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Esercizio 1
2 1 1
𝐴=[ ] ; 𝐵 = [ ] ; 𝐶 = [1 0] ; 𝐷 = 0
3 0 1
Esercizio 2
in cui:
18
𝑃(𝑠) =
(𝑠 + 100)
>> B=[1;1];
>> D=[];
>> sis=ss(A,B,C,D);
>> [U,aut]=eig(A)
landa1 = 3.0000
landa2= -1.0000
U=
0.7071 -0.3162
0.7071 0.9487
V=
1.0607 0.3536
-0.7906 0.7906
C*u1= 0.7071 ≠0
C*u2= -0.3162≠0
v1’*B= 1.4142 ≠0
ES.2.
kp = 0.1800
wt = 20
mwt = 12.7604
phiwt = -191.3933
wtta= 2
ma= 8
Ra =
0.1 s + 1
------------
0.0125 s + 1
Bode Diagram
200
150
Magnitude (dB)
100
System: untitled1
Frequency (rad/s): 20.3
50 Magnitude (dB): 19.5
-50
-135
System: untitled1
Frequency (rad/s): 20.2
Phase (deg)
-225
-3 -2 -1 0 1 2
10 10 10 10 10 10
Frequency (rad/s)
Wtti= 70
Mi= 10
Ri =
0.35 s + 1
----------
3.5 s + 1
Bode Diagram
200
150
Magnitude (dB)
100
System: untitled1
50 Frequency (rad/s): 19.8
Magnitude (dB): -0.197
0
-50
-135
System: untitled1
Frequency (rad/s): 20.9
Phase (deg)
-180
Phase (deg): -149
-225
-270
-3 -2 -1 0 1 2
10 10 10 10 10 10
Frequency (rad/s)
Nichols Chart
0.5 dB
20 1 dB -1 dB
10 3 dB
-3 dB
Open-Loop Gain (dB)
6 dB
System: untitled1
Gain (dB): -6.51
0 Phase (deg): -153 -6 dB
Frequency (rad/s): 34.5
-10
-20
-30
e=9.9998e-05