Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
G(s) =
125,000(s+400)
(s+1000)(s2 +60s+2500)
MATLAB Script
clc
2
3
syms s
4
5
6
7
8
num = s y m 2 p o l y ( 1 2 5 0 0 0 ( s +400) ) ;
den = s y m 2 p o l y (( s + 1 0 0 0 ) ( s 2 + 6 0 s + 2 5 0 0 ) ) ;
9
10
11
12
13
14
Kp =97;
% It was m e n t i o n e d in the q u e s t i o n that the Kp
was 97
1
Ki =0;
Kd =0;
17
18
19
20
T = f e e d b a c k ( C G , H ) ; % f e e d b a c k f u n c t i o n a s s u m e s that
it is a form of n e g a t i v e f e e d b a c k
21
22
step ( T )
After you run the script you should get a step response of the system under analysis.
Which is as follows:
Figure 2: Finding the settling time of the system using the step response graph
2
Figure 4: Table used that yields the values of Kp, Ki & Kd directly
From this table we get the values of Kp = 58.2, Ki = 1.164 & Kd = 0.0073. We plug
these values in the matlab script to find the step response of the tuned system. Some further
tuning could be done to yield the desired response of the closed loop system.
T ransf er F unction =
G(s)H(s)
1+G(s)H(s) R(s)