Control Systems Engineering

Scilab Textbook Companion for
Control Systems Engineering

by I. J. Nagrath And M. Gopal 1
Created by
Anuj Sharma
B.E. (pursuing)
Electrical Engineering
Delhi Technological University
College Teacher
Ram Bhagat, DTU, Delhi
Cross-Checked by
sonanaya tatikola, IITB
May 16, 2016
1 Funded
by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro. This Textbook Companion and Scilab
codes written in it can be downloaded from the Textbook Companion Project
section at the website http://scilab.in
Book Description
Title: Control Systems Engineering
Author: I. J. Nagrath And M. Gopal
Publisher: New Age Publisher, New Delhi
Edition: 3
Year: 2007
ISBN: 81-224-1192-4
Scilab numbering policy used in this document and the relation to the
above book.
Exa Example (Solved example)
Eqn Equation (Particular equation of the above book)
AP Appendix to Example(Scilab Code that is an Appednix to a particular
Example of the above book)
For example, Exa 3.51 means solved example 3.51 of this book. Sec 2.3 means
a scilab code whose theory is explained in Section 2.3 of the book.
Contents
List of Scilab Codes
2 Mathematical Models of Physical Systems
3 Feedback Characteristics of control sytems
5 Time Response analysis design specifications and performance indices

12
6 Concepts of stability and Algebraic Criteria
18
7 The Root Locus Technique
27
9 Stability in Frequency Domain
39
10 Introduction to Design
58
12 State Variable Analysis and Design
72
List of Scilab Codes

Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
2.3
2.4
3.2
3.3.a
3.3.b
3.3.c
3.3.d
3.3.f
3.3.g
5.2
5.2.2
5.3
5.3.2
5.4.1
5.4.2
5.4.3
5.8
5.9
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
signal flow graph . . . . . . . .

transfer function . . . . . . . .
sensitivity of transfer function .
sensitivity of transfer function .
steady state error . . . . . . .
calculation of slope . . . . . . .
calculation of slope . . . . . . .
calculation of input . . . . . .
calculation of time . . . . . . .
state variable analysis . . . . .
hurwitz criterion . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
routh criterion . . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
routh array . . . . . . . . . . .
4
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
6
6
8
8
9
9
10
10
11
12
13
13
14
14
15
15
16
16
18
19
19
20
20
21
22
23
23
24
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
Exa
6.11.a
6.11.b
7.1
7.2
7.3
7.4
7.6
7.8
7.9
7.10
9.1
9.2
9.3
9.4
9.5
9.6
9.7.a
9.7.b
9.8.a
9.8.b
9.10
9.11
9.13.a
9.13.b
9.14
9.15
10.6
10.7
10.8
10.9
12.3
12.4
12.5
12.6
12.7
12.12
12.13
12.14
routh array . . . . . . . . . . . . . . . . .
routh array . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . . . . . .
nyquist plot . . . . . . . . . . . . . . . . .
nyquist plot . . . . . . . . . . . . . . . . .
nyquist plot . . . . . . . . . . . . . . . . .
nyquist plot . . . . . . . . . . . . . . . . .
nyquist plot . . . . . . . . . . . . . . . . .
stability using nyquist plot . . . . . . . .
nyquist criterion . . . . . . . . . . . . . .
nyquist criterion . . . . . . . . . . . . . .
gm and pm using nyquist plot . . . . . . .
bode plot . . . . . . . . . . . . . . . . . .
bode plot . . . . . . . . . . . . . . . . . .
bode plot . . . . . . . . . . . . . . . . . .
m circles . . . . . . . . . . . . . . . . . .
m circles . . . . . . . . . . . . . . . . . .
lead compensation . . . . . . . . . . . . .
lead compensation . . . . . . . . . . . . .
lag compnsation . . . . . . . . . . . . . .
lag and lead compensation . . . . . . . .
state matrix . . . . . . . . . . . . . . . .
modal matrix . . . . . . . . . . . . . . . .
obtain time response . . . . . . . . . . . .
resolvant matrix . . . . . . . . . . . . . .
state transition matrix and state response
check for controllability . . . . . . . . . .
check for controllability . . . . . . . . . .
check for observability . . . . . . . . . . .
5
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
24
25
27
27
29
30
32
34
36
36
39
39
41
42
44
46
48
49
50
50
50
52
53
54
55
56
58
61
64
67
72
72
73
74
74
75
76
76
Exa 12.17 design state observer . . . . . . . . . . . . . . . . . . .
77
List of Figures
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
root
root
root
root
root
root
root
root
locus
locus
locus
locus
locus
locus
locus
locus
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
28
29
30
31
32
33
35
37
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9.8
9.9
9.10
9.11
9.12
9.13
9.14
9.15
nyquist plot . . . . . . . . . .
nyquist plot . . . . . . . . . .
nyquist plot . . . . . . . . . .
nyquist plot . . . . . . . . . .
nyquist plot . . . . . . . . . .
nyquist plot . . . . . . . . . .
stability using nyquist plot . .
gm and pm using nyquist plot
bode plot . . . . . . . . . . .
bode plot . . . . . . . . . . .
bode plot . . . . . . . . . . .
m circles . . . . . . . . . . . .
m circles . . . . . . . . . . . .
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
40
41
42
43
44
45
47
48
49
51
52
53
54
55
57
10.1
10.2
10.3
10.4
lead
lead
lead
lead
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
59
60
62
63
compensation
compensation
compensation
compensation
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
7
10.5
10.6
10.7
10.8
lag
lag
lag
lag
compnsation . . . . . .
compnsation . . . . . .
and lead compensation
and lead compensation
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
65
66
68
69
Chapter 2
Mathematical Models of
Physical Systems
Scilab code Exa 2.3 signal flow graph

1 s = %s ;
2 syms L C R1 R2
3 // f o r w a r d p a t h d e n o t e d by P ! and l o o p by L1 , L2 and
4
5
6
7
8
9
10
11
12
s o on
// p a t h f a c t o r by D1 and g r a p h d e t e r m i n a n t by D
P1 =1/( s * L * s * C ) ;
L1 = - R1 /( s * L ) ;
L2 = -1/( s * R2 * C ) ;
L3 = -1/( s ^2* L * C ) ;
D1 =1;
D =1 -( L1 + L2 + L3 ) ;
Y =( P1 * D1 ) / D ;
disp (Y , T r a n s f e r f u n c t i o n= )
Scilab code Exa 2.4 transfer function
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
syms xv Qf Qo Cf Co V Qw Kv
Qo = Qw + Qf ;
// r a t e o f s a l t i n f l o w
mi = Qf * Cf ;
// r a t e o f s a l t o u t f l o w
mo = Qo * Co ;
// r a t e o f s a l t a c c u m u l a t i o n
ma = diff ( V * Co , t ) ;
mi = ma + mo ;
Qf * Cf = V * diff ( Co , t ) + Qo * Co ;
Qf = Kv * xv ;
K = Cf * Kv / Qo ;
G = V / Qo ;
G * diff ( Co , t ) + Co = K * xv ;
// t a k i n g l a p l a c e
G * s * Co + Co = K * xv ;
// t r a n s f e r f u n c t i o n= Co/ xv
Co / xv = K /( G * s +1) ;
10
Chapter 3
Feedback Characteristics of
control sytems
Scilab code Exa 3.2 sensitivity of transfer function

1
2
3
4
5
6
7
8
9
10
11
12
syms K ;
s = %s ;
G = syslin ( c ,25( s +1) /( s +5) ) ;
p=K;
q = s ^2+ s ;
J=p/q;
F=G*J;
T = F /(1+ F ) ; // C l o s e d l o o p t r a n s f e r f u n c t i o n
disp (T , C( s ) /R( s ) )
// s e n s i t i v i t y w . r . t K = dT/dKK/T
S =( diff (T , K ) ) *( K / T )
disp (S , S e n s i t i v i t y )
Scilab code Exa 3.3.a sensitivity of transfer function

1
syms K1 K t ;
11
2
3
4
5
6
7
8
9
10
11
12
13
14
15
s = %s ;
p = K1 * K ;
q = t * s +1+( K1 * K ) ;
T=p/q;
disp (T , V( s ) /R( s ) )
// s e n s i t i v i t y w . r . t K i s dT/dKK/T
S =( diff (T , K ) ) *( K / T )
// g i v e n K1=50 K=1.5
s =0
S = horner (S , s )
K1 =50;
K =1.5;
S =1/(1+ K1 * K )
disp (S , s e n s i t i v i t y = )
Scilab code Exa 3.3.b steady state error

1
2
3
4
5
6
7
8
9
10
11
12
13
14
syms A K K1 t
s = %s ;
p = K1 * K * A ;
q = s *(1+( t * s ) +( K1 * K ) ) ;
K =1.5;
K1 =50;
V=p/q
v = limit ( s *V ,s ,0)
// g i v e n s t e a d y s t a t e s p e e d = 60km/ h r
A =60*(1+( K1 * K ) ) /( K1 * K )
// s t e a d y e r r o r e ( s s )=Av
v =60;
e =A - v ;
disp (e , e ( s s )= )
Scilab code Exa 3.3.c calculation of slope

12
1
2
3
4
5
6
7
8
9
// u n d e r s t a l l e d c o n d i t i o n s
syms Kg K1 D ;
A =60.8;
A * K1 = Kg * D ;
// g i v e n Kg=100
Kg =100;
K1 =50;
D =( A * K1 ) / Kg ;
disp (D , u p s l o p e= )
Scilab code Exa 3.3.d calculation of slope

1
2
3
4
5
6
7
8
// s t e a d y s p e e d =10km/ h r
syms K Kg D
((( A -10) * K1 ) -( - D * Kg ) ) K =100;
A =(60.8*10) /60;
K =1.5;
Kg =100;
D =((100/ K ) -((A -10) * K ) ) / Kg ;
disp (D , Down s l o p e= )
Scilab code Exa 3.3.f calculation of input

1
2
3
4
5
6
7
8
9
10
// f o r open l o o p s y s t e m
// g i v e n s p e e d =60km/ h r
syms R K1 K ;
( R * K1 * K ) =60
K1 =50;
K =1.5;
R =60/( K1 * K )
disp (R , I n p u t open= )
// f o r c l o s e d l o o p
R =60(1+( K1 * K ) ) /( K1 * K )
13
11
disp (R , I n p u t c l o s e d= )
Scilab code Exa 3.3.g calculation of time

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
// f o r open l o o p
syms t g s ;
s = %s ;
K1 =50;
K =1.5;
g =20;
V = syslin ( c ,(( K1 * K ) *0.8) /( s *(( g * s ) +1) ) )
// t a k i n g i n v e r s e l a p l a c e
v = ilaplace (V ,s , t )
v =60(11 - %e ^( - t /20) )
// g i v e n v=90%
v =0.9;
t = -20* log (1 - v ) ;
disp (t , t i m e open= )
// f o r c l o s e d l o o p
syms K g
s = %s ;
V = syslin ( c ,(60.8* K ) /( s *(( g * s ) +1) ) )
// t a k i n g i n v e r s e l a p l a c e
v = ilaplace (V ,s , t )
// g i v e n
K =75/76;
g =.263;
v =60(1 - %e ^( - t /.263) )
// a t v=90%
v =0.9;
t = -.263* log (1 -( v /60) ) ;
disp (t , t i m e c l o s e d= )
14
Chapter 5
Time Response analysis design
specifications and performance
indices
Scilab code Exa 5.2 steady state error

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
s = %s
syms K J f
K =60; // g i v e n
J =10; // g i v e n
p=K/J
q = K / J +( f / J ) * s + s ^2
G=p/q;
disp (G , Qo ( s ) / Qi ( s )= )
zeta =0.3; // g i v e n
cof1 = coeffs (q , s ,0)
// on c o m p a r i n g t h e c o e f f i c i e n t s
Wn = sqrt ( cof1 )
cof2 = coeffs (q , s ,1)
// 2 z e t a Wn=c o f 2
f / J =2* zeta * Wn
r = s ^2+ f / J
s = s ^2+ f / J + K / J
15
18 H = r / s ;
19 disp (H , Qe ( s ) / Qi ( s )= )
Scilab code Exa 5.2.2 steady state error

1 // g i v e n Qi ( s ) = 0 . 0 4 / s 2
2 Qi =0.04/ s ^2;
3 e = limit ( s * Qi *H ,s ,0)
4 disp (e , S t e a d y s t s t e e r o r= )
Scilab code Exa 5.3 transfer function

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
s = %s ;
syms Kp Ka Kt J f
// g i v e n
J =0.4;
Kp =0.6;
Kt =2;
f =2;
p = Kp * Ka * Kt
q = s ^2+ f / J +( Kp * Ka * Kt ) / J
G=p/q;
disp (G , Qm( s ) /Qr ( s )= )
cof_1 = coeffs (q , s ,0)
// Wn=s q r t ( c o f 1 )
Wn =10;
Ka =( Wn ) ^2* J /( Kp * f )
disp ( Ka , A m p l i f i e r C o n s t a n t= )
16
Scilab code Exa 5.3.2 transfer function

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
s = %s ;
syms Kp Ka Kt Kd J f
// g i v e n
J =0.4;
Kp =0.6;
Kt =2;
f =2;
Ka =5;
p = Kp * Ka * Kt
q = s ^2+(( f + Ka * Kd * Kt ) / J ) * s +( Kp * Ka * Kt ) / J
G=p/q;
disp (G , Qm( s ) /Qr ( s )= )
Wn = sqrt ( cof_1 )
zeta =1 // g i v e n
// 2 z e t a Wn=c o f 2
Kd =(2* zeta * sqrt ( Kp * J * Ka * Kt ) -f ) /( Ka * Kt )
disp ( Kd , T a c h o g e n e r t o r c o n s t a n t= )

1 syms Wn zeta Kv Ess
2 s = %s ;
3 p = poly ([8 2 1] , s , c o e f f ) ; // c h a r a c t e r i s t i c
4
5
6
7
8
9
equation
z = coeff ( p ) ;
Wn = sqrt ( z (1 ,1) )
zeta = z (1 ,2) /(2* Wn )
Kv = z (1 ,1) / z (1 ,2)
Ess =1/ Kv // S t e a d y s t a t e e r r o r f o r u n i t ramp i / p
disp ( Ess , S t e a d y s t a t e E r r o r= )
17

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
// w i t h d e r i v a t i v e f e e d b a c k
// c h a r a c t e r i s t i c e q u a t i o n i s
syms a
s = %s ;
p = s ^2+(2+(8* a ) ) * s +8=0
zeta =0.7 // g i v e n
Wn =2.828;
cof_1 = coeffs (p , s ,1)
// on c o m p a r i n g 2 z e t a Wn=c o f 1
a =((2* zeta * Wn ) -2) /8
disp (a , D e r i v a t i v e f e e d b a c k= )
cof_1 =2+8*0.245;
Kv = cof_2 / cof_1 ;
Ess =1/ Kv
disp ( Ess , S t e a d y s t a t e e r r o r= )

1
2
3
4
5
6
7
8
9
10
// l e t t h e c h a r e q u a t i o n be
syms Ka
s = %s ;
p = s ^2+(2+( a * Ka ) ) * s + Ka =0
// Wn2= c o f 1
Wn = sqrt ( cof_1 )
// 2 z e t a Wn=c o f 2
Kv = cof_1 / cof_2 ;
18
11 Ess =1/ Kv ;
12 // g i v e n E s s =0.25
13 Ess =0.25;
14 Ka =2/( Ess - a )
15 disp ( Ka . Ka= )
Scilab code Exa 5.8 steady state error

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
s = %s ;
syms K V
p = s ^2+(100* K ) * s +100=0
Wn = sqrt ( cof_1 )
zeta =1 // g i v e n
// 2 z e t a Wn=c o f 2
K =(2* Wn * zeta ) /100
// For ramp i n p u t
R = V / s ^2
E=R/p
// s t e a d y s t a t e e r r o r
e = limit ( s * E ( s ) ,s ,0)
disp (e , e ( s s )= )
Scilab code Exa 5.9 state variable analysis

1
2
3
4
5
6
7
s = %s ;
syms t m
A =[0 1; -100 -20];
B =[0;100];
C =[1 0];
x =[0;0];
[ r c ]= size ( A )
19
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
p = s * eye (r , c ) -A
q = inv ( p ) ;
disp (q , p h i ( s )= ) // R e s o l v a n t m a t r i x
for i =1: r ;
for j =1: c ;
q (i , j ) = ilaplace ( q (i , j ) ,s , t )
end
end
disp (q , p h i ( t )= ) // S t a t e t r a n s i t i o n m a t r i x
t =t - m ;
q = eval ( q )
// I n t e g r a t e q w . r . t m
r = integrate ( q *B , m )
m =0
// Upper l i m i t i s t
g = eval ( r ) // P u t i n g u p p e r l i m i t i n q
m = t // Lower l i m i t i s 0
h = eval ( r )
// P u t t i n g l o w e r l i m i t i n q
y =( h - g ) ;
disp (y , y= )
printf ( x ( t )=p h i ( t ) x ( 0 )+ i n t e g r a t e ( p h i ( tmB) w . r . t
m from 0 t o t ) )
y1 =( q * x ) + y ;
disp ( y1 , x ( t )= )
// t r a n s f e r f u n c t i o n
t=C*q*B;
disp (t , T( s )= )
20
Chapter 6
Concepts of stability and
Algebraic Criteria
Scilab code Exa 6.1 hurwitz criterion

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
s = %s ;
p = s ^4+8* s ^3+18* s ^2+16* s +5
r = coeff ( p )
D1 = r (4)
d2 =[ r (4) r (5) ; r (2) r (3) ]
D2 = det ( d2 ) ;
d3 =[ r (4) r (5) 0; r (2) r (3) r (4) ;0 r (1) r (2) ]
D3 = det ( d3 ) ;
d4 =[ r (4) r (5) 0 0; r (2) r (3) r (4) r (5) ;0 r (1) r (2) r
(3) ;0 0 0 r (1) ]
D4 = det ( d4 ) ;
disp ( D1 , D1= )
disp ( D2 , D2= )
disp ( D3 , D3= )
disp ( D4 , D4= )
printf ( S i n c e a l l t h e d e t e r m i n a n t s a r e p o s i t i v e t h e
system i s s t a b l e )
21
Scilab code Exa 6.2 routh array

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
s = %s ;
p = s ^4+8* s ^3+18* s ^2+16* s +5
r = routh_t ( p )
m = coeff ( p )
l = length ( m )
c =0;
for i =1: l
if ( r (i ,1) <0)
c = c +1;
end
end
if (c >=1)
printf ( System i s u n s t a b l e )
else ( Sysem i s s t a b l e )
end

1
2
3
4
5
6
7
8
9
10
11
12
s = %s ;
p =3* s ^4+10* s ^3+5* s ^2+5* s +2
r = routh_t ( p )
m = coeff ( p )
l = length ( m )
c =0;
for i =1: l
if ( r (i ,1) <0)
c = c +1;
end
end
if (c >=1)
22
13 printf ( System i s u n s t a b l e )
14 else ( Sysem i s s t a b l e )
15 end

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
s = %s ;
syms Kv Kd Kp Kt
p = s ^3+(1+( Kv * Kd ) ) * s ^2+( Kv * Kp ) * s +( Kp * Kt )
cof_a_0 = coeffs (p , s ,0) ;
r =[ cof_a_0 cof_a_1 cof_a_2 cof_a_3 ]
n = length ( r ) ;
routh =[ r ([4 ,2]) ; r ([3 ,1]) ]
routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0]
t = routh (2:3 ,1:2) ;
routh =[ routh ; - det ( t ) / routh (3 ,1) ,0]
disp ( routh , r o u t h= ) ;
// f o r s t a b i l i t y r ( : , 1 ) >0
// f o r t h e g i v e n t a b l e
b = routh (3 ,1)
disp ( f o r s t a b i l i t y b , >0 )

1 s = %s ;
2 syms K
3 p =(1+ K ) * s ^2+((3* K ) -0.9) * s +(2 K -1)
4 cof_a_0 = coeffs (p , s ,0) ;
5 cof_a_1 = coeffs (p , s ,1) ;
6 cof_a_2 = coeffs (p , s ,2) ;
23
7 r =[ cof_a_0 cof_a_1 cof_a_2 ]

8 n = length ( r ) ;
9 routh =[ r ([3 ,1]) ; r (2) ,0];
10 routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0];
11 disp ( routh , r o u t h= )
12 // f o r no r o o t i n r i g h t h a l f
13 // r o u t h ( 1 , 1 ) , r o u t h ( 2 , 1 ) , r o u t h ( 3 , 1 ) >0
14 routh (1 ,1) =0
15 routh (2 ,1) =0
16 routh (3 ,1) =0
17 // c o m b i n i n g t h e r e s u l t
18 K =0.9/3;
19 disp (K , For no r o o t s i n r i g h t h a l f = )
20 // f o r 1 p o l e i n r i g h t h a l f i . e . one s i g n c h a n g e
21 // r o u t h ( 1 , 1 ) >0 n r o u t h ( 3 , 1 ) <0
22 disp ( For one p o l e i n r i g h t h a l f , 1<K<0.05 )
23 // f o r 2 p o l e s i n r i g h t h a l f
24 // r o u t h ( 2 , 1 ) <0 n r o u t h ( 3 , 1 ) >0
25 disp ( For 2 p o l e s i n r i g h t h a l f , 0.05 <K<0.3 )
Scilab code Exa 6.6 routh criterion

1
2
3
4
5
6
7
8
9
10
11
12
13
s = %s ;
syms K
p = s ^2 -( K +2) * s +((2* K ) +5)
r =[ cof_a_0 cof_a_1 cof_a_2 ]
n = length ( r ) ;
routh =[ r ([3 ,1]) ; r (2) ,0];
routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0];
disp ( routh , r o u t h= )
// f o r s y s t e m t o be s t a b l e
routh (2 ,1) >0
24
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
K < -2;
routh (3 ,1) >0
K > -2.5;
disp ( For s t a b l e system , 2>K>2.5 )
// f o r l i m i t e d s t a b i l i t y
routh (2 ,1) =0
K = -2
routh (3 ,1) =0
K = -2.5
disp ( For l i m t e d s t a b l e s y s t e m K=2 and K=2.5 )
// f o r u n s t a b l e s y s t e m
disp ( For u n s t a b l e s y s t e m K<2 o r K>2.5 )
roots ( p ) // g i v e s t h e r o o t s o f t h e p o l y n o m i a l m
// f o r c r i t i c a l l y damped c a s e
g =( K +2) ^2 -4*((2* K ) +5)
roots ( g )
// f o r s t a b l i t y K=6.47 i s u n s t a b l e
// f o r c r i t i c a l damping K= 2.47
disp ( For underdamded c a s e , 2>K> 2.47 )
disp ( f o r overdamped c a s e , 2.47>K>2.5 )

1
2
3
4
5
6
7
8
9
s = %s ;
syms eps
p = s ^5+ s ^4+2* s ^3+2* s ^2+3* s +5
r = coeff ( p ) ;
n = length ( r ) ;
routh =[ r ([6 ,4 ,2]) ; r ([5 ,3 ,1]) ]
syms eps ;
routh =[ routh ; eps , - det ( routh (1:2 ,2:3) ) / routh (2 ,2) ,0];
routh =[ routh ; - det ( routh (2:3 ,1:2) ) / routh (3 ,1) ,- det (
routh (2:3 ,2:3) ) / routh (4 ,2) ,0];
10 routh =[ routh ; - det ( routh (4:5 ,1:2) ) / routh (5 ,1) ,0 ,0];
11 disp ( routh , r o u t h= )
25
12
13
14
15
16
17
// t o c h e c k s t a b i l i t y
routh (4 ,1) =8 - limit (5/ eps , eps ,0) ;
disp ( routh (4 ,1) , r o u t h ( 4 , 1 )= )
routh (5 ,1) = limit ( routh (5 ,1) ,eps ,0) ;
disp ( routh (5 ,1) , r o u t h ( 5 , 1 )= )
printf ( There a r e two s i g n c h a n g e s o f f i r s t column
hence the system i s u n s t a b l e )

1 s = %s ;
2 p = s ^6+2* s ^5+8* s ^4+12* s ^3+20* s ^2+16* s +16
3 r = routh_t ( p )
4 roots ( p )
5 disp (0 , t h e number o f r e a l p a r t o f r o o t s
lying in
the r i g h t h a l f )
6 printf ( System i s s t a b l e )

1
2
3
4
5
6
7
8
9
10
11
12
s = %s ;
syms K a
p = s ^4+10* s ^3+32* s ^2+( K +32) * s +( K * a )
n = length ( r ) ;
routh =[ r ([5 ,3 ,1]) ; r ([4 ,2]) ,0]
routh (1:2 ,2:3) ) / routh (2 ,2) ,0];
26
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29

routh (2:3 ,2:3) ) / routh (3 ,2) ,0];
routh =[ routh ; - det ( routh (3:4 ,1:2) ) / routh (4 ,1) ,0 ,0];
disp ( routh , r o u t h= )
// f o r t h e g i v e n s y s t e m t o be s t a b l e
routh (3 ,1) >0
K <288;
routh (4 ,1) >0
(288 - K ) *( K +32) -100( K * a ) >0
// l e t K=200
K =200;
a =((288 - K ) *( K +32) ) /(100* K )
// v e l o c i t y e r r o r
Kv =( K * a ) /(4*2*4) ;
// % v e l o c i t y e r r o r
Kvs =100/ Kv
disp (a , c o n t r o l p a r a m e t e r= )
disp (K , Gain= )

1
2
3
4
5
6
7
s = %s ;
p = s ^3+7* s ^2+25* s +39
// t o c h e c k i f t h e r o o t s l i e l e f t o f s=1
// s u b s t i t u t e s=s 1
p =( s -1) ^3+7*( s -1) ^2+25*( s -1) +20
r = routh_t ( p )
printf ( A l l t h e s i g n s o f e l e m e n t s f i r s t column a r e
p o s i t i v e h e n c e t h e r o o t s l i e l e f t o f s=1 )
Scilab code Exa 6.11.a routh array

1 s = %s ;
27
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
syms K
// t h e s y s t e m c h a r a c t e r i s t i c eq can be w r i t t e n a s
p = s ^3+8.5* s ^2+20* s +12.5(1+ K )
n = length ( r ) ;
routh =[ r ([4 ,2]) ; r ([3 ,1]) ]
routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0]
t = routh (2:3 ,1:2) ;
routh =[ routh ; - det ( t ) / routh (3 ,1) ,0]
disp ( routh , r o u t h= ) ;
// f o r l i m i t i n g v a l u e o f K
routh (3 ,1) =0
K =12.6;
disp (K , L i m i t i n g v a l u e o f K )
Scilab code Exa 6.11.b routh array

1 syms zeta Wn ts z
2 // s e t t l i n g t i m e t s =4/ z e t a Wn
3 // g i v e n t s =4 s e c
4 ts =4;
5 zeta * Wn = ts /4
6 printf ( now t h e r e a l p a r t o f dominant r o o t s h o u l d be
7
8
9
10
11
12
13
1 o r more )
// s u b s t i t u t i n g s=s 1
p =( s -1) ^3+8.5*( s -1) ^2+20*( s -1) +12.5*(1+ K )
28
14 n = length ( r ) ;
15 routh =[ r ([4 ,2]) ; r ([3 ,1]) ]
16 routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0]
17 t = routh (2:3 ,1:2) ;
18 routh =[ routh ; - det ( t ) / routh (3 ,1) ,0]
19 disp ( routh , r o u t h= ) ;
20 // f o r l i m i t i n g v a l u e o f K
21 routh (3 ,1) =0
22 K =2.64
23 disp (K , L i m i t i n g v a l u e o f K f o r s e t t l i n g
)
24 // r o o t s o f c h a r eq a t K=2.64
25 g = s ^3+8.5* s ^2+20* s +12.5*(1+2.64)
26 roots ( g )
29
t i m e o f 4 s=
Chapter 7
The Root Locus Technique
Scilab code Exa 7.1 root locus

1 s = %s ;
2 syms k
3 H = syslin ( c ,( k *( s +1) *( s +2) ) /( s *( s +3) *( s +4) ) ) ;
4 evans (H ,5)
5 printf ( There a r e t h r e e b r a n c h e s o f r o o t l o c u s
s t a r t i n g w i t h K=0 and p o l e s s =0 , 3 , 4. )
6 printf ( As k i n c r e a s e s two b r a n c h e s t e r m i n a t e a t
z e r o s s =1,2 and one a t i n f i n i t y )

1 s = %s ;
2 syms k
3 H = syslin ( c ,1+( k /( s *( s +1) *( s +2) ) ) ) ;
4 evans (H ,5)
30
Figure 7.1: root locus
31

printf ( The b r a n c h e s o f r o o t l o c u s s t a r t s w i t h K=0
and p o l e s s =0 , 1 , 2. )
6 printf ( S i n c e t h e r e i s no open l o o p z e r o t h e
branches terminate at i n f i n i t y )
5

1
2
3
4
5
6
s = %s ;
syms k
H = syslin ( c ,1+( k /( s *( s +1) *( s +2) ) ) )
evans (H ,5)
d = derivat ( H )
p = numer ( d )
32

7 a = roots ( p )
// a=breakaway p o i n t
8 disp (a , breakaway p p o i n t= )

1 s = %s ;
2 syms k
3 H = syslin ( c ,k /( s *( s +4) *( s ^2+(4* s ) +20) ) )
4 evans (H ,1000)
5 printf ( S i n c e t h e r e a r e no open l o o p z e r o s
branches terminate at i n f i m i t y )
33
all
34

1 s = %s ;
2 syms k
3 H = syslin ( c ,k /( s *( s +3) *( s ^2+(2* s ) +2) ) )
4 evans (H ,10)
35
36

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
syms K
s = %s ;
G = syslin ( c ,( K *( s +1) *( s +2) ) /(( s +0.1) *( s -1) ) )
evans ( G )
n =2;
disp (n , no o f p o l e s= )
m =2;
disp (m , no o f z e r o e s= )
K = kpure ( G )
disp (K , v a l u e o f K where RL c r o s s e s jw a x i s= )
d = derivat ( G )
p = numer ( d )
a = roots ( p ) ;
// a=breakaway p o i n t s
disp (a , breakaway p o i n t s= )
for i =1:2
K = -( a (i ,1) +0.1) *( a (i ,1) -1) /(( a (i ,1) +1) *( a (i ,1)
+2) )
disp ( a (i ,1) , s= )
disp (K , K= )
end
printf ( z e t a =1 i s a c h i e v e d when t h e two r o o t s a r e
e q u a l and n e g a t i v e ( r e a l ) . T h i s h a p p e n s a t t h e
breakaway p o i n t i n t h e l e f t h a l f sp l a n e / n )
zeta =1;
wn =0.6;
sgrid ( zeta , wn )
K = -1/ real ( horner (G ,[1 %i ]* locate (1) ) ) ;
disp (K , The c o r r e s p o n d i n g v a l u e o f g a i n i s = )
37
38

1
2
3
4
5
6
7
8
9
10
11
12
syms K
s = %s ;
G = syslin ( c ,( K *( s +4/3) ) /( s ^2*( s +12) ) )
evans (G ,60)
d = derivat ( G )
p = numer ( d )
a = roots ( p )
// a=breakaway p o i n t s
disp (a , Breakaway p o i n t s= )
printf ( Equal r o o t s a r e a t s=4 )
printf ( / n V a l u e o f K a t s=4= )
K =4*4*8/(4 -(4/3) )
disp ( K )

1 syms Kh
2 s = %s ;
3 G = syslin ( c ,10* Kh *( s +0.04) *( s +1) /(( s +0.5) *( s
4
5
6
7
8
9
10
11
^2 -(0.4* s ) +0.2) *( s +8) ) ) ;

evans (G ,3)
Kh = kpure ( G )
K =10* Kh
zeta =1/(2) ^(1/2) ;
wn =.575;
sgrid ( zeta , wn )
K = -1/ real ((2* horner (G ,[1 %i ]* locate (1) ) ) ) ;
printf ( The z e t a = 1 / ( 2 ) 1 / 2 l i n e i n t e r s e c t s t h e r o o t
l o c u s a t two p o i n t s w i t h K1= 1 . 1 5 5 and K2=0.79 )
39
40
12
13
14
15
16
17
18
19
20
21
22
23
24
Kh1 =0.156;
Kh2 =0.079;
// from t h e b l o c k d i a g r a m
Td ( s ) =1/ s ;
E ( s ) = C ( s ) = G /(1+( G * Kh *( s +1) ) /( s +8) ) * Td ( s ) ;
// s u b s t i t u t i n g v a l u e o f G
F = s * E ( s ) =10* Kh /(1+(10* Kh ) ) ;
// s t e a y s t a t e e r r o r
ess = limit (F ,s ,0)
// f o r Kh1 = 0 . 1 5 6
ess =0.609;
// f o r Kh2 = 0 . 0 7 9
ess =0.44;
41
Chapter 9
Stability in Frequency Domain
Scilab code Exa 9.1 nyquist plot

1 s = %s ;
2 syms K T1 T2
3 H = syslin ( c ,K /(( T1 * s +1) *( T2 * s +1) ) ) ;
4 nyquist ( H )
5 show_margins (H , n y q u i s t )
6 printf ( S i n c e P=0( no o f p o l e s i n RHP) and t h e
n y q u i s t c o n t o u r d o e s n o t e n c i r c l e t h e p o i n t 1+ j 0
)

1 s = %s ;
2 H = syslin ( c ,( s +2) /(( s +1) *( s -1) ) )
3 nyquist ( H )
42
Figure 9.1: nyquist plot
43

show_margins (H , n y q u i s t )
printf ( S i n c e P=1 and t h e p t . 1+ j 0 i s e n c i r c l e d
o n c e by t h e l o c u s )
6 printf ( Hence N=1 t h e r e f o r e , Z=0( no o f z e r o s i n RHP)
)
4
5

1 s = %s ;
2 syms K T
3 H = syslin ( c ,K /( s *( T * s +1) ) )
4 nyquist ( H )
44

mtlb_axis ([ -1 1 -1 1])
printf ( S i n c e P=0( no o f p o l e s i n RHP) and t h e
n y q u i s t c o n t o u r d o e s n o t e n c i r c l e t h e p o i n t 1+ j 0
)
5
6
7

1 s = %s ;
2 H = syslin ( c ,(4* s +1) /( s ^2*( s +1) *(2* s +1) ) )
3 nyquist ( H )
45
46

5 mtlb_axis ([ -20 20 -5 5])
6 ( We s e e from t h e l o c u s t h a t t h e p o i n t 1+ j 0
is
e n c i r c l e d t w i c e , h e n c e N=2 and P=0. )

printf ( T h e r e f o r e Z=2 , h e n c e two z e r o s l i e i n RHP )
// N=PZ
8 printf ( System i s u n s t a b l e )
7
47
48
1 s = %s ;
2 syms K a
3 H = syslin ( c ,( K *( s + a ) ) /( s *( s -1) ) )
4 // f o r K>1
5 nyquist ( H )
7 mtlb_axis ([ -5 5 -5 5])
8 xtitle ( For K>1 )
9 printf ( P=1( p o l e i n RHP) )
10 p r i n t f ( Nyquist plot encircles the the point -1+ j0
11
12
13
14
15
16
17
18
19
20
once anti - clockwise i . e . , N =1 )

p r i n t f ( Hence Z =0 ) // N=PZ
p r i n t f ( System is stable )
// f o r K<1
H= s y s l i n ( c , ( 2 ( s +1) ) / ( s ( s 1) ) )
s h o w m a r g i n s (H, n y q u i s t )
m t l b a x i s ([ 5 5 5 5 ] )
x t i t l e ( For K <1 )
p r i n t f ( The point -1+ j0 lie beyond -K ( the crossing
point of the plot ) . So N = -1 , P =1 )
p r i n t f ( Hence Z =2 , zeros in RHP =2 )
p r i n t f ( System is unstable )
Scilab code Exa 9.6 stability using nyquist plot

1 s = %s ;
2 syms k
3 H = syslin ( c ,( k *( s -2) ) /( s +1) ^2)
4 // f o r K/2>1 o r K>2
5 nyquist ( H )
7 printf ( P=0( p o l e s i n RHP) )
8 printf ( N=1, h e n c e Z=1 )
49
Figure 9.7: stability using nyquist plot
50

9
printf ( T h e r e f o r e , System i s u n s t a b l e )
Scilab code Exa 9.7.a stability using nyquist plot

1 s = %s ;
2 syms k
3 H = syslin ( c ,( K *( s +2) ) /( s ^2*( s +1) ) )
4 nyquist ( H )
6 mtlb_axis ([ -20 20 -20 20])
7 printf ( P=0 and t h e l o c u s d o e s n o t e n c i r c l e
51
the

p o i n t 1+ j 0 )
Scilab code Exa 9.7.b stability using nyquist plot

1 H = syslin ( c ,k /( s *( s ^2+ s +4) ) )
2 nyquist ( H )
4 mtlb_axis ([ -5 5 -5 5])
5 // n y q u i s t p l o t c r o s s e s t h e a x i s
i n t e r c e p t o f k /4
52
o f r e a l s with
// f o r k/4>1 o r k>4
printf ( N=2 a s i t e n c i r c l e s t h e p o i n t t w i c e i n
c l o c k w i s e d i r e c t i o n )
8 printf ( P=0 and h e n c e Z=2 )
9 printf ( System i s u n s t a b l e f o r k>4 )
6
7
Scilab code Exa 9.8.a nyquist criterion

1 // from t h e n y q u i s t p l o t
2 N = -2;
// no o f e n c i r c l e m e n t s
3 P =0;
// g i v e n
4 Z =P - N
5 printf ( S i n c e Z=2 t h e r e f o r e two r o o t s
of the
c h a r a c t e r i s t i c equation l i e s in the r i g h t h a l f of
sp l a n e , h e n c e t h e s y s t e m i s u n s t a b l e )
Scilab code Exa 9.8.b nyquist criterion

1 // from t h e n y q u i s t p l o t
2 N =0;
// one c l o c k w i s e and one a n t i c l o c k w i s e
encirclement
3 P =0;
// g i v e n
4 Z =N - P
5 printf ( S i n c e Z=0 no r o o t o f t h e c h a r a c t e r i s i c
equation l i e s in the r i g h t h a l f hence the system
i s s t a b l e )
Scilab code Exa 9.10 gm and pm using nyquist plot

53
Figure 9.10: gm and pm using nyquist plot
54
Figure 9.11: bode plot

1
2
3
4
5
6
7
8
s = %s ;
syms K
H = syslin ( c ,K /( s *(0.2* s +1) *(0.05* s +1) ) )
nyquist ( H )
mtlb_axis ([ -1 1 -5 1])
gm = g_margin ( H ) // g a i n m a r g i n
pm = p_margin ( H ) // p h a s e m a r g i n
Scilab code Exa 9.11 bode plot
55

1
2
3
4
5
6
7
8
s = %s ;
H = syslin ( c ,10/( s *(0.1* s +1) *(0.05* s +1) ) )
fmin =0.1;
fmax =100;
bode (H , fmin , fmax )
show_margins ( H )
gm = g_margin ( H )
pm = p_margin ( H )
Scilab code Exa 9.13.a bode plot
56

1
2
3
4
5
6
7
8
s = %s ;
H = syslin ( c ,(8*( s +4) ) /(( s -1) *( s -2) ) )
fmin =0.1;
fmax =100;
bode (H , fmin , fmax )
show_margins ( H )
gm = g_margin ( H )
pm = p_margin ( H )
Scilab code Exa 9.13.b bode plot
57
Figure 9.14: m circles

1 syms K
2 H = syslin ( c ,( K *( s +4) ) /(( s -1) *( s -2) ) )
3 fmin =0.1;
4 fmax =100;
5 bode (H , fmin , fmax )
6 show_margins ( H )
7 // f o r p h a s e m a r g i n =30
8 printf ( From bode p l o t i t can be s e e n t h a t g a i n
s h o u l d be r e d u c e d by 4 db )
Scilab code Exa 9.14 m circles

58
1
2
3
4
5
6
7
8
9
10
s = %s ;
H = syslin ( c ,10/( s *((0.1* s ) +1) *((0.5* s ) +1) ) )
fmin =0.1;
fmax =100;
clf ()
black (H ,0.1 ,100)
chart ( list (1 ,0) )
gm = g_margin ( H )
pm = p_margin ( H )
printf ( For g a i n m a r g i n o f 20 db p l o t i s s h i f t e d
downwards by 8 db and a p h a s e m a r g i n o f 24
d e g r e e s i s o b t a i n e d i f c u r v e i s s h i f t e d upwards
by 3 . 5 db )
Scilab code Exa 9.15 m circles

1
2
3
4
5
6
7
8
9
10
s = %s ;
H = syslin ( c ,10/( s *((0.1* s ) +1) *((0.05* s ) +1) ) )
fmin =0.1;
fmax =100;
clf ()
black (H ,0.1 ,100)
chart ( list (1 ,0) )
gm = g_margin ( H )
pm = p_margin ( H )
printf ( For g a i n m a r g i n o f 20 db p l o t i s s h i f t e d
downwards by 8 db and a p h a s e m a r g i n o f 24
d e g r e e s i s o b t a i n e d i f c u r v e i s s h i f t e d upwards
by 3 . 5 db )
59
Figure 9.15: m circles
60
Chapter 10
Introduction to Design
Scilab code Exa 10.6 lead compensation

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
s = %s ;
syms Kv ;
g =( Kv /( s *( s +1) ) ) ;
// g i v e n Kv=12
Kv =12;
g =(12/( s *( s +1) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
bode (G , fmin , fmax )
show_margins ( G )
xtitle ( u n c o m p e n s a t e d s y s t e m )
[ gm , freqGM ]= g_margin ( G )
[ pm , freqPM ]= p_margin ( G )
disp ( gm , g a i n m a r g i n= )
disp (( freqGM *2* %pi ) , g a i n m a r g i n f r e q= ) ;
disp ( pm , p h a s e m a r g i n= )
61
Figure 10.1: lead compensation
62
63
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
disp (( freqPM *2* %pi ) , p h a s e m a r g i n f r e q= ) ;

printf ( s i n c e P .M i s l e s s t h a n d e s i r e d v a l u e s o we
need phase l e a d network )
disp ( s e l e c t i n g z e r o o f l e a d c o m p e n s t i n g n e t w o r k a t
w=2.65 r a d / s e c and p o l e a t w=7.8 r a d / s e c and
applying gain to account a t t e n u a t i o n f a c t o r . )
gc =(1+0.377* s ) /(1+0.128* s )
Gc = syslin ( c , gc )
disp ( Gc , t r a n s f e r f u n c t i o n o f l e a d c o m p e n s a t o r= ) ;
G1 = G * Gc
disp ( G1 , o v e r a l l t r a n s f e r f u n c t i o n= ) ;
fmin =0.01;
fmax =100;
bode ( G1 , fmin , fmax ) ;
show_margins ( G1 )
xtitle ( c o m p e n s a t e d s y s t e m )
[ gm , freqGM ]= g_margin ( G1 ) ;
[ pm , freqPM ]= p_margin ( G1 ) ;
disp ( pm , p h a s e m a r g i n o f c o m p e n s a t e d s y s t e m= )
disp (( freqPM *2* %pi ) , g a i n c r o s s o v e r f r e q u e n c y= )
Scilab code Exa 10.7 lead compensation

1
2
3
4
5
6
7
8
s = %s ;
syms Ka ;
g =( Ka /( s ^2*(1+0.2* s ) ) ) ;
// g i v e n Ka=10
Ka =10;
g =(10/( s ^2*(1+0.2* s ) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
64
65
66
9 fmax =100;
10 bode (G , fmin , fmax )
11 show_margins ( G )
12 xtitle ( u n c o m p e n s a t e d s y s t e m )
13 [ gm , freqGM ]= g_margin ( G )
14 [ pm , freqPM ]= p_margin ( G )
15 disp ( gm , g a i n m a r g i n= )
16 disp (( freqGM *2* %pi ) , g a i n m a r g i n f r e q= ) ;
17 disp ( pm , p h a s e m a r g i n= )
18 disp (( freqPM *2* %pi ) , p h a s e m a r g i n f r e q= ) ;
19 disp ( s i n c e P .M i s n e g a t i v e s o s y s t e m i s u n s t a b l e )
20 disp ( s e l e c t i n g z e r o o f l e a d c o m p e n s a t i n g n e t w o r k a t
21
22
23
24
25
26
27
28
29
30
31
32
33
34
w=2.8 r a d / s e c and p o l e a t w=14 r a d / s e c and

applying gain to account a t t e n u a t i o n f a c t o r . )
gc =(1+0.358* s ) /(1+0.077* s )
disp ( Gc , t r a n s f e r f u n c t i o n o f l e a d c o m p e n s a t o r= ) ;
G1 = G * Gc
fmin =0.01;
fmax =100;
show_margins ( G1 )
Scilab code Exa 10.8 lag compnsation
67
Figure 10.5: lag compnsation
68
Figure 10.6: lag compnsation

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
s = %s ;
syms K ;
g =( K /( s *( s +1) *( s +4) ) ) ;
g =(( K /4) /( s *( s +1) *(0.25* s +1) ) )
// g i v e n Kv=5 : v e l o c i t y e r r o r c o n s t a n t
K =20;
g =(5/( s *( s +1) *(0.25* s +1) ) )
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
bode (G , fmin , fmax )
show_margins ( G )
xtitle ( u n c o m p e n s a t e d s y s t e m )
[ gm , freqGM ]= g_margin ( G )
[ pm , freqPM ]= p_margin ( G )
disp ( gm , g a i n m a r g i n= )
disp (( freqGM *2* %pi ) , g a i n m a r g i n f r e q= ) ;
disp ( pm , p h a s e m a r g i n= )
69
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
disp (( freqPM *2* %pi ) , p h a s e m a r g i n f r e q= ) ;

disp ( s i n c e P .M i s n e g a t i v e s o s y s t e m i s u n s t a b l e )
disp ( s e l e c t i n g z e r o o f p h a s e l a g n e t w o r k a t w= 0 . 0 1 3
r a d / s e c and p o l e a t w=0.13 r a d / s e c and a p p l y i n g
gain to account a t t e n u a t i o n f a c t o r )
gc =(( s +0.13) /(10*( s +0.013) ) )
disp ( Gc , t r a n s f e r f u n c t i o n o f l a g c o m p e n s a t o r= ) ;
G1 = G * Gc
fmin =0.01;
fmax =100;
show_margins ( G1 )
Scilab code Exa 10.9 lag and lead compensation

1
2
3
4
5
6
7
8
9
s = %s ;
syms K ;
g =( K /( s *(0.1* s +1) *(0.2* s +1) ) ) ;
// g i v e n Kv=30 : v e l o c i t y e r r o r c o n s t s n t
K =30;
g =(30/( s *(0.1* s +1) *(0.2* s +1) ) )
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
70
Figure 10.7: lag and lead compensation
71
Figure 10.8: lag and lead compensation
72
10 bode (G , fmin , fmax )

11 show_margins ( G )
12 xtitle ( u n c o m p e n s a t e d s y s t e m )
13 [ gm , freqGM ]= g_margin ( G )
14 [ pm , freqPM ]= p_margin ( G )
15 disp ( gm , g a i n m a r g i n= )
16 disp (( freqGM *2* %pi ) , g a i n m a r g i n f r e q= ) ;
17 disp ( pm , p h a s e m a r g i n= )
18 disp (( freqPM *2* %pi ) , p h a s e m a r g i n f r e q= ) ;
19 disp ( s i n c e P .M i s n e g a t i v e s o s y s t e m i s u n s t a b l e )
20 disp ( I f l e a d c o m p e n s t i o n i s u s e d bandwidth w i l l
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
i n c r e a s e r e s u l t i n g in u n d e s i r a b l e system
s e n s i t i v e to n o i s e . I f l a g compensation i s used
bandwidth d e c r e a s e s s o a s t o f a l l s h o r t o f
s p e c i f i e d v a l u e o f 12 r a d / s e c r e s u l t i n g i n
s l u g g i s h system )
disp ( / n h e n c e we u s e a l a g l e a d c o m p e n s a t o r )
// l a g c o m p e n s a t o r
disp ( s e l e c t i n g z e r o o f p h a s e l a g n e t w o r k w=1 r a d /
s e c and p o l e a t w=0.1 r a d / s e c and a p p l y i n g g a i n
to account a t t e n u a t i o n f a c t o r )
gc1 =(( s +1) /(10* s +1) ) ;
Gc1 = syslin ( c , gc1 )
disp ( Gc1 , t r a n s f e r f u n c t i o n o f l a g c o m p e n s a t o r )
// l e a d c o m p e n s a t o r
disp ( s e l e c t i n g z e r o o f l e a d c o m p e n s a t o r a t w= 0 . 4 2 5
r a d / s e c and p o l e a t w= 0 . 0 4 2 5 r a d / s e c )
gc2 =((0.425* s +1) /(0.0425* s +1) ) ;
Gc2 = syslin ( c , gc2 )
disp ( Gc2 , t r a n s f e r f u n c t i o n o f l e a d c o m p e n s a t o r )
Gc = Gc1 * Gc2 // t r a n s f e r f u n c t i o n o f l a g and l e a d
sections
disp ( Gc , t r a n s f e r f u n c t i o n o f l a g and l e a d s e c t i o n s
)
G1 = G * Gc
fmin =0.01;
fmax =100;
73
38 bode ( G1 , fmin , fmax ) ;

39 show_margins ( G1 )
40 xtitle ( c o m p e n s a t e d s y s t e m )
41 [ gm , freqGM ]= g_margin ( G1 ) ;
42 [ pm , freqPM ]= p_margin ( G1 ) ;
43 disp ( pm , p h a s e m a r g i n o f c o m p e n s a t e d s y s t e m= )
44 disp (( freqPM *2* %pi ) , g a i n c r o s s o v e r f r e q u e n c y= )
74
Chapter 12
State Variable Analysis and
Design
Scilab code Exa 12.3 state matrix

1
2
3
4
s = %s ;
H = syslin ( c ,(2* s ^2+6* s +7) /(( s +1) ^2*( s +2) ) )
SS = tf2ss ( H )
[ Ac , Bc ,U , ind ]= canon ( SS (2) , SS (3) )
Scilab code Exa 12.4 modal matrix

1
2
3
4
5
6
7
8
9
syms m11 m12 m13 m21 m22 m23 m31 m32 m33 ^
s = %s ;
poly (0 , l ) ;
A =[0 1 0;3 0 2; -12 -7 -6]
[ r c ]= size ( A )
I = eye (r , c ) ;
p = l *I - A ;
q = det ( p ) ; // d e t e r m i n a n t o f l i p
// r o o t s o f q a r e
75
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
l1 = -1;
l2 = -2;
l3 = -3;
x1 =[ m11 ; m21 ; m31 ];
q1 =( l1 *I - A ) *1
// on s o l v i n g we f i n d m11=1 m21=1 31=1
m11 =1; m21 = -1; m31 = -1;
x2 =[ m12 ; m22 ; m32 ];
q2 =( l2 *I - A ) *1
// on s o l v i n g we f i n d m12=2 m22=4 m32=1
m12 =2; m22 = -4; m32 =1;
x3 =[ m13 ; m23 ; m33 ];
q3 =( l3 *I - A ) *1
// on s o l v i n g we g e t m13=1 m23=3 m33=3
m13 =1; m23 = -3; m33 =3;
// modal m a t r i x i s
M =[ m11 m12 m13 ; m21 m22 23; m31 m32 m33 ]
Scilab code Exa 12.5 obtain time response

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
syms t m
s = %s ;
A =[1 0;1 1];
B =[1;1];
x =[1;0];
[ r c ]= size ( A )
p = s * eye (r , c ) -A // s IA
q = inv ( p )
for i =1: r
for j =1: c
// i n v e r s e l a p l a c e o f e a c h e l e m e n t o f M a t r i x q
q (i , j ) = ilaplace ( q (i , j ) ,s , t ) ;
end
end
disp (q , p h i ( t )= ) // S t a t e T r a n s i t i o n M a t r i x
76
16
17
18
19
20
21
22
23
24
25
26
t =t - m ;
q = eval ( q )
m =0
h = eval ( r )
y =( h - g ) ;
disp (y , y= )
m from 0 t o t ) )
27 y1 =( q * x ) + y ;
28 disp ( y1 , x ( t )= )
Scilab code Exa 12.6 resolvant matrix

1
2
3
4
5
6
7
8
9
10
11
12
13
14
syms t
s = %s ;
A =[1 0;1 1];
[ r c ]= size ( A )
p = s * eye (r , c ) -A
// r e s o l v e n t m a t r i x
q = inv ( p )
disp (q , p h i ( s )= )
for i =1: r
for j =1: c
end
end
disp (q , p h i ( t )= ) // s t a t e t r a n s i t i o n m a t r i x
Scilab code Exa 12.7 state transition matrix and state response
77
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
syms t m
s = %s ;
A =[0 1; -2 -3];
B =[0;2];
x =[0;1];
[ r c ]= size ( A )
p = s * eye (r , c ) -A
q = inv ( p )
for i =1: r
for j =1: c
end
end
disp (q , p h i ( t )= ) // s t a t e t r a n s i t i o n m a t r i x
t =t - m ;
q = eval ( q )
m =0
h = eval ( r )
y =( h - g ) ;
disp (y , y= )
m from 0 t o t ) )
26 y1 =( q * x ) + y ;
27 disp ( y1 , x ( t )= )
Scilab code Exa 12.12 check for controllability

1 A =[0 1 0;0 0 1; -6 -11 -6];
2 B =[0;0;1];
3 P = cont_mat (A , B ) ;
4 disp (P , C o n t r o l l a b i l i t y M a t r i x= )
78
5 d = det ( P )
6 if d ==0
7
printf ( m a t r i x
i s s i n g u l a r , so system i s
u n c o n t r o l l a b l e );
8 else
9
printf ( s y s t e m
10 end ;
i s c o n t r o l l a b l e );
Scilab code Exa 12.13 check for controllability

1
2
3
4
5
6
7
A =[0 1; -1 -2];
B =[1; -1];
P = cont_mat (A , B ) ;
disp (P , C o n t r o l l a b i l i t y M a t r i x= )
d = determ ( P )
if d ==0
printf ( m a t r i x i s s i n g u l a r , s o s y s t e m i s
u n c o n t r o l l a b l e );
8 else
9
printf ( s y s t e m i s c o n t r o l l a b l e ) ;
10 end ;
Scilab code Exa 12.14 check for observability

1
2
3
4
5
6
7
8
A =[0 1 0;0 0 1;0 -2 -3];

B =[0;0;1];
C =[3 4 1];
P = obsv_mat (A , C ) ;
disp (P , O b s e r v a b i l i t y M a t r i x= ) ;
d = det ( P )
if d ==0
printf ( m a t r i x i s s i n g u l a r , s o s y s t e m i s
u n o b s e r v a b l e );
79
9 else
10
printf ( s y s t e m
11 end ;
i s o b s e r v a b l e );
Scilab code Exa 12.17 design state observer

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
syms g1 g2 g3
poly (0 , l ) ;
A =[1 2 0;3 -1 1;0 2 0];
C =[0;0;1];
G =[ g1 ; g2 ; g3 ];
p =A - G * C ;
[ r c ]= size ( A ) ;
I = eye (r , c ) ;
q = lI - p ; // l I (AGC) where I i s i d e n t i t y m a t r i x
r = det ( q ) // d e t r m i n a n t o f l I (AGC)
// on e q u a t i n g r =0 we g e t
// c h a r a c t e r i s t i c e q u a t i o n
l ^3+ g3 *( l ) ^2+(2* g2 -9) l +2+6* g1 -2* g2 -7* g3 =0;
printf ( d e s i r e d c h a r a c t e r i s t i c e q u a t i o n g i v e n i s \n )
l ^3+10*( l ) ^2+34* l +40=0;
// on c o m p a r i n g t h e c o e f f i c i e n t s og t h e two
equations
// we g e t g1 =25.2 g2 =21.5 g3 =10
g1 =25.2;
g2 =21.5;
g3 =10;
disp ( G )
80

Control Systems Engineering - I. J. Nagrath and M. Gopal PDF

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Control Systems Engineering - I. J. Nagrath and M. Gopal PDF

Încărcat de

Drepturi de autor:

Formate disponibile

Scilab Textbook Companion for

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

2 Mathematical Models of Physical Systems

3 Feedback Characteristics of control sytems

5 Time Response analysis design specifications and performance indices

7 The Root Locus Technique

9 Stability in Frequency Domain

12 State Variable Analysis and Design

List of Scilab Codes

signal flow graph . . . . . . . .

Exa 12.17 design state observer . . . . . . . . . . . . . . . . . . .

Scilab code Exa 2.3 signal flow graph

Scilab code Exa 2.4 transfer function

Scilab code Exa 3.2 sensitivity of transfer function

Scilab code Exa 3.3.a sensitivity of transfer function

Scilab code Exa 3.3.b steady state error

Scilab code Exa 3.3.c calculation of slope

Scilab code Exa 3.3.d calculation of slope

Scilab code Exa 3.3.f calculation of input

Scilab code Exa 3.3.g calculation of time

Scilab code Exa 5.2 steady state error

Scilab code Exa 5.2.2 steady state error

Scilab code Exa 5.3 transfer function

Scilab code Exa 5.3.2 transfer function

Scilab code Exa 5.4.1 steady state error

Scilab code Exa 5.4.2 steady state error

Scilab code Exa 5.4.3 steady state error

Scilab code Exa 5.8 steady state error

Scilab code Exa 5.9 state variable analysis

Scilab code Exa 6.1 hurwitz criterion

Scilab code Exa 6.2 routh array

Scilab code Exa 6.3 routh array

Scilab code Exa 6.4 routh array

Scilab code Exa 6.5 routh array

7 r =[ cof_a_0 cof_a_1 cof_a_2 ]

Scilab code Exa 6.6 routh criterion

Scilab code Exa 6.7 routh array

Scilab code Exa 6.8 routh array

Scilab code Exa 6.9 routh array

routh =[ routh ; - det ( routh (2:3 ,1:2) ) / routh (3 ,1) ,- det (

Scilab code Exa 6.10 routh array

Scilab code Exa 6.11.a routh array

Scilab code Exa 6.11.b routh array

Scilab code Exa 7.1 root locus

Scilab code Exa 7.2 root locus

Figure 7.1: root locus

Figure 7.2: root locus

Scilab code Exa 7.3 root locus

Figure 7.3: root locus

Scilab code Exa 7.4 root locus

Figure 7.4: root locus

Figure 7.5: root locus

Scilab code Exa 7.6 root locus

Figure 7.6: root locus

Scilab code Exa 7.8 root locus

Figure 7.7: root locus

Scilab code Exa 7.9 root locus

Scilab code Exa 7.10 root locus

^2 -(0.4* s ) +0.2) *( s +8) ) ) ;

Figure 7.8: root locus

Scilab code Exa 9.1 nyquist plot

Scilab code Exa 9.2 nyquist plot

disp (( freqPM 2 %pi ) , p h a s e m a r g i n f r e q= ) ;

disp (( freqPM 2 %pi ) , p h a s e m a r g i n f r e q= ) ;