Zilfa

Hasanita Natalia
2012-11-048

m=1000;
b=50;
u=500;
num=[1];
den=[m b];
step (u*num,den);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
u=500;
A=[-b/m];
B=[1/m];
C=[1];
D=0;
step(A,u*B,C,D);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

Kp=100;
num=[Kp];
den=[1 10 20+Kp];
t=0:0.01:2;
step(num,den,t);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

Kp=100;
Kd=10;
num=[Kd Kp];
den=[1 10+Kd 20+Kp];
t=0:0.01:2;
step(num,den);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

Kp=100;
Ki=10;
num=[Kp Ki];
den=[1 10 20+Kp Ki];
t=0:0.01:2;
step(num,den);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

Kp=100;
Ki=10;
Kd=100;
num=[Kp Ki Kd];
den=[1 10+Kd 20+Kp Ki];
step(num,den);
ylabel ('Velocity (m/sec)');grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

Kp=1
num=[1 7]
den=conv(conv([1 0],[1 5]),conv([1 15],[1 20]))
rlocus(num,den)
axis([-30 15 -15 15])
zeta=0.7;
wn=1.8;
sgrid(zeta,wn)
[Kp,poles]=rlocfind(num,den)
figure;
[numCL,denCL]=cloop((Kp)*num,den)
step(numCL,denCL);grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
r=10;
z=0.3;
p=0.03;
kp=100;
num=[1 z];
den=[m b+m*p b*p];
rlocus(num,den);
axis([-0.6 0 -0.4 0.4]);
sgrid(0.6, 0.36);

[kp,poles]=rlocfind(num,den);
numc=[kp kp*z];
denc=[m b+m*p+kp b*p+kp*z];
t=0:0.1:20;
step(r*numc,denc,t);grid;
axis([0 20 0 12]);
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
Kp=1000;
num=[Kp];
den=[m b];
bode(num,den);grid

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
r=10;
Kp=1000;
numo=[Kp];
deno=[m b];
margin(numo,deno);grid;
[numc,denc]=cloop(numo,deno,-1);
t=0:0.1:50;
figure
step(r*numc,denc,t);grid
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
r=10;
num=[1];
den=[m b];
kp=1000;
a=0.008;
T=400;
numlag=kp*[a*T 1];
denlag=a*[T 1];
newnum=conv(num,numlag);
newden=conv(den,denlag);
margin(newnum,newden);grid;

[numc,denc]=cloop(newnum,newden,-1)
t=0:0.1:50;
figure;
step(r*num,den,t);grid;
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
A=[-b/m];
B=[1/m];
C=[1];
D=[1];
x0=[0];
p1=-1.5;
kc=place(A,B,[p1]);
A1=A-B*kc;
t=0:0.1:10;
r=500*ones(size(t));
lsim(A1,B,C,D,r,t,x0);grid;
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
A=[-b/m];
B=[1/m];
C=[1];
D=[0];
x0=[0];
p1=-1.5;
kc=place(A,B,[p1]);
Ninv=-C*inv(A-B*kc)*B;
N=1/Ninv;
A1=A-B*kc;
t=0:0.1:10;
ref=10*ones(size(t));
lsim(A1,B*N,C,D,ref,t,x0);grid;
axis([0 10 0 12]);
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

m=1000;
b=50;
u=500;
s=tf('s');
p_cruise=1/(m*s+b);
Ts=1/50;

dP_cruise=c2d(p_cruise,Ts,'zoh');
Wn=0.0072;
zeta=0.6;
rlocus(dP_cruise);
zgrid(zeta,Wn);
axis([-1 1 -1 1]);
[K,poles]=rlocfind(dP_cruise)
K=1000;
sys_cl=feedback(K*dP_cruise,1);
r=10;
figure
step(r*sys_cl,10);
grid;
Laboratorium Dasar Sistem Kontrol
STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

xlabel('Time(sec)');
ylabel('Velocity(m/sec)');

num=[1];
den=[1000 50];
ts=1/50;
[numDz,denDz]=c2dm(num,den,ts,'zoh');
numleadDz=[1 0.6];
denleadDz=[1 -0.6];
numDnew=conv(numDz,numleadDz);
denDnew=conv(denDz,denleadDz);
Wn=0.0072;
zeta=0.6;
zgrid('new');
rlocus(numDnew,denDnew);
hold;
zgrid(zeta,Wn);
axis([-1 1 -1 1]);
[kp,poles]=rlocfind(numDnew,denDnew);
[numcDnew,dencDnew]=cloop(kp*numDnew,denDnew);
U=10;
Laboratorium Dasar Sistem Kontrol
STT-PLN

Zilfa
Hasanita Natalia
2012-11-048

t=0:0.02:6;
datanum=size(t,2);
figure;
[x]=dstep(U*numcDnew,dencDnew,datanum);
stairs(t,x);grid;
xlabel('Time(sec)');
ylabel('velocity(m/sec)');

Laboratorium Dasar Sistem Kontrol

STT-PLN