17 sys = syslin ( ’ c ’ ,A ,B ,C , D )
18
19 // For C o n t r o l l a b i l i t y
20 n = cont_mat ( sys )
21 mprintf ( ’ C o n t r o l l a b i l i t y m a t r i x i s ’ )
22 disp ( n )
23
24 if rank ( n ) ==3 then
25 disp ( ’ System i s c o n t r o l l a b l e a s r a n k i s 3 ’ )
26 else
27 disp ( ’ System i s u n c o n t r o l l a b l e ’ )
28 end
29
30 // For O b s e r v a b i l i t y
31 m = obsv_mat ( sys )
32 mprintf ( ’ O b s e r v a b i l i t y m a t r i x i s ’ )
33 disp ( m )
34
35 if rank ( m ) ==3 then
36 disp ( ’ System i s o b s e r v a b l e a s r a n k i s 3 ’ )
37 else
38 disp ( ’ System i s u n o b s e r v a b l e ’ )
39 end

17
Figure 5.1: Controllability and Observability

18
 Experiment: 6

Develop a program to study

routh stability criterion.

Scilab code Solution 6.01 Routh Stability Criterion

1
2 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3 // To Study t h e Routh−H u r w i t z C r i t e r i o n
4 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

5
6 // OS : Windows 7
7 // S c i l a b : 6 . 0 . 1
8
9 clc ;
10 clear all ;
11
12 D = input ( ’ I n p u t c o e f f i c i e n t s
of c h a r a c t e r i s t i c
e q u a t i o n , i . e : [ a0 an+1 an+2 a n ]= ’ ) ;

19
 Figure 6.1: Routh Stability Criterion

13 // Case− 1 e n t e r c v a l u e o f D = [ 1 2 8 4 3 ]
14 // Case− 2 e n t e r c v a l u e o f D = [ 1 1 3 6 6 ]
15 l = length ( D ) ;
16
17 disp ( ’ R o o t s o f c h a r a c t e r i s t i c e q u a t i o n a r e= ’ )
18 roots ( D )
19 if modulo (l ,2) = =0
20 m = zeros (l , l /2) ;
21 [ cols , rows ]= size ( m ) ;
22 for i =1: rows
23 m (1 , i ) = det (1 ,(2* i ) -1) ;
24 m (2 , i ) = det (1 ,(2* i ) ) ;
25 end
26 else
27 m = zeros (l ,( l +1) /2) ;
28 [ cols , rows ]= size ( m ) ;
29 for i =1: rows
30 m (1 , i ) = D (1 ,(2* i ) -1) ;
31 end
32 for i =1:(( l -1) /2)

20
33 m (2 , i ) = D (1 ,(2* i ) ) ;
34 end
35 end
36
37 for j =3: cols
38
39 if m (j -1 ,1) ==0
40 m (j -1 ,1) =0.001;
41 end
42
43 for i =1: rows -1
44 m (j , i ) =( -1/ m (j -1 ,1) ) * det ([ m (j -2 ,1) m (j -2 , i
+1) ; m (j -1 ,1) m (j -1 , i +1) ]) ;
45 end
46 end
47
48 disp ( ’−−−−−−−−The Routh−H u r w i t z a r r a y
i s =−−−−−−−− ’ ,
m)
49 //−−−−−−−−−−−−−−−−−−−−End o f B u l d i n g a r r a y
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
50
51 // C h e c k i n g f o r s i g n c h a n g e
52 Temp = sign ( m ) ; a =0;
53 for j =1: cols
54 a = a + Temp (j ,1) ;
55 end
56 if a == cols
57 disp ( ’ −−−−> S i g n Not Changed i n first
Column s o System i s S t a b l e <−−−− ’ )
58 else
59 disp ( ’ −−−−> S i g n Changed i n f i r s t
Column s o System i s U n s t a b l e <−−−− ’ )
60 end

21
Figure 6.2: Routh Stability Criterion

22
 Experiment: 7

Develop a program to study

step responses of a 2nd order
system.

Scilab code Solution 7.01 Step Response of 2nd order system

1 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

2 // TO STUDY STEP RESPONSES OF A 2ND ORDER SYSTEM

3 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

4 // OS : Windows 7
5 // S c i l a b : 6 . 0 . 1
6 clc ;
7 clear all ;
8 t =0:0.000001:0.0002;
9 zeta = input ( ’ E n t e r t h e v a l u e s f o r z e t a = ’ ) // [ 0 . 4 1
1.6];
10 cv =[1 2 3];

23
 Figure 7.1: Step Response of 2nd order system

11 s = %s ;
12 wn = input ( ’ E n t e r t h e v a l u e f o r wn = ’ ) // 1 0 ˆ 5 ;
13 for n =1:3
14 den = s ^2 + 2* zeta ( n ) *( wn ) * s +( wn ^2) ;
15 P = syslin ( ’ c ’ ,wn , den ) ;
16 Ps = csim ( ’ s t e p ’ ,t , P ) ;
17 plot2d (t , Ps , style = cv ( n ) ) ;
18 end ;
19 xgrid ;
20 xtitle ([ ’ S t e p R e s p o n s e s o f a s y s t e m f o r z e t a = 0 . 4 (
underdamped ) , z e t a =1( c r i t i c a l l y damped ) & z e t a
= 1 . 6 ( overdamped ) ’ ] , ’ Time ’ , ’ A m p l i t u d e ’ ) ;
21 legends ([ ’ z e t a =0.4 ’ ; ’ z e t a =1 ’ ; ’ z e t a =1.6 ’ ] ,[1 ,2 ,3] , opt
=4) ;
22
23
24 //−−−−−−−−−− OUTPUT−−−−−−−−−−−
25
26 // E n t e r t h e v a l u e s f o r z e t a = [ 0 . 4 1 1 . 6 ]
27
28 // E n t e r t h e v a l u e f o r wn =10ˆ5

24
 Experiment: 8

Develop a program to obtain

Root locus using Scilab.

Scilab code Solution 8.01 Root Locus

1
2 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3 // To Study t h e Root L o c u s
4 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

5
6 // OS : Windows 7
7 // S c i l a b : 6 . 0 . 1
8
9 clc
10 close
11 s = %s
12 num = input ( ’ E n t e r t h e Numerator = ’ )
13 // Case − 1 E n t e r t h e Numerator = ( s +1)
14 // Case − 2 E n t e r t h e Numerator = ( s +1)
15 // Case − 3 E n t e r t h e Numerator = 1

25
16 den = input ( ’ E n t e r t h e D eno mina tor = ’ )
17 // Case − 1 E n t e r t h e Den omin ator = ( s ˆ 2 ∗ ( s +3) ∗ ( s +5)
)
18 // Case − 2 E n t e r t h e Den omin ator = ( s ∗ ( s +2) ∗ ( s ˆ2+2∗
s +5) )
19 // Case − 3 E n t e r t h e D enom inat or =( s ∗ ( s +2) ∗ ( s +5) )
20 TF = syslin ( ’ c ’ ,num , den ) // T r a n s f e r f u n c t i o n
21 disp ( TF , ” T r a n s f e r F u n c t i o n o f s y s t e m = ” )
22 h = syslin ( ’ c ’ ,num , den )
23 evans (h ,100)
24
25 //−−−−−−−−Output−−−−−−−−−−−
26 // Case 1
27 //−−−−−−−−−−−−−−−−−−−−−−−−−−
28 // E n t e r t h e Numerator =s +1
29
30 // E n t e r t h e Den omin ator =( s ˆ 2 ∗ ( s +3) ∗ ( s +5) )
31
32
33 // T r a n s f e r F u n c t i o n o f s y s t e m =
34
35
36 // 1 + s
37 // −−−−−−−−−−−−−
38 // 2 3 4
39 // 15 s + 8 s + s
40 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
41 // Case 2
42 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
43 // E n t e r t h e Numerator =s +1
44
45 // E n t e r t h e Den omin ator =s ∗ ( s +2) ∗ ( s ˆ2+2∗ s +5)
46
47
48 // T r a n s f e r F u n c t i o n o f s y s t e m =
49
50
51 // 1 + s

26
 Figure 8.1: Root Locus

52 // −−−−−−−−−−−−−−−−−−
53 // 2 3 4
54 // 10 s + 9 s + 4 s + s
55 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
56 // Case 3
57 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
58 // E n t e r t h e Numerator =1
59
60 // E n t e r t h e Den omin ator =( s ∗ ( s +2) ∗ ( s +5) )
61
62
63 // T r a n s f e r F u n c t i o n o f s y s t e m =
64
65
66 // 1
67 // −−−−−−−−−−−−−
68 // 2 3
69 // 10 s + 7 s + s

27
Figure 8.2: Root Locus

28
Figure 8.3: Root Locus

29
 Experiment: 9

Develop a program to obtain

Nyquist Plot using Scilab.

Scilab code Solution 9.01 Nyquist plot

1
2 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3 // To Study t h e N y q u i s t p l o t
4 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

5
6 // OS : Windows 7
7 // S c i l a b : 6 . 0 . 1
8 // T o o l b o x e s : Maxima 5 . 2 0 . 1 and A c t i v e P e r l 5 . 2 0 . 2
9 clc
10 close
11
12 s = poly (0 , ’ s ’ )
13 num = input ( ’ E n t e r t h e Numerator = ’ )
14 // Case − 1 E n t e r t h e Numerator = 1
15 // Case − 2 E n t e r t h e Numerator = (5+ s ) ∗ ( s +40)

30
16 // Case − 3 E n t e r t h e Numerator = ( s +1)
17 den = input ( ’ E n t e r t h e D eno mina tor = ’ )
18 // Case − 1 E n t e r t h e Den omin ator = ( s ∗ ( s +1) ∗ ( 2 ∗ s +1)
)
19 // Case − 2 E n t e r t h e Den omin ator = ( s ˆ 3 ) ∗ ( s +200) ∗ ( s
+1000)
20 // Case − 3 E n t e r t h e D enom inat or =( s ˆ 2 ) ∗ ( s +5) ∗ ( s
+10)
21 TF = syslin ( ’ c ’ ,num , den ) // T r a n s f e r f u n c t i o n
22 disp ( TF , ” T r a n s f e r F u n c t i o n o f s y s t e m = ” )
23 h = syslin ( ’ c ’ ,num , den )
24 nyquist ( h ) ;
25
26 //−−−−−−−−Output−−−−−−−−−−−
27 // Case 1
28 //−−−−−−−−−−−−−−−−−−−−−−−−−−
29 // E n t e r t h e Numerator =1
30
31 // E n t e r t h e Den omin ator = ( s ∗ ( s +1) ∗ ( 2 ∗ s +1) )
32
33
34 // T r a n s f e r F u n c t i o n o f s y s t e m =
35
36
37 // 1
38 // −−−−−−−−−−−−
39 // 2 3
40 // s + 3s + 2s
41
42 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
43 // Case 2
44 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
45
46 // E n t e r t h e Numerator =(5+ s ) ∗ ( s +40)
47
48 // E n t e r t h e Den omin ator =( s ˆ 3 ) ∗ ( s +200) ∗ ( s +1000)
49
50

31
51 // T r a n s f e r F u n c t i o n o f s y s t e m =
52
53 // 2
54 // 200 + 45 s + s
55 // −−−−−−−−−−−−−−−−−−−−
56 // 3 4 5
57 // 200000 s + 1200 s + s
58
59 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
60 // Case 3
61 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
62 // E n t e r t h e Numerator =( s +1)
63
64 // E n t e r t h e Den omin ator =( s ˆ 2 ) ∗ ( s +5) ∗ ( s +10)
65
66
67 // T r a n s f e r F u n c t i o n o f s y s t e m =
68
69
70 // 1 + s
71 // −−−−−−−−−−−−−−
72 // 2 3 4
73 // 50 s + 15 s + s

32
Figure 9.1: Nyquist plot

33
Figure 9.2: Nyquist plot

Figure 9.3: Nyquist plot

34
 Experiment: 10

Develop a program to obtain

Bode Plot using Scilab.

Scilab code Solution 10.01 Bode Plot

1 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

2 // To Study t h e Bode p l o t
3 //
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

4
5 // OS : Windows 7
6 // S c i l a b : 6 . 0 . 1
7
8 clc
9 close
10
11 s = poly (0 , ’ s ’ )
12 num = input ( ’ E n t e r t h e Numarator = ’ )
13 // Case − 1 E n t e r t h e Numarator = 20
14 // Case − 2 E n t e r t h e Numarator = ( s +1)
15 // Case − 3 E n t e r t h e Numarator = 1

35
16 den = input ( ’ E n t e r t h e D eno mina tor = ’ )
17 // Case − 1 E n t e r t h e Den omin ator = ( s ) ∗(1+ s )
∗(1+0.5∗ s )
18 // Case − 2 E n t e r t h e Den omin ator = ( s ) ∗ ( s +2) ∗ ( s +5)
19 // Case − 3 E n t e r t h e D enom inat or =( s ) ∗ ( s +1) ∗ ( s +5)
∗ ( s +10)
20 TF = syslin ( ’ c ’ ,num , den ) // T r a n s f e r f u n c t i o n
21 disp ( TF , ” T r a n s f e r F u n c t i o n o f s y s t e m = ” )
22 h = syslin ( ’ c ’ ,num , den )
23 clf () ;
24 bode (h ,0.1 ,100)
25 g_margin ( h )
26 show_margins ( h )
27 p_margin ( h )
28 show_margins ( h )
29
30 //−−−−−−−−Output−−−−−−−−−−−
31 // Case 1
32 //−−−−−−−−−−−−−−−−−−−−−−−−−−
33 // E n t e r t h e Numarator =20
34
35 // E n t e r t h e Den omin ator =( s ) ∗(1+ s ) ∗ ( 1 + 0 . 5 ∗ s )
36
37
38 // T r a n s f e r F u n c t i o n o f s y s t e m =
39
40
41 // 20
42 // −−−−−−−−−−−−−−−−
43 // 2 3
44 // s + 1.5 s + 0.5 s
45 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
46 // Case 2
47 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
48 // E n t e r t h e Numarator =s +1
49
50 // E n t e r t h e Den omin ator =( s ) ∗ ( s +2) ∗ ( s +5)
51

36
52
53 // T r a n s f e r F u n c t i o n o f s y s t e m =
54
55
56 // 1 + s
57 // −−−−−−−−−−−−−
58 // 2 3
59 // 10 s + 7 s + s
60 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
61 // Case 3
62 //−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
63 // E n t e r t h e Numarator =1
64
65 // E n t e r t h e Den omin ator = ( s ) ∗ ( s +1) ∗ ( s +5) ∗ ( s +10)
66
67
68 // T r a n s f e r F u n c t i o n o f s y s t e m =
69
70
71 // 1
72 // −−−−−−−−−−−−−−−−−−−−
73 // 2 3 4
74 // 50 s + 65 s + 16 s + s

37
Figure 10.1: Bode Plot

Figure 10.2: Bode Plot

38
Figure 10.3: Bode Plot

39