Faculty of Engineering and information technology
Department of Electrical and Computer Engineering
Control Engineering TECP3891
Assignment 1: MATLAB practical assignment
Student name: Florian Kambonde
Student no: 201708591
Lecturer: Dr. T. Wanjekeche
1.
Figure 1. Laplace transform
2.
Figure 2 Inverse Laplace transform code
The answer from the resulting code
Figure 3 Inverse Laplace transform part 1
Figure 4 Inverse Laplace transform part 2
The resultant inverse Laplace transform = (content of figure. 3) – (content of figure.4)
Question 3
(a)
The transfer function can be represented in Simulink as follows, with the two input ports scope
connected to display the step response, with or without the system being subjected to an input.
Figure 5 Transfer function configuration
The response of the system when it is not subjected to any input function
Figure 6 Step response with no input signal
And after being subjected to an input (with an integrator)
Figure 7 Step response after the system is subjected to an input signal
(b) The system configuration in Simulink
Figure 8 Transfer function block configuration
Figure 9 Step response when it is not subjected to any input signal
Figure 10 Step response when after being subjected to any input sign
Question 4
Figure 11 Damping and time characteristics
Question 5
(a) The roots of the equations are -5, -7, -9, therefore,
Figure 12 Poly command
Hence, the polynomial equation is:
3 2
s +21 s +143 s+ 315
(b) The coefficients of the polynomial equation are taken into the root command.
Figure 13 Roots
(c)
Figure 14 Expand command to obtain the polynomial equation
Hence, the polynomial equation is s4 + 12 s3 +51 s 2 +92 s +60
Or it can further be well presented by the ‘pretty’ command
Figure 15. Pretty command
(d)
Figure 16 Partial fractions
r1 r2 r3
Thus G(s) ¿ + +
s− p1 s−p 2 s− p3
0.9158 0.0421− j1.4652 0.0421+ j 1.4652
Therefore G(s) = + +
s +4.615 s +0.9133− j 0.4236 s+0.9133+ j 0.4236
Question 6
(a)
The system is a type zero
(b)
The code to obtain the steady state errors is as shown in figure 17
Figure 17 Code to obtain steady state errors
The values of Ka, Kp and Kv are displayed as follows
Figure 18 Steady state error constants
c)
The steady state errors were obtained as follows
Figure 19 Steady state errors
Question 7
(a)
Figure 20 Code to obtain a root locuss
Figure 21 Root locus diagram
b)
The limits were changed where the axes go from -1 to 0 on the real axis and -2 to 2 on the imaginary
axis.
Figure 22 Limits to the graph
Figure 23 below was obtained with respect tohange in limits in 7 (b)
Figure 23 Graph within the specified limits
c)
10% overshoot line on the close-up root locus, was obtained at 10.1%
Figure 24 10.1% overshoot line on the close-up root locus
d)
The gain obtained at 10.1 % overshoot is 14.2
Figure 25 Step command after with the gain k = 14.2
The step response obtined after at gain k = 14.2
Figure 26. Step response at gain k = 14.2
