Linear Control System by B. S. Manke

Scilab Textbook Companion for
Linear Control Systems

by B. S. Manke 1
Created by
Ashish Kumar
B.Tech (Pursuing)
Electronics Engineering
M. N. N. I. T., Allahabad
College Teacher
Dr. Rajesh Gupta, MNNIT, Allahabad
Cross-Checked by
K Sryanarayan and Sonanya Tatikola. IIT Bombay
August 9, 2013
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: Linear Control Systems
Author: B. S. Manke
Publisher: Khanna Publishers
Edition: 9
Year: 2009
ISBN: 81-7409-107-6
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
1 INTRODUCTION
13
2 TRANSFER FUNCTIONS
21
3 BLOCK DIAGRAMS
24
4 SIGNAL FLOW GRAPHS
38
5 MODELLING A CONTROL SYSTEM
47
6 TIME RESPONSE ANALYSIS OF CONTROL SYSTEMS
56
7 STABILITY ANALYSIS OF CONTROL SYSTEMS
79
8 COMPENSATION OF CONTROL SYSTEMS
137
9 INTRODUCTION TO STATE SPACE ANALYSIS OF CONTROL SYSTEMS

148
11 SOLUTION OF PROBLEMS USING COMPUTER
163
12 CLASSIFIED SOLVED EXAMPLES
202
List of Scilab Codes

Exa 1.6.1.i inverse laplace transform . . .
Exa 1.6.1.iiinverse laplace transform . . .
Exa 1.6.1.iiiinverse laplace transform . . .
Exa 1.6.1.ivinverse laplace transform . . .
Exa 1.6.1.vinverse laplace transform . . .
Exa 1.6.1.viprogram laplace transform . . .
Exa 1.6.2 solution of differential equation
Exa 1.6.5 initial value . . . . . . . . . . .
Exa 1.6.7 final value . . . . . . . . . . . .
Exa 1.6.8 steady state value . . . . . . .
Exa 1.6.9 initial values . . . . . . . . . .
Exa 1.6.10 final value . . . . . . . . . . . .
Exa 2.4.1 pole zero plot . . . . . . . . . .
Exa 2.4.2 final value . . . . . . . . . . . .
Exa 3.2.1 Transfer Function . . . . . . .
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13
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27
28
29
30
31
32
33
33
Exa 3.2.13 Transfer Function . . . . . . . . . . . . . . . . . . .

Exa 4.3.1 Overall Transmittance . . . . . . . . . . . . . . . . .
Exa 4.3.2 Overall Transmittance . . . . . . . . . . . . . . . . .
Exa 4.4.1 Closed Loop Transfer Function . . . . . . . . . . . .
Exa 4.4.2 Overall Gain . . . . . . . . . . . . . . . . . . . . . .
Exa 4.4.3 to find various signal flow graph parameter . . . . .
Exa 4.4.4 Transfer function using mason gain formula . . . . .
Exa 4.4.9 Overall Transfer Function . . . . . . . . . . . . . . .
Exa 5.9.4 Calculate Reference Voltage Vr . . . . . . . . . . . .
Exa 5.9.5 Calculate Reference Voltage Vr . . . . . . . . . . . .
Exa 5.9.6 Calculate Gain of Amplifier Ka . . . . . . . . . . . .
Exa 5.9.7 Transfer Function of Generator . . . . . . . . . . . .
Exa 5.9.8 Overall Transfer Function of given System . . . . . .
Exa 5.9.13 Overall Transfer Function of Two Phase ac Motor .
Exa 5.9.14 Transfer Function Of Motor . . . . . . . . . . . . . .
Exa 6.10.1 time response for step function . . . . . . . . . . . .
Exa 6.10.2 Time Response for unit Impulse and Step function .
Exa 6.10.3 Time Response for Unit Step Function . . . . . . . .
Exa 6.10.4 Time Response for Unit Step Function . . . . . . . .
Exa 6.10.5 Calculate Wn zeta Wd tp Mp . . . . . . . . . . . . .
Exa 6.10.6 Time Response . . . . . . . . . . . . . . . . . . . . .
Exa 6.10.7 determine factor by which K should be reduced . . .
Exa 6.10.8 Determine Steady State Speed and Error . . . . . .
Exa 6.10.9 determine J f K . . . . . . . . . . . . . . . . . . . .
Exa 6.10.10Determine Transfer Function Wn zeta . . . . . . . .
Exa 6.10.11Determine Characterstics eq and Steady State Error
Exa 6.10.12determine WnWd zeta and steady state error . . . .
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35
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Exa 6.10.13determine K ts tp and Mp . . . . . . . . . . . . . . .

Exa 6.10.14determine Mp Ess and steady state value . . . . . .
Exa 6.10.16determine Wn zeta and M . . . . . . . . . . . . . . .
Exa 6.10.17determine Kp Kv and Ka . . . . . . . . . . . . . . .
Exa 6.10.18determine Kp Kv and Ka . . . . . . . . . . . . . . .
Exa 6.10.19determine steady state error . . . . . . . . . . . . . .
Exa 6.10.20determine steady state error and error coefficient . .
Exa 6.10.21determine steady state error and error coefficient . .
Exa 6.10.22determine voltage Er and change in terminalvoltage
Exa 6.10.23determine sensitivity wrt K and H . . . . . . . . . .
Exa 1.0
root locus . . . . . . . . . . . . . . . . . . . . . . . .
Exa 2.0
root locus . . . . . . . . . . . . . . . . . . . . . . . .
Exa 3.0
root locus . . . . . . . . . . . . . . . . . . . . . . . .
Exa 7.5.1 stability using Routh hurwitz criterion . . . . . . . .
Exa 7.5.7.a stability using Routh hurwitz criterion . . . . . . . .
Exa 7.5.7.bvalue of K of characterstics equation . . . . . . . . .
Exa 7.5.8 value of K in terms of T1 and T2 . . . . . . . . . . .
Exa 7.17.1 stability using Nyquist criterion . . . . . . . . . . . .
Exa 7.17.2.istability using Nyquist criterion . . . . . . . . . . . .
Exa 7.17.2.iistability using Nyquist criterion . . . . . . . . . . . .
Exa 7.17.5 Phase Margin . . . . . . . . . . . . . . . . . . . . . .
Exa 7.17.9 gain margin and phase margin . . . . . . . . . . . .
Exa 7.17.18gain phase plot . . . . . . . . . . . . . . . . . . . . .
Exa 7.19.1 stability using bode plot . . . . . . . . . . . . . . . .
Exa 7.19.2 gain margin and phase margin . . . . . . . . . . . .
Exa 7.19.3 stability using bode plot . . . . . . . . . . . . . . . .
Exa 7.24.1 root locus description . . . . . . . . . . . . . . . . .
Exa 7.24.4 root locus . . . . . . . . . . . . . . . . . . . . . . . .
Exa 7.24.6 root locus . . . . . . . . . . . . . . . . . . . . . . . .
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Exa 7.24.7 root locus . . . . . . . . . . . . . . . . . . . . . . . . .

Exa 7.24.8 root locus . . . . . . . . . . . . . . . . . . . . . . . . .
Exa 7.24.9 root locus . . . . . . . . . . . . . . . . . . . . . . . . .
Exa 7.24.10Overall Transfer Function and Root Locus . . . . . . .
Exa 7.24.11root locus . . . . . . . . . . . . . . . . . . . . . . . . .
Exa 8.6.1 design suitable compensator . . . . . . . . . . . . . . .
Exa 8.6.2 design phase lead compensator . . . . . . . . . . . . .
Exa 8.6.3 design suitable compensator . . . . . . . . . . . . . . .
Exa 9.8.1 Check for Contrallability of System . . . . . . . . . . .
Exa 9.8.2 Check for Contrallability of System . . . . . . . . . . .
Exa 9.9.1.a Check for Observability of System . . . . . . . . . . .
Exa 9.9.1.bCheck for Observability of System . . . . . . . . . . .
Exa 9.10.4.aObtain State Matrix . . . . . . . . . . . . . . . . . . .
Exa 9.10.4.bObtain State Matrix . . . . . . . . . . . . . . . . . . .
Exa 9.10.5 Obtain State Matrix . . . . . . . . . . . . . . . . . . .
Exa 9.10.10Obtain State Matrix . . . . . . . . . . . . . . . . . . .
Exa 9.10.11Obtain Time Response . . . . . . . . . . . . . . . . . .
Exa 9.10.12.i
Obtain Zero Input Response . . . . . . . . . . . . . .
Exa 9.10.12.ii
Obtain Zero State Response . . . . . . . . . . . . . . .
Exa 9.10.13Obtain Time Response . . . . . . . . . . . . . . . . . .
Exa 9.10.14Obtain Time Response using Diagonalization Process .
Exa 9.10.15Obtain Time Response using Diagonalization Process .
Exa 9.10.16Determine Transfer Matrix . . . . . . . . . . . . . . .
Exa 9.10.20Check for Contrallability of System . . . . . . . . . . .
Exa 9.10.21Check for Contrallability and Observability . . . . . .
Exa 9.10.22Check for Contrallability and Observability . . . . . .
Exa 11.1 pole zero Plot . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.2 transfer function . . . . . . . . . . . . . . . . . . . . .
Exa 11.3 transfer function . . . . . . . . . . . . . . . . . . . . .
Exa 11.4 determine Wn zeta and Mp . . . . . . . . . . . . . . .
Exa 11.5 time response for unit step function . . . . . . . . . .
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Exa 11.9 time response for unit step function . . . . . . . .

Exa 11.10.acalculate tr Tp Mp . . . . . . . . . . . . . . . . . .
Exa 11.10.bcalculate Td tr Tp Mp . . . . . . . . . . . . . . . .
Exa 11.11 expression for unit step response . . . . . . . . . .
Exa 11.12 unit step and impulse response . . . . . . . . . . .
Exa 11.13 determine transfer function . . . . . . . . . . . . .
Exa 11.14 determine Wn Wd Tp zeta and steady state error .
Exa 11.15 determine Wn Wd zeta and steady state error . . .
Exa 11.16 determine Kp Kv Ka . . . . . . . . . . . . . . . . .
Exa 11.21.aroots of characterstics equation . . . . . . . . . . .
Exa 11.21.bbode plot . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.22 gain margin and phase margin . . . . . . . . . . .
Exa 11.24 stability using Nyquist criterion . . . . . . . . . . .
Exa 11.25 stability using Nyquist criterion . . . . . . . . . . .
Exa 11.26.i stability using Nyquist criterion . . . . . . . . . . .
Exa 11.26.iistability using Nyquist criterion . . . . . . . . . . .
Exa 11.27 root locus . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.28 root locus . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.29 root locus . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.30 root locus . . . . . . . . . . . . . . . . . . . . . . .
Exa 11.31 design lead compensator . . . . . . . . . . . . . . .
Exa 11.32 nicholas chart . . . . . . . . . . . . . . . . . . . . .
Exa 11.33 obtain state matrix . . . . . . . . . . . . . . . . . .
Exa 11.36 state transition matrix . . . . . . . . . . . . . . . .
Exa 11.37 check for contrallability of system . . . . . . . . . .
Exa 11.39 determine transfer matrix . . . . . . . . . . . . . .
Exa 12.1 Transfer Function . . . . . . . . . . . . . . . . . .
Exa 12.7 Determine Peak Time and Peak Overshoot . . . .
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Exa 12.8 Time Response and Peak Overshoot . . . . . . .

Exa 12.9 Determine Peak Overshoot . . . . . . . . . . . .
Exa 12.10 Determine Unit Step Response . . . . . . . . . .
Exa 12.11 Determine Unit Step and Unit Impulse Response
Exa 12.12 Determine Wn Wd zeta and steady state error .
Exa 12.13 Determine Wn Wd zeta and steady state error .
Exa 12.15 Stability Using Routh Hurwitz Criterion . . . . .
Exa 12.21 Determine Frequency of Oscillations . . . . . . .
Exa 12.23.i Stability Using Nyquist Criterion . . . . . . . . .
Exa 12.23.iiStability Using Nyquist Criterion . . . . . . . . .
Exa 12.23.iiiStability Using Nyquist Criterion . . . . . . . . .
Exa 12.27 Gain and Phase Margin . . . . . . . . . . . . . .
Exa 12.33 Determine Close Loop Stability . . . . . . . . . .
Exa 12.42 Root Locus . . . . . . . . . . . . . . . . . . . . .
Exa 12.43 Root Locus and Value of K . . . . . . . . . . . .
Exa 12.50 Root Locus and Closed loop Transfer Function .
Exa 12.51 Root Locus and Gain and Phase Margin . . . . .
Exa 12.54 Obtain State Matrix . . . . . . . . . . . . . . . .
Exa 12.55 Obtain State Matrix . . . . . . . . . . . . . . . .
Exa 12.56 Obtain State Transistion Matrix . . . . . . . . .
Exa 12.57 Obtain Time Response . . . . . . . . . . . . . . .
Exa 12.59 Obtain Time Response . . . . . . . . . . . . . . .
Exa 12.61 Obtain Transfer Matrix . . . . . . . . . . . . . .
AP 1
SERIES OF TWO FUNCTION . . . . . . . . . .
AP 2
PARALLEL OF TWO FUNCTION . . . . . . .
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List of Figures
2.1
pole zero plot . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
7.15
7.16
7.17
7.18
7.19
7.20
7.21
7.22
7.23
7.24
7.25
7.26
7.27
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
stability using Nyquist criterion . .
Phase Margin . . . . . . . . . . . .
gain phase plot . . . . . . . . . . .
stability using bode plot . . . . . .
gain margin and phase margin . . .
stability using bode plot . . . . . .
root locus description . . . . . . . .
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
root locus . . . . . . . . . . . . . .
Overall Transfer Function and Root
root locus . . . . . . . . . . . . . .
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Locus
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8.1
8.2
8.3
8.4
8.5
8.6
design
design
design
design
design
design
suitable compensator .
phase lead compensator
phase lead compensator
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139
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142
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11.1 pole zero Plot . . . . . . . . . .

11.2 bode plot . . . . . . . . . . . .
11.3 gain margin and phase margin .
11.4 stability using Nyquist criterion
11.8 root locus . . . . . . . . . . . .
11.9 root locus . . . . . . . . . . . .
11.10root locus . . . . . . . . . . . .
11.11root locus . . . . . . . . . . . .
11.12design lead compensator . . . .
11.13design lead compensator . . . .
11.14nicholas chart . . . . . . . . . .
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164
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12.1 Stability Using Nyquist Criterion . . . . . . .

12.7 Gain and Phase Margin . . . . . . . . . . . .
12.8 Determine Close Loop Stability . . . . . . . .
12.9 Root Locus . . . . . . . . . . . . . . . . . . .
12.10Root Locus and Value of K . . . . . . . . . .
12.16Root Locus and Closed loop Transfer Function
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11
12.17Root Locus and Gain and Phase Margin . . . . . . . . . . .
12
246
Chapter 1
INTRODUCTION
Scilab code Exa 1.6.1.i inverse laplace transform

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6
7
8
9
10
11
// C a p t i o n : i n v e r s e l a p l a c e t r a n s f o r m
// e x a m p l e 1 . 6 . 1 . ( i )
// p a g e 7
// F ( s ) =1/( s ( s +1) )
s = %s ;
syms t ;
[ A ]= pfss (1/(( s ) *( s +1) ) ) // p a r t i a l f r a c t i o n o f F ( s )
F1 = ilaplace ( A (1) ,s , t )
F = F1 + F2 ;
disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.1.ii inverse laplace transform

1
2
3
4
// C a p t i o n : i n v e r s e l a p l a c e t r a n s f o r m
// e x a m p l e 1 . 6 . 1 . ( i i )
// p a g e 7
// F ( s )=s +6/( s ( s 2+4 s +3) )
13
5 s = %s ;
6 syms t ;
7 [ A ]= pfss (( s +6) /( s *( s ^2+4* s +3) ) ) // p a r t i a l
8
9
10
11
12
13
o f F( s )
A (1) =2/ s ;
F = F1 + F2 + F3 ;
disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.1.iii inverse laplace transform

1 // C a p t i o n : i n v e r s e l a p l a c e t r a n s f o r m
2 // e x a m p l e 1 . 6 . 1 . ( i i i )
3 // p a g e 8
4 // F ( s ) =1/( s 2+4 s +8)
5 s = %s ;
6 syms t ;
7 disp (1/( s ^2+4* s +8) ,F ( s )= )
8 f = ilaplace (1/( s ^2+4* s +8) ,s , t )
9 disp (f , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.1.iv inverse laplace transform

2 // e x a m p l e 1 . 6 . 1 . ( i v )
3 // p a g e 8
4 // F ( s )=s +2/( s 2+4 s +6)
5 s = %s ;
6 syms t ;
7 disp (( s +2) /( s ^2+4* s +6) ,F ( s )= )
8 F = ilaplace (( s +2) /( s ^2+4* s +6) ,s , t )
14
fraction
disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.1.v inverse laplace transform

2 // e x a m p l e 1 . 6 . 1 . ( v )
3 // p a g e 8
4 // F ( s ) =5/( s ( s 2+4 s +5) )
5 s = %s ;
6 syms t ;
7 [ A ]= pfss (5/( s *( s ^2+4* s +5) ) ) // p a r t i a l
fraction of
F( s )
8 F1 = ilaplace ( A (1) ,s , t )
9 F2 = ilaplace ( A (2) ,s , t )
10 F = F1 + F2 ;
11 disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.1.vi program laplace transform

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10
// C a p t i o n : p r o g r a m l a p l a c e t r a n s f o r m
// e x a m p l e 1 . 6 . 1 . ( v )
// p a g e 9
// t h i s p r o b l e m i s s o l v e d i n two p a r t s b e c a u s e i n
t h i s p r o b l e m p f s s f u n c t i o n d o n o t work . So , F i r s t
we f i n d p a r t i a l f r a c t i o n u s i n g method a s we do i n
maths and t h e n s e c o n d l y we f i n d i n v e r s e l a p l a c e
transform as usual .
// p a r t i a l f r a c t i o n
s = %s
syms t ;
num =( s ^2+2* s +3) ;
den =( s +2) ^3;
g = syslin ( c , num / den ) ;
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18
19
20
21
22
rd = roots ( den ) ;
[ n d k ]= factors ( g )
a (3) = horner ( g * d (1) ^3 , rd (1) )
a (2) = horner ( derivat ( g * d (1) ^3) , rd (1) )
a (1) = horner ( derivat ( derivat ( g * d (1) ^3) ) , rd (1) )
// i n v e r s e l a p l a c e
// p a r t i a l f r a c t i o n w i l l be : a ( 1 ) / ( s +1)+a ( 2 ) / ( ( s +2)
2 )+a ( 3 ) / ( ( s +2) 3 )
F1 = ilaplace (1/ d (1) ,s , t )
F2 = ilaplace ( -2/( d (1) ^2) ,s , t )
F3 = ilaplace (2*1.5/( d (1) ^3) ,s , t )
F = F1 + F2 + F3
disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.2 solution of differential equation

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12
13
// C a p t i o n : s o l u t i o n o f d i f f e r e n t i a l e q u a t i o n
// e x a m p l e 1 . 6 . 2
// p a g e 9
// a f t e r t a k i n g l a p l a c e t r a n s f o r m and a p p l y i n g g i v e n
c o n d i t i o n , we g e t :
//X( s ) =2 s +5/( s ( s +4) )
s = %s ;
syms t
[ A ]= pfss ((2* s +5) /( s *( s +4) ) )
A (1) =1.25/ s
f = F1 + F2 ;
disp (f , f ( t )= ) // r e s u l t

16
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8
9
// e x a m p l e 1 . 6 . 3
// p a g e 10
//X( s ) =1/( s 2+2 s +2)
s = %s ;
syms t
f = ilaplace (1/( s ^2+2* s +2) ,s , t ) ;
disp (f , f ( t )= ) // r e s u l t

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11
12
13
// e x a m p l e 1 . 6 . 4
// p a g e 10
//Y( s ) =(6 s +6) / ( ( s 1) ( s +2) ( s +3) )
s = %s ;
syms t
[ A ]= pfss ((6* s +6) /(( s -1) *( s +2) *( s +3) ) )
F = F1 + F2 + F3 ;
disp (F , f ( t )= ) // r e s u l t
Scilab code Exa 1.6.5 initial value

1
2
3
// C a p t i o n : i n i t i a l v a l u e
// e x a m p l e 1 . 6 . 5
// p a g e 11
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11
12
13
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16
17
// I ( s ) =(C s / ( RCs+1) ) E( s )
// g i v e n : E( s ) =100/ s , R=2 megaohm ,C=1 uF
// so , I ( s ) =(((1 10 6) s ) / ( 2 s +1) ) ( 1 0 0 / s )
syms t
p = poly ([0 10^ -6] , s , c o e f f ) ;
q = poly ([1 2] , s , c o e f f ) ;
r = poly ([0 1] , s , c o e f f ) ;
F1 = p / q ;
F2 =1/ r ;
F = F1 * F2
f = ilaplace (F ,s , t ) ;
z = limit (f ,t ,0) ; // i n i t i a l v a l u e t h e o r e m
z = dbl ( z ) ;
disp (z , i (0+)= )
Scilab code Exa 1.6.7 final value

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7
8
9
10
11
12
// C a p t i o n : f i n a l v a l u e
// e x a m p l e 1 . 6 . 7
// p a g e 12
//X( s ) =100/( s ( s 2+2 s +50) )
p = poly ([100] , s , c o e f f ) ;
q = poly ([0 50 2 1] , s , c o e f f ) ;
F=p/q;
syms s
x=s*F;
y = limit (x ,s ,0) ; // f i n a l v a l u e t h e o r e m
y = dbl ( y )
disp (y , x ( i n f )= ) // r e s u l t
Scilab code Exa 1.6.8 steady state value

1
// C a p t i o n : s t e a d y s t a t e v a l u e
18
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5
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7
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10
11
12
// e x a m p l e 1 . 6 . 7
// p a g e 12
//X( s )=s / ( s 2 ( s 2+6 s +25) )
p = poly ([0 1] , s , c o e f f ) ;
q = poly ([0 0 25 6 1] , s , c o e f f ) ;
F=p/q;
syms s
x=s*F;
y = limit (x ,s ,0) ; // f i n a l v a l u e t h e o r e m
y = dbl ( y )
disp (y , x ( i n f )= ) // r e s u l t
Scilab code Exa 1.6.9 initial values

// C a p t i o n : i n i t i a l v a l u e s
// e x a m p l e 1 . 6 . 7
// p a g e 13
//F ( s ) =(4 s +1) / ( s 3+2 s )
s = %s ;
syms t ;
F =(4* s +1) /( s ^3+2* s )
f = ilaplace (F ,s , t ) ;
y = limit (f ,t ,0) ; // i n i t i a l v a l u e t h e o r e m
y = dbl ( y ) ;
disp (y , f (0+)= )
// s i n c e F ( s )=sF ( s ) f (0+) where L ( f ( t ) )=F ( s )=F1
F1 =(4* s +1) /( s ^2+2)
f1 = ilaplace ( F1 ,s , t ) ;
y1 = limit ( f1 ,t ,0) ; // i n i t i a l v a l u e t h e o r e m
y1 = dbl ( y1 ) ;
disp ( y1 , f p r i m e (0+)= )
// s i n c e F ( s ) =( s 2 ) F ( s )s f (0+)f ( 0 + ) where L ( f
( t ) )=F ( s )=F2
19 F2 =( s -8) /( s ^2+2)
20 f2 = ilaplace ( F2 ,s , t ) ;
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19
21 y2 = limit ( f2 ,t ,0) ; // i n i t i a l v a l u e t h e o r e m
22 y2 = dbl ( y2 ) ;
23 disp ( y2 , f d o u b l e p r i m e (0+)= )

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5
6
7
8
9
10
// C a p t i o n : f i n a l v a l u e
// e x a m p l e 1 . 6 . 1 0
// p a g e 13
syms t s ;
F =4/( s ^2+2* s )
x=s*F
x = simple ( x )
z = limit (x ,s ,0) ; // f i n a l v a l u e t h e o r e m
z = dbl ( z ) ;
disp (z , f (0+)= )
20
Chapter 2
TRANSFER FUNCTIONS
Scilab code Exa 2.4.1 pole zero plot

1
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4
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6
7
8
9
10
11
12
13
// C a p t i o n : p o l e z e r o P l o t
// e x a m p l e 2 . 4 . 1
// p a g e 19
// t r a n s f e r f u n c t i o n :G( s ) = ( 1 / 2 ( ( s 2+4) ( 1 + 2 . 5 s ) ) / ( ( s
2+2) ( 1 + 0 . 5 s ) ) )
s = %s ;
G = syslin ( c ,(1/2*(( s ^2+4) *(1+2.5* s ) ) /(( s ^2+2)
*(1+0.5* s ) ) ) ) ;
disp (G , G( s )= ) ;
x = plzr ( G )
xtitle ( p o l e z e r o c o n f i g u r a t i o n , R e a l p a r t ,
Img part );
// v a l u e a t s =2
a =2;
g =(1/2*(( a ^2+4) *(1+2.5* a ) ) /(( a ^2+2) *(1+0.5* a ) ) ) ;
disp (g , G( 2 )= ) ;
21
Figure 2.1: pole zero plot
22

1 // C a p t i o n : f i n a l v a l u e
2 // e x a m p l e 2 . 4 . 2
3 // p a g e 20
4 // r e f e r t o f i g . 2 . 4 . 2 g i v e n on p a g e 20
5 // p o l e s a r e l o c a t e d a t s =0,2 and 4
6 // z e r o a t s=3
7 s = %s ;
8 syms K ;
9 g = syslin ( c ,(( s +3) ) /( s *( s +2) *( s +4) ) ) ; // t r a n s f e r
function
10 G = K * g ; // t r a n s f e r f u n c t i o n
11 disp (G , G( s )= ) ;
12 //G( s ) =3.2 a t s =1;
13 // on s o l v i n g we f i n d K=12
14 K =12;
15 G = K * g ;
16 disp (G , G( s )= )
23
Chapter 3
BLOCK DIAGRAMS
Scilab code Exa 3.2.1 Transfer Function

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18
// C a p t i o n : t r a n s f e r f u n c t i o n
// e x a m p l e 3 . 2 . 1
// p a g e 32
// we have d e f i n e d p a r a l l e l and s e r i e s f u n c t i o n
which we a r e g o i n g t o u s e h e r e
// e x e c p a r a l l e l . s c e ;
// e x e c s e r i e s . s c e ;
syms G1 G2 G3 H1 ;
// s h i f t i n g t a k e o f f p o i n t a f t e r b l o c k G2 t o a
p o s i t i o n b e f o r e b l o c k G2
a = G2 * H1 ;
b = parallel ( G2 , G3 ) ;
// s h i f t i n g t a k e o f f p o i n t b e f o r e ( G2+G3 ) t o A f t e r (
G2+G3 )
c=a/b;
m =1;
d = b /(1+ m * b ) ;
e = series ( G1 , d ) ;
y =( e /(1+ c * e ) ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
24
check Appendix AP 2 for dependency:

parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 2
// p a g e 34
syms G1 G2 G3 H1 ;
// s h i f t i n g t a k e o f f p o i n t b e f o r e b l o c k G1 t o a
p o s i t i o n a f t e r b l o c k G1
a = G1 * H1 ;
c = G3 /. a
y = series (b , c ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
parallel.sce
series.sce
25

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// e x a m p l e 3 . 2 . 3
// p a g e 35
syms G1 G2 G3 G4 G5 G6 H1 H2 ;
// s h i f t t h e t a k e o f p o i n t p l a c e d b e f o r e G2 t o w a r d s
r i g h t s i d e o f b l o c k G2
a = G5 / G2 ;
c = series (b , G6 ) ;
d = parallel (a , c ) ;
e = series ( G1 , G2 ) ;
l = series ( H1 , d ) ;
g = e /. H2
y = g /(1+ g * l )
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
parallel.sce
series.sce

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3
// e x a m p l e 3 . 2 . 4
// p a g e 36
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syms G1 G2 G3 H1 H2 ;
// s h i f t t h e t a k e o f f p o i n t p l a c e d b e f o r e G1 t o a f t e r
b l o c k G1
a = G3 / G1 ;
b = parallel (a , G2 ) ;
// s h i f t t h e t a k e o f f p o i n t b e f o r e b l o c k b t o w a r d s
r i g h t s i d e o f same b l o c k
c =1/ b ;
d = series ( H1 , c ) ;
e = series ( G1 , b ) ;
g = parallel ( H2 , d ) ;
y = e /(1+ e * g ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
parallel.sce
series.sce

// e x a m p l e 3 . 2 . 5
// p a g e 37
5 // e x e c p a r a l l e l . s c e ;
6 // e x e c s e r i e s . s c e ;
7 syms G1 G2 G3 H1 H2 H3 ;
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b l o c k G3
a = H3 / G3 ;
b = G3 /. H2 ;
c = series ( G2 , b ) ;
// s h i f t t h e summing p o i n t a f t e r b l o c k G1 t o b e f o r e
b l o c k G1
d = a / G1 ;
e = G1 /. H1 ;
f = series (e , c ) ;
y = f /(1+ f * d ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 6
// p a g e 38
syms G1 G2 G3 H1 ;
a = parallel ( G1 , G3 ) ;
b = G2 /. H1 ;
y = series (a , b ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
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parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 7
// p a g e 39
b l o c k G2
a = G2 * H1 ;
b l o c k G1 and s h i f t t h e summing p o i n t b e f o r e
b l o c k G2 t o b e f o r e b l o c k G2
// i n t e r c h a n g e c o n s e c u t i v e summing p o i n t and s h i f t
t h e t a k e o f f p o i n t p l a c e d b e f o r e H2 t o a f t e r
b l o c k H2
b = G2 * H2 ;
c = b * H1 ;
d = parallel ( G3 , G2 ) ;
e =1/. b
f = series (d , e ) ;
g = G1 /. a
h = series (g , f ) ;
y = h /(1 - h * c ) ;
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21 disp (y , C( s ) /R( s )= )

parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 8
// p a g e 41
syms G1 G2 G3 G4 G5 H1 H2 ;
// s h i f t t h e summing p o i n t b e f o r e b l o c k G5 t o w a r d s
l e f t o f b l o c k G5
a = G2 * G5 ;
b = G4 /. H1 ;
c = series ( G5 , H2 ) ;
d = series (b , G3 ) ;
e = d /(1+ d * c ) ;
e = simple ( e )
f = parallel ( G1 , a ) ;
y = series (f , e ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
parallel.sce
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series.sce

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// e x a m p l e 3 . 2 . 9
// p a g e 42
syms G1 G2 G3 G4 G5 H1 H2 H3 ;
b l o c k G3
a = G5 / G3 ;
b = G1 /. H1 ;
c = series (b , G2 ) ;
d = G3 /. H2 ;
e = parallel ( G4 , a ) ;
e = simple ( e ) ;
f = series (c , d ) ;
g = series (f , e ) ;
g = simple ( g ) ;
y = g /(1+ g * H3 ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
parallel.sce
series.sce
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// e x a m p l e 3 . 2 . 1 0
// p a g e 43
syms G1 G2 G3 G4 G5 H1 H2 H3 ;
a = parallel ( G3 , G4 ) ;
// s h i f t o f f t h e t a k e o f f p o i n t b e f o r e b l o c k a t o
a f t e r block a
b =1/ a ;
d =1;
c = G2 /(1+ G2 * d ) ;
e = parallel ( H1 , b ) ;
f = series (c , a ) ;
g = series ( H2 , e ) ;
h = f /(1+ f * g ) ;
h = simple ( h ) ;
i = series (h , G1 ) ;
y = i /(1+ i * H3 ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
parallel.sce
series.sce
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// e x a m p l e 3 . 2 . 1 1
// p a g e 45
syms G1 G2 G3 G4 H1 H2 H3 ;
a = G4 /. H1 ;
// s h i f t t h e summing p o i n t a f t e r b l o c k G3 t o w a r d s
b = G2 / G3 ;
c = series (a , G3 ) ;
d = c /(1+ c * H2 ) ;
d = simple ( d )
r i g h t o f b l o c k G1
e = G1 * H3 ;
f = d /(1+ d * e ) ;
f = simple ( f )
g = parallel ( G1 , b ) ;
g = simple ( g ) ;
y = series (g , f )
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 1 2
// p a g e 47
r i g h t o f b l o c k G1
// s h i f t t h e summing p o i n t a f t e r b l o c k G3 t o w a r d s
a = G2 / G1
b = H3 / G3 ;
c = G1 /. H1
d = G3 /. H2
e = series ( G4 , d )
// s h i f t t h e summing p o i n t a f t e r b l o c k e t o w a r d s l e f t
of block e
g =1/ e
f = series (a , g ) ;
f = simple ( f )
h = parallel (f ,1) ;
h = simple ( h )
i = e /(1+ e * b ) ;
i = simple ( i )
j = series (c , h ) ;
y = series (j , i ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
parallel.sce
series.sce
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// e x a m p l e 3 . 2 . 1 3
// p a g e 49
syms G1 G2 G3 G4 H1 H2 ;
// s h i f t t h e summing p o i n t a f t e r b l o c k H2 t o w a r d s
r i g h t o f b l o c k H2
// s h i f t t h e summing p o i n t a f t e r b l o c k H1 t o w a r d s
r i g h t o f b l o c k H2
a = H1 * H2
b = parallel ( G1 , G2 )
c = G4 /. a
d = series ( G3 , c )
e = d /(1+ d * H2 ) ;
e = simple ( e )
f = series (b , e )
y = f /(1+ f * a ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= ) ;
parallel.sce
series.sce
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// e x a m p l e 3 . 2 . 1 4
// p a g e 50
syms G1 G2 G3 G4 H1 H2 R D ;
a = parallel ( G1 , G2 )
b = G3 /. H2
c = series (a , b )
// i n o r d e r t o d e t e r m i n e C( s ) /R( s ) c o n s i d e r D=0
d = series (c , G4 ) ;
y = d /(1+ d * H1 ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
// now c o n s i d e r R=0 f o r c a l c u l a t i n g C( s ) /D( s )
e = series (c , H1 )
z = G4 /(1+ G4 * e ) ;
z = simple ( z ) ;
disp (z , C( s ) /D( s )= ) ;
x =( y * R ) +( z * D ) ;
x = simple ( x ) ;
printf ( t o t a l o u t p u t ) ;
disp (x , C( s ) )
parallel.sce
series.sce

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// e x a m p l e 3 . 2 . 1 5
// p a g e 52
syms G1 G2 H1 H2 H3 D1 D2 R ;
a = G2 /. H2
b = a /(1+ a * H3 ) ;
b = simple ( b )
// i n o r d e r t o d e t e r m i n e C( s ) /R( s ) c o n s i d e r D1=0 ,D2=0
c = series (b , G1 )
y = c /(1+ c * H1 ) ;
y = simple ( y )
disp (y , C( s ) /R( s ) ) ;
// now c o n s i d e r R=0 ,D2=0 f o r c a l c u l a t i n g C( s ) /D1 ( s )
d = series ( G1 , H1 ) ;
z = b /(1+ b * d ) ;
z = simple ( z )
disp (z , D1 ( s ) /R( s ) ) ;
// now c o n s i d e r R=0 ,D1=0 f o r c a l c u l a t i n g C( s ) /D2 ( s )
e = G1 *( - H1 ) ;
f = series (b , e ) ;
x = f /(1+ f ) ;
x = simple ( x ) ;
disp (x , D2 ( s ) /R( s ) ) ;
out =( y * R ) +( z * D1 ) +( x * D2 ) ;
out = simple ( out ) ;
disp ( out , C( s ) ) ;
parallel.sce
series.sce
37
Chapter 4
SIGNAL FLOW GRAPHS
Scilab code Exa 4.3.1 Overall Transmittance

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// C a p t i o n : o v e r a l l t r a n s m i t t a n c e
// e x a m p l e 4 . 3 . 1
// p a g e 63
syms G1 G2 H1 ;
// f o r w a r d p a t h d e n o t e d by P1 , P2 and s o on and l o o p
by L1 , L2 and s o on
// p a t h f a c t o r by D1 , D2 and s o on and g r a p h
d e t e r m i n a n t by D
L1 = - G1 * H1 ;
L2 = - G2 * H1 ;
P1 = G1 ;
P2 = G2 ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 ) ;
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y )
disp (Y , C( s ) /R( s )= )
38
Scilab code Exa 4.3.2 Overall Transmittance

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// C a p t i o n : o v e r a l l t r a n s m i t t a n c e
// e x a m p l e 4 . 3 . 2
// p a g e 64
syms G1 G2 H1 ;
P1 = G1 ;
P2 = G2 ;
L1 = - G1 * H1 ;
D1 =1;
D2 =1;
D =1 -( L1 ) ;
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
Scilab code Exa 4.4.1 Closed Loop Transfer Function

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// C a p t i o n : 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
// e x a m p l e 4 . 4 . 1
// p a g e 64
syms G1 G2 G3 H1 ;
P1 = G1 * G3 ;
P2 = G2 * G3 ;
L1 = - G3 * H1 ;
D1 =1;
D2 =1;
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12 D =1 -( L1 ) ;
13 Y =( P1 * D1 + P2 * D2 ) / D ;
14 Y = simple ( Y )
15 disp (Y , C( s ) /R( s )= )
Scilab code Exa 4.4.2 Overall Gain

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// C a p t i o n : o v e r a l l g a i n
// e x a m p l e 4 . 4 . 2
// p a g e 65
syms a b c d e f g h
P1 = a * b * c * d ;
P2 = a * g ;
L1 = f ;
L2 = c * e ;
L3 = d * h ;
// n o n t o u c h i n g l o o p s a r e L1L2 , L1L3
L1L2 = L1 * L2 ;
L1L3 = L1 * L3 ;
D1 =1;
D2 =1 - L2 ;
D =1 -( L1 + L2 + L3 ) +( L1L2 + L1L3 ) ;
D = simple ( D ) ;
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , x5 / x1 ) ;
Scilab code Exa 4.4.3 to find various signal flow graph parameter
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// C a p t i o n :
to find various signal flow graph parameter
// e x a m p l e 4 . 4 . 3
// p a g e 66
syms a b c d e f g h ij
// s i x i n d e p e n d e n t p a t h
P1 = a * b * d
P2 = e * f * h
P3 = a * j * h
P4 = e * i * d
P5 = - e * i * c * j * h
P6 = - a * j * g * i * d
// 3 INDIVIDUAL LOOPS
L1 = - b * c
L2 = - f * g
L3 = - i * c * j * g
//NON TOUCHING LOOPS
L1L2 = L1 * L2
//PATH FACTORS
D3 =1; D4 =1; D5 =1; D6 =1
D1 =1 - L2
D2 =1 - L1
//GRAPH DETERMINANT
D =1 -( L1 + L2 + L3 ) +( L1L2 ) ;
D = simple ( D )
disp (D , g r a p h d e t e r m i n a n t= )
Scilab code Exa 4.4.4 Transfer function using mason gain formula
1
// C a p t i o n : t r a n s f e r f u n c t i o n u s i n g m a s o n
s gain formula
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// e x a m p l e 4 . 4 . 4
// p a g e 67
syms G1 G2 G3 H1 ;
P1 = G1 * G2 *1;
P2 = G1 * G3 ;
L1 = G2 *( -1) ;
L2 = G3 *( -1) ;
L3 = - G1 * G2 * H1
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 ) ;
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
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s gain formula
// e x a m p l e 4 . 4 . 5
// p a g e 68
P1 = G1 * G2 ;
P2 = G1 * G3 ;
L1 = - G2 * H2 ;
L2 = - G1 * G2 * H1 ;
L3 = G1 * G3 *( - H2 ) * G2 *( - H1 ) ;
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L3 = simple ( L3 )
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 ) ;
D = simple ( D )
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
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s gain formula
// e x a m p l e 4 . 4 . 6
// p a g e 69
syms G1 G2 G3 G4 H1 H2 ;
// t o f i n d C/R c o n s i d e r D=0
P1 = G1 * G3 * G4 ;
P2 = G2 * G3 * G4 ;
L1 = - G3 * H1 ;
L2 = - G1 * G3 * G4 * H2 ;
L3 = - G2 * G3 * G4 * H2 ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 ) ;
D = simple ( D )
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
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s gain formula
// e x a m p l e 4 . 4 . 7
// p a g e 70
syms G1 G2 G3 H1 ;
P1 = G1 * G3 * G4 ;
P2 = G1 *( - G2 ) ;
L1 = G3 * G4 *( -1) ;
L2 = G1 * G3 * H1 *( -1) ;
L3 = G1 * G3 * H1 *( -1) ;
L4 = G1 *( - G2 ) *( -1) * G3 * H1 *( -1) ;
L5 = G1 *( - G2 ) *( -1) * G3 * H1 *( -1) ;
L4 = simple ( L4 ) ;
L5 = simple ( L5 ) ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 + L4 + L5 ) ;
D = simple ( D )
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
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s gain formula
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// e x a m p l e 4 . 4 . 8
// p a g e 70
P1 = G1 * G2 * G4 ;
P2 = G2 * G3 * G5 ;
P3 = G3 ;
L1 = - G4 * H1 ;
L2 = - G2 * G4 * H2 ;
L3 = - G2 * G5 * H2 ;
D1 =1;
D2 =1;
D3 =1 - L1 ;
D =1 -( L1 + L2 + L3 ) ;
D = simple ( D )
Y =( P1 * D1 + P2 * D2 + P3 * D3 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
Scilab code Exa 4.4.9 Overall Transfer Function

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// C a p t i o n : o v e r a l l t r a n s f e r f u n c t i o n
// e x a m p l e 4 . 4 . 9
// p a g e 71
exec parallel . sce ;
exec series . sce ;
// s h i f t t h e SUMMING p o i n t l o c s t e d a f t e r G3 t o w a r d s
a = G2 /. H1 ;
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b = G5 / G3 ;
c = parallel (a , b ) ;
c = simple ( c ) ;
d = G3 /. H2 ;
e = series ( G1 , c ) ;
f = series (e , d ) ;
y = series ( G4 , f ) ;
y = simple ( y ) ;
disp (y , C( s ) /R( s )= )
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s gain formula
// e x a m p l e 4 . 4 . 1 0
// p a g e 72
P1 = G1 * G2 * G3 * G4 ;
P2 = G1 * G5 * G4 ;
L1 = - G2 * H1 ;
L2 = - G3 * H2 ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 ) ;
D = simple ( D )
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= )
46
Chapter 5
MODELLING A CONTROL
SYSTEM
Scilab code Exa 5.9.4 Calculate Reference Voltage Vr

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// C a p t i o n : c a l c u l a t e r e f e r e n c e v o l t a g e V r
// e x a m p l e 5 . 9 . 4
// p a g e 102
exec series . sce ;
A =2 // a m p l i f i e r
K =10 // m o t o r f i e l d
N =100 // s p e e d
tg =0.1 // t a c h o g e n e r a t o r
a = series (A , K ) ;
b = a /. tg ;
disp (b , N/ Vr= ) ;
// s i n c e N=100
Vr = N *(1/ b ) ;
disp ( Vr , r e f e r e n c e v o l t a g e = ) ;
series.sce
47
Scilab code Exa 5.9.5 Calculate Reference Voltage Vr

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// C a p t i o n : c a l c u l a t e r e f e r e n c e v o l t a g e V r
// e x a m p l e 5 . 9 . 5
// p a g e 102
exec series . sce ;
Vt =250 // o u t p u t v o l t a g e
Rf =100 // f i e l d w i n d i n g r e s i s t a n c e
Kg =500 // g e n e r a t o r c o n s t a n t
A =2 // a m p l i f i e r
Vf =0.4 //
fraction of output voltage compared with reference voltage
a =1/ Rf ;
b = series (A , a ) ;
c = series (b , Kg ) ;
d = c /. Vf ;
disp (d , Vt / Vr= ) ;
// s i n c e Vt=250
Vr = Vt *(1/ d ) ;
disp ( Vr , r e f e r e n c e v o l t a g e = ) ;
series.sce
Scilab code Exa 5.9.6 Calculate Gain of Amplifier Ka

// C a p t i o n : c a l c u l a t e g a i n o f a m p l i f i e r K a
// e x a m p l e 5 . 9 . 6
// p a g e 103
// s t e a d y s t a t e e q u a t i o n s : Ei=Vt+ I l Ra and Vt= I l Rl
// where Vt=o u t p u t v o l t a g e , Rl= l o a d r e s i s t a n c e , Ra=
a r m a t u r e r e s i s t a n c e , I l =l o a d c u r r e n t ,
6 syms Rl Ra Ka Er e ;
7 Ei =450;
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If =1.5; // f i e l d c u r r e n t
Kg = Ei / If ; // g e n e r a t o r e m f c o n s t a n t
Vt =400;
// from s t e d y s t a t e eq . we g e t : Vt / Ei=Rl / ( Rl+Ra )
a = Rl /( Rl + Ra ) ;
a = Vt / Ei ;
c =( Kg * a ) ;
G =( Ka * c ) ;
H =0.1;
// t r a n s f e r f u n c t i o n r e l a t i n g e r r o e e and t h e
r e f e r e n c e v o l t a g e Er i s e / Er =1/(1+GH)
b = e / Er ;
b =1/(1+ G * H ) ;
e = Vt * H *.02 ; // s i n c e a l l o w a b l e e r r o r i s 2%
Er =( Vt * H ) + e ;
// s i n c e e / Er =1/(1+GH) , on p u t t i n g v a l u e o f e , Er ,G
and H and s o l v i n g we g e t
Ka =1.89;
disp ( Ka , g a i n o f a m p l i f i e r K a = ) ;
Scilab code Exa 5.9.7 Transfer Function of Generator

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// C a p t i o n : t r a n s f e r f u n c t i o n o f g e n e r a t o r
// e x a m p l e 5 . 9 . 7
// p a g e 105
syms E Vf Kg R L
s = %s ;
// g e n e r a t o r f i e l d c o n s t a n t K g =d e l t a ( e ) / d e l t a ( I f )
Kg =50/2;
L =2; // f i e l d i n d u c t a n c e
R =200; // f i e l d r e s i s t a n c e
// t r a n s f e r f u n c t i o n i s g i v e n by : E/ Vf=(Kg/R+s L )
a = Kg /( R + s * L ) ;
disp (a , E( s ) / Vf ( s )= ) ;
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Scilab code Exa 5.9.8 Overall Transfer Function of given System

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// C a p t i o n : o v e r a l l t r a n s f e r f u n c t i o n o f g i v e n s y s t e m
// e x a m p l e 5 . 9 . 8
// p a g e 105
syms Rf Ra Kb Jm Lf La Kg Kt Jl s
Rf =1000; // f i e l d r e s i s t a n c e
Lf =100; // f i e l d i n d u c t a n c
Kg =1000; // g e n e r a t o r f i e l d c o n s t a n t
Ra =20; // a r m a t u r e r e s i s t a n c e
La =0.1; // a r m a t u r e i n d u c t a n c e
Kt =1.2; // m o t o r t o r q u e c o n s t
Kb =1.2; // m o t o r b a c k e m f c o n s t
Jl =0.00003; // m o m e n t o f i n e r t i a
Jm =0.00002; // c o e f f o f v i s c o u s f r i c t i o n
a = Kt /( Ra + s * La ) ;
b =1/(( Jm + Jl ) * s ) ;
c =( a * b ) ;
d = c /(1+ c * Kb ) ;
e = Kg /( Rf + s * Lf ) ;
f =( d * e ) ;
f = simple ( f )
disp (f , wss ( s ) / Vf ( s )= ) ;
// s t e a d y s t a t e v a l u e
disp ( u n d e r s t e a d y s t a t e c o n d i t i o n , on p u t t i n g s =0
i n e x p r e s s i o n f , we g e t : )
25 disp ( Vf =1.2 wss )

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// e x a m p l e 5 . 9 . 9
// p a g e 107
syms Ka Ke Kt J f N1 N2
s = %s ;
Ke =10; // e r r o r d e t e c t o r g a i n
Ka =100; // a m p l i f i e r t r a n s c o n d u c t a n c e
Kt =.0005; // m o t o r t o r q u e c o n s t
J =.0000125; // m o m e n t o f i n e r t i a
f =.0005; // c o e f f o f v i s c o u s f r i c t i o n
g = N1 / N2 ;
g =1/20;
a =( Ka * Ke ) ;
b =( a * Kt ) ;
c =1/( J * s ^2+ f * s ) ;
d =( c * b ) ;
e =( g * d ) ;
h = e /(1+ e ) ;
disp (h , C( s ) /R( s )= ) ; // r e s u l t

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// e x a m p l e 5 . 9 . 1 0
// p a g e 108
syms Ra Kt Jm fm Kb
// where Ra=a r m a t u r e r e s i s t a n c e ; Kt=
m o t o r t o r q u e c o n s t ; Jm=m o m e n t o f i n e r t i a ; fm=
c o e f f o f v i s c o u s f r i c t i o n ; Kb=
motor back emf const
s = %s ;
a = Kt /( s * Ra *( s * Jm + fm ) ) ;
a = simple ( a ) ;
b = s * Kb ;
c = a /(1+ a * b ) ;
c = simple ( c ) ;
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disp (c , Q( s ) /V( s )= ) ; // o v e r a l l t r a n s f e r f u n c t i o n
Kt =0.183; Kb =0.183; Ra =4.8; Jm =.004; fm =0.0015;
a = Kt /( s * Ra *( s * Jm + fm ) ) ;
b = s * Kb ;
c = a /(1+ a * b ) ;
disp (c , Q( s ) /V( s )= ) ; //
overall transfer function after substituting
v a l u e i n above e q u a t i o n

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// C a p t i o n :
overall transfer function of positional control system
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// e x a m p l e 5 . 9 . 1 1
// p a g e 109
syms Ka Ke Kb Kt Jeq feq Ra N1 N2
// where Ka= a m p l i f i e r g a i n ; Ke= e r r o r d e t e c t o r g a i n ;
Kb=m o t o r b a c k e m f c o n s t ; Kt=m o t o r t o r q u e c o n s t ;
Jeq=m o m e n t o f i n e r t i a ;
Ra=a r m a t u r e r e s i s t a n c e ;
f e q= c o e f f o f v i s c o u s f r i c t i o n ;
s = %s ;
Kt =.0001; Ra =0.2; Jeq =.0001; feq =.0005; Ka =10; Ke =2; Kb
=0.0001; f =0.1;
a =( Ka * Ke ) ; // i n s e r i e s
b = Kt /( s * Ra *( Jeq * s + feq ) ) ;
c = b /(1+ b * s * Kb ) ;
d =( a * c ) ; // i n s e r i e s
f =0.1;
g =( d * f ) ; // i n s e r i e s
h = g /(1+ g ) ;
disp (h , C( s ) /R( s )= ) ; //
overall transfer function after substituting
v a l u e i n above e q u a t i o n
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// e x a m p l e 5 . 9 . 1 2
// p a g e 111
syms Ka Ke Kf Rf Lf Jeq feq N1 N2
Kf=m o t o r t o r q u e c o n s t ; Rf= f i e l d r e s i s t a n c e ; L f=
f i e l d i n d u c t a n c e Jeq=m o m e n t o f i n e r t i a ; f e q=
coeff of viscous friction ;
s = %s ;
d = N1 / N2 ;
Ka =10; Ke =8; Kf =0.05; Rf =5; Lf =0.25; Jeq =0.05; feq
=0.075; d =0.1;
a =( Ka * Ke ) ;
b = Kf /( Rf + s * Lf ) ;
c =1/( s *( Jeq * s + feq ) ) ;
g =( b * c )
// i n s e r i e s
h =( g * a )
// i n s e r i e s
i =( h * d )
// i n s e r i e s
j = i /(1+ i ) ;
disp (j , C( s ) /R( s )= ) ;
Scilab code Exa 5.9.13 Overall Transfer Function of Two Phase ac Motor
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// C a p t i o n :
overall transfer function of two phase ac motor
// e x a m p l e 5 . 9 . 1 3
// p a g e 113
syms Ka K Ktg Jeq feq N1 N2 m
// where Ka= a m p l i f i e r g a i n ; Ktg=t a c h o m e t e r g a i n c o n s t
Jeq=m o m e n t o f i n e r t i a ; f e q=
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s = %s ;
// from t o r q u e c h a r a c t e r s t i c s m and K a r e d e t e r m i n e d
Ka =20; K =0.0012; Ktg =0.2; Jeq =0.00015; feq =0.0001; m
= -0.0003;
a = K /( Jeq * s +( feq - m ) ) ;
b = N1 / N2 ;
b =0.1;
c =( Ka * a ) // i n s e r i e s
d =( c * b ) // i n s e r i e s
e = d /(1+ Ktg * d ) ;
disp (e , C( s ) /R( s )= ) ; // o v e r a l l t r a n s f e r f u n c t i o n
Scilab code Exa 5.9.14 Transfer Function Of Motor

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// C a p t i o n : t r a n s f e r f u n c t i o n o f m o t o r
// e x a m p l e 5 . 9 . 1 4
// p a g e 114
syms Kt Kb Ra La J
// where Ka= a m p l i f i e r g a i n ; Kt=m o t o r t o r q u e c o n s t ; Ra
=a r m a t u r e r e s i s t a n c e ; La=a r m a t u r e i n d u c t o r ; J=
moment of inertia
s = %s ;
// s i n c e t h e r e a r e two i n p u t s Va ( s ) and Tl ( s ) . I f Va ( s )
i s h e l d a t f i x e d v a l u e t h e n o n l y e f f e c t o f Tl ( s )
i s c o n s i d e r e d and Va ( s ) i s t a k e n a s Z e r o .
a =( Kt * Kb ) /( Ra + s * La )
b =1/ J * s
c = b /(1+ b * a ) ;
disp ( -c , Wm( s ) / Tl ( s )= ) ; // n e g a t i v e s i g n i n d i c a t e s
t h a t an i n c r e a s e i n Tl d e c r e a s e s Wm
Kb =9.55; Kt =9.55; Ra =0.75; La =0.005; J =50;
a =( Kt * Kb ) /( Ra + s * La )
b =1/( J ) *(1/( s ) )
c = b /(1+ b * a ) ;
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disp ( -c , Wm( s ) / Tl ( s )= ) ; // a f t e r p u t t i n g v a l u e s
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Chapter 6
TIME RESPONSE ANALYSIS
OF CONTROL SYSTEMS
Scilab code Exa 6.10.1 time response for step function

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// C a p t i o n : t i m e r e s p o n s e f o r s t e p f u n c t i o n
// e x a m p l e 6 . 1 0 . 1
// p a g e 170
exec parallel . sce ;
exec series . sce ;
s = %s ;
syms t ;
a =4/( s *( s +4) )
b = s +1.2
c = s +0.8
d = a /(1+ a )
e = parallel (b , c )
f = d /. e ;
disp (f , C( s ) /R( s )= ) ; // t r a n s f e r f u n c t i o n
// s i n c e i n p u t : r ( t ) =2 , s o R( s ) =2/ s ; / /
step function of magnitude 2
g = f *(2/ s ) ;
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18 disp (g , C( s )= ) ;
19 [ A ]= pfss (8/( s *( s +2) *( s +6) ) )
20 F = ilaplace ((8/( s *( s +2) *( s +6) ) ) ,s , t ) ;
21 disp (F ,
time response for step function of magnitude 2 , f (

t )= )
Scilab code Exa 6.10.2 Time Response for unit Impulse and Step function
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// C a p t i o n :
time response for unit impulse and step function
// e x a m p l e 6 . 1 0 . 2
// p a g e 171
//G( s ) =(4 s +1) / 4 ( s 2 ) ; H( s ) =1;
clc ;
s = %s ;
syms t ;
G =(4* s +1) /(4*( s ^2) ) //G( s )
b =1;
a = G /.( b ) ;
disp (a , C( s ) /R( s )= ) ;
// f o r u n i t i m p u l s e r e s p o n s e R( s ) =1 ; s o C( s )=a ;
disp ( f o r u n i t i m p u l s e r e s p o n s e R( s ) =1 ; s o C( s )=a ;
)
disp (a , C( s )= ) ;
c = ilaplace (a ,s , t ) ;
disp (c , c ( t )= ) ;
// f o r u n i t s t e p r e s p o n s e R( s ) =1/ s
disp ( f o r u n i t s t e p r e s p o n s e R( s ) =1/ s , s o ) ;
d = a *(1/ s ) ;
disp (d , C( s )= ) ;
e = ilaplace (d ,s , t ) ;
disp (e , c ( t )= ) ;
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Scilab code Exa 6.10.3 Time Response for Unit Step Function
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// C a p t i o n : t i m e r e s p o n s e f o r u n i t s t e p f u n c t i o n
// e x a m p l e 6 . 1 0 . 3
// p a g e 172
//G( s ) =2/( s ( s +3)
clc ;
s = %s ;
syms t ;
G =2/( s *( s +3) ) //G( s )
b =1;
a = G /.( b ) ;
disp (a , C( s ) /R( s )= ) ;
disp ( f o r u n i t s t e p r e s p o n s e R( s ) =1/ s ) ;
d = a *(1/ s ) ;
disp (d , C( s )= ) ;
e = ilaplace (d ,s , t ) ;
disp (e , c ( t )= ) ;
Scilab code Exa 6.10.4 Time Response for Unit Step Function
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// e x a m p l e 6 . 1 0 . 4
// p a g e 172
s = %s ;
syms t ;
a =( s +4) ;
b =1/( s *( s +2) ) ;
c =( a * b ) ; // i n s e r i e s
d =0.5;
e = c /. d
f =1;
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g = e /. f ;
disp (g , C( s ) /R( s )= ) ;
disp ( f o r u n i t s t e p r e s p o n s e R( s ) =1/ s ,
so );
h = g *(1/ s ) ;
disp (h , C( s )= ) ;
[ A ]= pfss ( h ) ;
A (1) =(1/ s )
//A( 2 ) can be w r i t t e n a s : A( 2 )=a1+a2
a1 = -1/(4*(6+3.5* s + s ^2) ) ;
a2 =( -( s +1.75) /(6+3.5* s + s ^2) ) ;
F2 = ilaplace ( a1 ,s , t ) ;
F3 = ilaplace ( a2 ,s , t ) ;
// now m u l t i p l y i n g by t h e i r c o e f f i c i e n t
F1 =(2/3) * F1 ;
F2 =(1/6) * F2 ;
F3 =(2/3) * F3 ;
// a f t e r a d d i n g F1 , F2 and F3 and s i m p l y f y i n g we g e t
t i m e r e s p o n s e which i s d e n o t e d by c ( t )
30 disp ( c ( t ) =((2 (%e ( 1 . 7 5 t ) ( 2 c o s ( 1 . 7 1 t ) 0.29 s i n
( 1 . 7 1 t ) ) ) ) /3 ) ; // t i m e r e s p o n s e
Scilab code Exa 6.10.5 Calculate Wn zeta Wd tp Mp

1 // C a p t i o n : c a l c u l a t e W n , z e t a ,Wd, tp , Mp
2 // e x a m p l e 6 . 1 0 . 5
3 // p a g e 174
4 // g i v e n G( s ) =20/( s +1) ( s +2)
5 clc ;
6 s = %s ;
7 G = syslin ( c ,[20/(( s +1) *( s +5) ) ]) //G( s ) : t r a n s f e r
f u n c t i o n i n forward path
8 H =1; // backward p a t h t r a n s f e r f u n c t i o n
9 a = G /. H // 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
10 b = denom ( a )
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c = coeff ( b )
//Wn2= c ( 1 , 1 )
Wn = sqrt ( c (1 ,1) ) // n a t u r a l f r e q u e n c y
disp ( Wn , n a t u r a l f r e q u e n c y ,Wn= )
// 2 z e t a Wn=c ( 1 , 2 )
zeta = c (1 ,2) /(2* Wn ) // damping r a t i o
disp ( zeta , damping r a t i o , z e t a= )
Wd = Wn * sqrt (1 - zeta ^2) // damped f r e q u e n c y
disp ( Wd , damping r a t i o ,Wd= )
Tp = %pi / Wd // peak t i m e
disp ( Tp , peak time , Tp= )
Mp =( exp ( -( zeta * %pi ) / sqrt (1 - zeta ^2) ) ) *100 //max .
overshoot
disp ( Mp , max o v e r s h o o t , Mp= )
t =(2* %pi ) /( Wn * sqrt (1 - zeta ^2) ) // p e r i o d o f o s c i l l a t i o n
disp (t , t i m e a t which f i r s t o v e r s h o o t o c c u r s= )
disp (t , p e r i o d o f o s c i l l a t i o n , t= )
ts =4/( zeta * Wn ) // s e t t l i n g t i m e
disp ( ts , s e t t l i n g time , t s= )
N = Wd /(2* %pi ) * ts // no . o f o s c i l l a t i o n s c o m p l e t e d
before reaching steady state
disp (N , no . o f o s c i l l a t i o n s c o m p l e t e d b e f o r e
r e a c h i n g s t e a d y s t a t e , N= )
Scilab code Exa 6.10.6 Time Response

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// C a p t i o n : t i m e r e s p o n s e
// e x a m p l e 6 . 1 0 . 6
// p a g e 174
// Kt=t o r q u e c o n s t a n t , J=moment o f i n e r t i a , f= c o e f f . o f
viscous friction
clc ;
syms Kt J f t
s = %s ;
Kt =360 , J =10 , f =60
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b =1/( J * s ^2+ f * s ) ;
G =( Kt * b ) // i n s e r i e s
H =1; // backward p a t h t r a n s f e r f u n c t i o n
cl = G /. H ; // 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
d = denom ( cl ) /10; // t a k i n g 10 common from n u m e r a t o r and
denominator f o r s i m p l y f y i n g
closed loop transfer function
f = numer ( cl ) /10;
CL = f / d ; //
closed loop transfer function after simplifying
printf ( o v e r a l l t r a n s f e r f u n c t i o n= \n ) ;
disp ( CL , C( s ) /R( s )= ) ;
// g i v e n R( s ) =( 50 ( %pi / 1 8 0 ) ) ( 1 / s ) ;
R =(50*( %pi /180) ) *(1/ s ) ;
C = R * CL ;
e = coeff ( d )
//Wn2= e ( 1 , 1 )
Wn = sqrt ( e (1 ,1) ) // n a t u r a l f r e q u e n c y
// 2 z e t a Wn=c ( 1 , 2 )
zeta = e (1 ,2) /(2* Wn ) // damping r a t i o
// c ( t ) : t i m e r e s p o n s e e x p r e s s i o n
c =(5* %pi /18) *(1 -( exp ( - zeta * Wn * t ) * sin ( Wn * sqrt (1 - zeta
^2) * t + atan ( sqrt (1 - zeta ^2) / zeta ) ) ) / sqrt (1 - zeta ^2) )
;
c = float ( c )
disp (c , c ( t )= )
Scilab code Exa 6.10.7 determine factor by which K should be reduced

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// c a p t i o n :
determine factor by which K should be reduced
// e x a m p l e 6 . 1 0 . 7
// p a g e 175
syms T K //K=f o r w a r d p a t h g a i n , T=t i m e c o n s t a n t
s = %s ;
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G = K /( s *( s * T +1) ) ;
G = simple ( G ) ;
printf ( t h e f o r w a r d p a t h t r a n s f e r f u n c t i o n : \n ) ;
disp (G , G( s )= ) ;
CL = G /. H ;
CL = simple ( CL ) ;
printf ( t h e o v e r l a l l t r a n s f e r f u n c t i o n : \n ) ;
disp ( CL , C( s ) /R( s )= ) ;
printf ( t h e c h a r a c t e r s t i c e q u a t i o n i s : \ n ) ;
disp ( s 2+ s /T+K/T=0 ) ;
// from c h a r . eq . we g e t Wn2=K/T and 2 z e t a Wn=1/T ,
so
Wn = sqrt ( K / T ) ; // n a t u r a l f r e q u e n c y
zeta =(1/2) * sqrt (1/ K * T )
// l e t K1 be f o r w a r d p a t h g a i n when Mp1=60% and z e t a 1
be c o r r e s p o n d i n g damping f a c t o r
syms K1 K2 zeta1 zeta2
Mp1 =( exp ( -( zeta1 * %pi ) / sqrt (1 - zeta1 ^2) ) ) *100 //max .
overshoot
// on s o l v i n g we g e t :
zeta1 =0.158
// s i m i l a r l y l e t K2 be f o r w a r d p a t h g a i n when Mp2=20%
and z e t a 2 be c o r r e s p o n d i n g damping f a c t o r , which
gives
zeta2 =0.447
// a s s u m i n g t i m e c o n s t . T t o be c o n s t . we g e t
k =( K1 / K2 ) ;
k =( zeta1 / zeta2 ) ^2;
disp (k , K1/K2= ) ;
Scilab code Exa 6.10.8 Determine Steady State Speed and Error
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// c a p t i o n : d e t e r m i n e s t e a d y s t a t e s p e e d a n d e r r o r
// e x a m p l e 6 . 1 0 . 8
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// p a g e 176
//Tm=t o r q u e c o n s t a n t , J=moment o f i n e r t i a , f= c o e f f . o f
v i s c o u s f r i c t i o n , E=e r r o r d e t e c t o r g a i n
syms Tm J f t E s
Tm =75; J =10; f =5; E =1;
a =( Tm * E ) ;
b =1/( J * s + f ) ;
c =( a * b ) ;
CL = c /. H ;
printf ( t h e o v e r l a l l t r a n s f e r f u n c t i o n : \n ) ;
disp ( CL , Wo( s ) /Wr( s )= ) ;
// s i n c e Wr( s ) =(2 %pi ) ( 1 / s )
q = bfloat ((2* %pi ) ,2)
Wr = q *(1/ s )
Wo = CL * Wr ;
wo = ilaplace ( Wo ,s , t )
printf ( e x p r e s s i o n r e l a t i n g l o a d s p e e d a n d t i m e : \ n )
;
disp ( wo , wo ( t )= ) ;
a = Wo * s
Woss = limit (a ,s ,0) ; // s t e a d y s t a t e s p e e d
Woss = dbl ( Woss ) ;
disp ( Woss , s t e a d y s t a t e s p e e d= ) ;
We = Wr *(10* s +5) /(10* s +80) ;
Wess = limit ( s * We ,s ,0) ; // s t e a d y s t a t e e r r o r
Wess = dbl ( Wess ) ;
disp ( Wess , s t e a d y s t a t e e r r o r= ) ;
Scilab code Exa 6.10.9 determine J f K

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// c a p t i o n : d e t e r m i n e J , f , K
// e x a m p l e 6 . 1 0 . 9
// p a g e 178
// J=moment o f i n e r t i a , f=C , K=f o r w a r d p a t h g a i n ,Wn=
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n a t u r a l f r e q u e n c y , z e t a=damping r a t i o
syms J f K s zeta Wn
CL =1/( J * s ^2+ f * s + K ) ;
printf ( g i v e n : t r a n s f e r f u n c t i o n i s : \ n ) ;
disp ( CL , t h e t a ( s ) /T( s )= ) ;
T =10*(1/ s ) ;
theta = T * CL ;
theta_ss = limit ( s * theta ,s ,0) // s t e a d y s t a t e v a l u e
printf ( g i v e n : t h e t a s s =0.5\ n s o K= 1 0 / 0 . 5 ) ;
theta_ss =0.5;
K =10/ theta_ss ;
disp (K , f o r w a r d p a t h g a i n , K= ) ;
Mp =0.06; //max . peak o v e r s h o o t ( g i v e n )(1)
Mp = exp (( - zeta * %pi ) / sqrt (1 - zeta ^2) ) //(2)
// from eq . ( 1 ) and ( 2 ) , we g e t
zeta =0.66;
tp = %pi /( Wn *( sqrt (1 - zeta ^2) ) ) ; //(3)
tp =1 // ( g i v e n )
Wn = %pi /( tp * sqrt (1 - zeta ^2) ) ;
// a l s o Wn=s q r t (K/ J ) ;
J = K / Wn ^2;
// a l s o 2 z e t a Wn=f / J
f = J *2* zeta * Wn ;
disp (J , moment o f i n e r t i a , J= ) ;
disp (f , moment o f i n e r t i a , f= ) ;
Scilab code Exa 6.10.10 Determine Transfer Function Wn zeta

// c a p t i o n : d e t e r m i n e t r a n s f e r f u n c t i o n ,Wn, z e t a
// e x a m p l e 6 . 1 0 . 1 0
// p a g e 179
// J=moment o f i n e r t i a , f=C , Ke=e r r o r d e t e c t o r g a i n ,Wn=
n a t u r a l f r e q u e n c y , z e t a=damping r a t i o ,Km=t o r q u e
constant
5 syms J f s
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Ke =5.73;
Km =0.045;
n = sym ( N1/N2 )
n = subs (n , N1/N2 ,1/10) ;
J =0.25* float ( n ^2) ; // r e f e r r e d t o motor s i d e
f =1* float ( n ^2) ; // r e f e r r e d t o motor s i d e
// from t h e b l o c k d i a g r a m g i v e n i n f i g 6 . 1 0 . 6 on p a g e
179 ,
a =( Ke * Km )
b =1/( J * s ^2+ f * s )
c =( b * float ( a ) )
G =( n * c ) ;
G = simple ( G )
H =1;
d =(1+ G * H ) ;
d = simple ( d ) ;
CL = G / d ;
CL = simple ( CL )
disp ( CL , C( s ) /R( s )= ) ;
e = poly ([328800 127516 31879] , s , c o e f f )
printf ( t h e c h a r a c t e r s t i c s eq . i s : \ n ) ;
disp ( e ) ;
f = coeff ( e )
Wn = sqrt (( f (1 ,1) / f (1 ,3) ) ) // n a t u r a l f r e q u e n c y
zeta =(( f (1 ,2) / f (1 ,3) ) /(2* Wn ) ) // damping r a t i o
// p a r t ( b )
syms Td
g =1+ s * Td
h =( g * G )
i =1+ h * H
i = simple ( i ) ;
CL2 =( h / i )
CL2 = simple ( CL2 ) ;
disp ( CL2 , C( s ) /R( s )= ) ;
poly (0 , s ) ;
l = s ^2+(10.32* Td +4) * s +10.32;
printf ( on s i m p l y f y i n g t h e c h a r a c t e r s t i c s eq . i s : ) ;
disp ( float ( l ) ) ;
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43 Wn1 = sqrt (10.32) // n a t u r a l f r e q u e n c y

44 // 2 z e t a 1 Wn1= 1 0 . 3 2 Td+4
45 zeta1 =1; // a s damping i s c r i t i c a l
46 Td =(2* zeta1 * Wn1 -4) /10.32;
47 disp ( Td , t i m e c o n s t . o f a d v a n c e d p h a s e c i r c u i t , Td= )
Scilab code Exa 6.10.11 Determine Characterstics eq and Steady State

Error
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// c a p t i o n :
determine characterstics eq and steady state error
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// e x a m p l e 6 . 1 0 . 1 1
// p a g e 181
// J=moment o f i n e r t i a , f=C , K= c o n t r o l l e r g a i n ,Wn=
n a t u r a l f r e q u e n c y , z e t a=damping r a t i o
syms f J K Kt
s = %s ;
A = sym ((1/( J * s ^2+ f * s ) ) ) ;
J =250;
K =8*10^4;
B = eval ( A )
a =( K * B ) ;
H1 = s * Kt ;
b =(1+ a * H1 ) ;
b = simple ( b ) ;
CL1 = a / b ;
H =1;
c =1+ CL1 * H ;
c = simple ( c ) ;
CL = CL1 / c
disp ( CL , C( s ) /R( s )= ) ;
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Wn = sqrt (80000/250) // n a t u r a l f r e q u e n c y
// 2 z e t a Wn=(80000 Kt+f ) / 2 5 0
zeta =1; // f o r c r i t i c a l damping
d =2* zeta * Wn ;
v =[320 d 1];
CH = poly (v , s , c o e f f ) ;
r = float (5*2* %pi /60) ;
// 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 n p u t i s : E s s= ( 2
z e t a /Wn)
31 Ess =(2* zeta / Wn ) * r ;
32 disp ( Ess , s t e a d y s t a t e e r r o r = ) ;
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Scilab code Exa 6.10.12 determine WnWd zeta and steady state error
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// c a p t i o n : determine Wn ,Wd,
zeta and steady state error
// e x a m p l e 6 . 1 0 . 1 2
// p a g e 182
clc ;
s = %s ;
G = sym ( 2 5 / ( s ( s +5) ) ) ;
G = simple ( G ) ;
H =1;
CL = G /. H ;
disp ( CL , C( s ) /R( s )= ) ;
printf ( t h e c h a r . eq i s : )
disp ( s 2+5 s +25 )
Wn = sqrt (25) // n a t u r a l f r e q u e n c y
// 2 z e t a Wn=5
zeta =5/(2* Wn ) ; // damping r a t i o
d = zeta * Wn ; // d a m p i n g f a c t o r
z = sqrt (1 - zeta ^2) ;
Wd = Wn * z ; // d a m p e d f r e q u e n c y o f o s c i l l a t i o n
Mp = exp (( - zeta * %pi ) / z ) *100; // % max . p e a k o v e r s h o o t
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z e t a /Wn)
Ess =(2* zeta / Wn ) ; // s t e a d y s t a t e e r r o r
disp ( p a r t ( a ) : )
disp ( Wn , n a t u r a l f r e q u e n c y ,Wn= ) ;
disp ( zeta , damping r a t i o , z e t a= ) ;
disp ( Wd , d a m p e d f r e q u e n c y o f o s c i l l a t i o n ,Wd= ) ;
disp ( Mp , % max . p e a k o v e r s h o o t , Mp= ) ;
disp ( Ess , s t e a d y s t a t e e r r o r , E s s= ) ;
// i f damping r a t i o i s i n c r e a s e d from 0 . 5 t o 0 . 7 5 by
i n c o r p o r a t i n g tachometer feedback
zeta =0.75;
H1 = sym ( s Kt ) // t a c h o m e t e r f e e d b a c k
CL1 = G /(1+ G * H1 ) ;
CL2 = CL1 /(1+ H * CL1 ) ;
disp ( CL2 , C( s ) /R( s )= ) ;
Wn = sqrt (25) ;
// 2 z e t a Wn=25Kt +5;
Kt =(2* zeta * Wn -5) /25; // t a c h o m e t e r g a i n
Mp1 = exp (( - zeta * %pi ) / sqrt (1 - zeta ^2) ) *100; //
% peak overshoot
disp ( A f t e r a p p l y i n g t a c h o m e t e r f e e d b a c k : )
disp ( Kt , t a c h o m e t e r g a i n , Kt= ) ;
disp ( Mp1 , % p e a k o v e r s h o o t , Mp1= ) ;
Scilab code Exa 6.10.13 determine K ts tp and Mp

1 // c a p t i o n : d e t e r m i n e K , t s , tp , Mp
2 // e x a m p l e 6 . 1 0 . 1 3
3 // p a g e 184
4 clc ;
5 syms K ;
6 s = %s ;
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G = sym ( K/ ( s ( s +6) ) ) ;
H =0.2;
CL = G /(1+ G * H ) ;
Wn = sqrt ( K /5)
zeta =0.7 // ( g i v e n ) damping r a t i o
// 2 z e t a Wn=6
Wn =6/(2* zeta ) ;
K = Wn ^2*5;
ts =4/( zeta * Wn ) ; // s e t t l i n g t i m e
Mp = exp (( - zeta * %pi ) / sqrt (1 - zeta ^2) ) *100; //
% peak overshoot
tp = %pi /( Wn * sqrt (1 - zeta ^2) ) ; // p e a k t i m e
disp ( Wn , n a t u r a l f r e q u e n c y ,Wn= ) ;
disp ( Mp , % max . p e a k o v e r s h o o t , Mp= ) ;
disp ( ts , s e t t l i n g t i m e , t s= ) ;
disp ( tp , p e a k t i m e , t p= ) ;
Scilab code Exa 6.10.14 determine Mp Ess and steady state value
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// c a p t i o n : determine Mp , E s s a n d s t e a d y s t a t e v a l u e
// e x a m p l e 6 . 1 0 . 1 4
// p a g e 185
// t h e r e a r e two i n p u t s : R( s ) i s r e f e r e n c e i n p u t and
Tl ( s ) i s l o a d t o r q u e
clc ;
s = %s ;
A = sym ( 1 / ( 0 . 1 5 s 2 + 0 . 9 s ) ) ;
K =6;
// w h i l e c o n s i d e r i n g R( s ) , we t a k e Tl ( s ) =0
G =( A * K ) ; // i n s e r i e s
H =1;
CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
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15 Wn = sqrt (40) ; // n a t u r a l f r e q u e n c y
16 // 2 z e t a Wn=6
17 zeta =6/(2* Wn ) ; // damping r a t i o
18 Mp = exp (( - zeta * %pi ) / sqrt (1 - zeta ^2) ) *100; //
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% peak overshoot
z e t a /Wn)
disp ( Mp , % p e a k o v e r s h o o t= ) ;
disp ( Ess , s t e a d y s t a t e e r r o r= ) ;
printf ( Now c o n s i d e r i n g e f f e c t o f Tl ( s ) , put R( s ) =0\n
);
H =6;
CL1 = A /(1+ A * H ) ;
disp ( CL1 , C( s ) /Tl ( s )= ) ; //ve s i g n i n d i c a t e s o u t p u t
p o s i t i o n l a g s behind the input
Tl =1/ s ; // g i v e n
C = - Tl * CL1 ;
Css = limit ( s *C ,s ,0) ;
disp ( Css , s t e a d y s t a t e v a l u e o f o u t p u t= ) ;
Scilab code Exa 6.10.16 determine Wn zeta and M

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// c a p t i o n : determine Wn , z e t a a n d M p
// e x a m p l e 6 . 1 0 . 1 6
// p a g e 187
s = %s ;
num =1;
den = sym ( s ( 1 + 0 . 5 s ) ( 1 + 0 . 2 s ) ) ;
c = num / den ;
c = simple ( c ) ;
disp (c , C( s ) /E( s )= ) ;
G=c;
H =1;
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CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
A = pfss ((10/( s ^3+7* s ^2+10* s +10) ) ) ;
d = denom ( A (1) ) ;
b = coeff ( denom ( A (1) ) )
printf ( f o r o s c i l l a t o r y r o o t s : )
Wn = sqrt ( b (1 ,1) ) ; // n a t u r a l f r e q u e n c y
// 2 z e t a Wn= 1 . 5 ;
zeta =1.5/(2* Wn ) ; // damping r a t i o
% peak overshoot
23 disp ( Wn , n a t u r a l f r e q u e n c y= ) ;
24 disp ( zeta , damping r a t i o = ) ;
25 disp ( Mp , % p e a k o v e r s h o o t= ) ;
Scilab code Exa 6.10.17 determine Kp Kv and Ka

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// c a p t i o n : d e t e r m i n e K p K v K a
// e x a m p l e 6 . 1 0 . 1 7
// p a g e 188
s = %s ;
syms t ;
num = sym ( 2 ( s 2+3 s +20) ) ;
den = sym ( s ( s +2) ( s 2+4 s +10) ) ;
GH = num / den ;
GH = simple ( GH ) ;
disp ( GH , G( s )H( s )= ) ;
input1 =5;
Kp = limit ( GH ,s ,0) ; // s t a t i c p o s i t i o n a l e r r o r
coefficient
Ess =5*(1/(1+ Kp ) ) ; // s t e a d y s t a t e e r r o r
e =(1/( %inf +1) ) ;
e =0;
Ess = e ;
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18 disp ( Ess , s t e a d y s t a t e e r r o r= ) ;
19 input2 =4* t ;
20 Kv = limit ( s * GH ,s ,0) ; // s t a t i c v e l o c i t y e r r o r
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coefficient
Ess =(1/ Kv ) *4; // s t e a d y s t a t e e r r o r
disp ( Kv , s t a t i c v e l o c i t y e r r o r c o e f f i c i e n t = ) ;
input3 =(4* t ^2) /2;
Ka = limit ( s ^2* GH ,s ,0) ; // s t a t i c a c c e l e r a t i o n e r r o r
coefficient
Ess =(1/ Ka ) *4; // s t e a d y s t a t e e r r o r
disp ( Ka , s t a t i c a c c e l e r a t i o n e r r o r c o e f f i c i e n t = ) ;
disp ( s t e a d y s t a t e e r r o r= ) ;
disp ( i n f i n i t y )
Scilab code Exa 6.10.18 determine Kp Kv and Ka

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// e x a m p l e 6 . 1 0 . 1 7
// p a g e 188
s = %s ;
syms t K zeta Wn ;
num = K ;
den = sym ( s ( s 2+2 z e t a Wn s+Wn 2 ) ) ;
G = num / den ;
G = simple ( G ) ;
disp (G , G( s )= ) ;
Kp = limit (G ,s ,0) ; // s t a t i c p o s i t i o n a l e r r o r
coefficient
disp ( Kp , s t a t i c p o s i t i o n a l e r r o r c o e f f i c i e n t , Kp= ) ;
Kv = limit ( s *G ,s ,0) ; // s t a t i c v e l o c i t y e r r o r
coefficient
disp ( Kv , s t a t i c v e l o c i t y e r r o r c o e f f i c i e n t , Kv= ) ;
Ka = limit ( s ^2* G ,s ,0) ; // s t a t i c a c c e l e r a t i o n e r r o r
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coefficient
disp ( Ka , s t a t i c a c c e l e r a t i o n e r r o r c o e f f i c i e n t , Ka= )
;
printf ( f o r ( i i ) : ) ;
num = sym ( 1 0 0 ( s +2) ( s +40) ) ;
den = sym ( s 3 ( s 2+4 s +200) ) ;
GH = num / den ;
disp ( GH , G( s )H( s )= ) ;
coefficient
disp ( Kp , s t a t i c p o s i t i o n a l e r r o r c o e f f i c i e n t , Kp= ) ;
Kv = limit ( s * GH ,s ,0) ; // s t a t i c v e l o c i t y e r r o r
coefficient
disp ( Kv , s t a t i c v e l o c i t y e r r o r c o e f f i c i e n t , Kv= ) ;
coefficient
disp ( Ka , s t a t i c a c c e l e r a t i o n e r r o r c o e f f i c i e n t , Ka= )
;
Scilab code Exa 6.10.19 determine steady state error

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// c a p t i o n : d e t e r m i n e s t e a d y s t a t e e r r o r
// e x a m p l e 6 . 1 0 . 1 9
// p a g e 189
s = %s ;
syms K bta alpha G
num = sym ( K s+b t a ) ;
den = sym ( s 2+ a l p h a s+b t a ) ;
CL = num / den ;
disp ( CL , C( s ) /R( s )= ) ; //(1)
H =1;
// a l s o
cl = G /(1+ G * H ) ;
disp ( cl , a l s o , C( s ) /R( s )= ) ; //(2)
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// from eq . ( 1 ) and ( 2 ) , we g e t
G = num /( s ^2+ s *( alpha - K ) ) ;
disp (G , G( s )= ) ;
B =1/(1+ G ) ;
B = simple ( B ) ;
disp (B , E( s ) /R( s )= ) ;
R =1/ s ^2;
E=B*R;
E = simple ( E ) ;
Ess = limit ( s *E ,s ,0) ;
Scilab code Exa 6.10.20 determine steady state error and error coefficient
1
// c a p t i o n :
determine steady state error and error coefficient
2 // e x a m p l e 6 . 1 0 . 2 0
3 // p a g e 189
4 s = %s ;
5 syms t a0 a1 a2 ;
6 r = a0 + a1 * t +( a2 /2) * t ^2;
7 // s i n c e f o r r o n l y u p t o 2 nd o r d e r
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derivative is
non z e r o , s o o n l y c o e f f . C0 C1 C2 e x i s t
num =20;
den = sym ( ( s ( s +2) ) ) ;
G = num / den ;
disp (G , G( s )= ) ;
A =1/(1+ G ) ;
A = simple ( A ) ;
disp (A , E( s ) /R( s )= ) ;
C0 = limit (A ,s ,0) ;
B = sym ( ( ( 2 0 ) / ( s 2+2 s +20) ) ) ; // on s i m p l y f y i n g A=1B
d = diff ( -B , s ) ;
C1 = limit (d ,s ,0) ;
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d1 = diff ( -B ,s ,2) ;
C2 = limit ( d1 ,s ,0) ;
r1 = diff (r , t ) ;
r2 = diff (r ,t ,2) ;
e =( C0 * r ) +( C1 * r1 ) +( C2 * r2 ) /2;
disp ( C0 , C0= ) ;
disp ( float ( C1 ) ,C1= ) ;
disp ( float ( C2 ) ,C2= ) ;
disp ( float ( e ) , s t e a d y s t a t e e r r o r , e= ) ;
Scilab code Exa 6.10.21 determine steady state error and error coefficient
1
// c a p t i o n :
determine steady state error and error coefficient
2 // e x a m p l e 6 . 1 0 . 2 1
3 // p a g e 191
4 s = %s ;
5 syms t ;
6 r =2+3* t +2* t ^3;
7 // s i n c e f o r r o n l y u p t o 2 nd o r d e r
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derivative is
non z e r o , s o o n l y c o e f f . C0 C1 C2 e x i s t
G = sym ( 1 / ( s ( s +2) ) ) ;
A =1/(1+ G ) ;
A = simple ( A ) ;
disp (A , E( s ) /R( s )= ) ;
C0 = limit (A ,s ,0) ;
B = sym ( ( ( 1 ) / ( s 2+2 s +1) ) ) ; // on s i m p l y f y i n g A=1B
d = diff ( -B , s ) ;
C1 = limit (d ,s ,0) ;
d1 = diff ( -B ,s ,2) ;
C2 = limit ( d1 ,s ,0) ;
r1 = diff (r , t ) ;
r2 = diff (r ,t ,2) ;
d2 = diff ( -B ,s ,3)
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21 C3 = limit ( d2 ,s ,0)
22 e =( C0 * r ) +( C1 * r1 ) +( C2 * r2 ) /2;
23 disp ( float ( e ) , s t e a d y s t a t e e r r o r , e= ) ;
24 disp ( C0 , C0= ) ;
25 disp ( float ( C1 ) ,C1= ) ;
26 disp ( float ( C2 ) ,C2= ) ;
27 disp ( float ( C3 ) ,C3= )
Scilab code Exa 6.10.22 determine voltage Er and change in terminalvoltage

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// c a p t i o n : d e t e r m i n e r e f e r e n c e v o l t a g e ,
Er and %change in terminal voltage
// e x a m p l e 6 . 1 0 . 2 2
// p a g e 191
clc ;
syms G H
s = %s ;
A = G /. H ;
disp (A , E0/ Er= ) ;
G =200; // g a i n
H =0.1;
B = eval ( A ) ;
disp (B , E0/ Er= ) ;
E0 =250;
Er =(1/ B ) * E0 ;
disp ( f o r c l o s e d l o o p s y s t e m : ) ;
disp ( float ( Er ) , r e f e r e n c e v o l t a g e , Er= ) ;
disp ( f o r o p e n l o o p s y s t e m : ) ;
disp ( float ( E0 / G ) , Er=E0/G= ) ;
disp ( p a r t ( b ) )
disp ( f o r c l o s e d l o o p s y s t e m : )
disp ( a s t h e f o r w a r d p a t h g a i n i s r e d u c e d by 10%,
t h e new v a l u e o f g a i n ,G i s 180 )
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G =180 // g a i n
pcG =10 // p e r c e n t a g e c h a n g e i n G
S =1/(1+ G * H )
disp (S , s e n s i t i v i t y , S= ) ;
disp ( s i n c e S =1/19 ,
( given ) )
pcM = S * pcG // p e r c e n t a g e c h a n g e i n o v e r a l l g a i n ,M
pcEo = pcM
disp ( pcM , p e r c e n t a g e c h a n g e i n o v e r a l l g a i n ,M= )
disp ( pcEo , p e r c e n t a g e c h a n g e i n t e r m i n a l v o l t a g e , Eo=
)
32 disp ( f o r open l o o p s y s t e m : )
33 pcEo =(25/250) *100
34 disp ( pcEo , p e r c e n t a g e c h a n g e i n t e r m i n a l v o l t a g e , Eo=
)
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31
Scilab code Exa 6.10.23 determine sensitivity wrt K and H

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// c a p t i o n : d e t e r m i n e s e n s i t i v i t y w . r . t K a n d H
// e x a m p l e 6 . 1 0 . 2 3
// p a g e 192
syms Wn zeta K H ;
s = %s ;
A = sym ( Wn 2 / ( s 2+2 z e t a Wn s ) ) ;
B =( A * K ) ;
CL = B /(1+ B * H ) ;
disp ( CL , o v e r a l l t r a n s f e r f u n c t i o n :M( s )= ) ;
disp ( s e n s i t i v i t y w . r . t K : ) ;
a = diff ( CL , K ) ;
b = K / CL ;
b = simple ( b ) ;
Sk = a * b ;
Sk = simple ( Sk ) ;
disp ( Sk , s e n s i t i v i t y w . r . t K , Sk= ) ;
disp ( s e n s i t i v i t y w . r . t H : ) ;
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c = diff ( CL , H ) ;
d = H / CL ;
d = simple ( d ) ;
Sh = c * d ;
Sh = simple ( Sh ) ;
disp ( Sh , s e n s i t i v i t y w . r . t H , Sh= ) ;
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Chapter 7
STABILITY ANALYSIS OF
CONTROL SYSTEMS
Scilab code Exa 1.0 root locus

1 // c a p t i o n : r o o t l o c u s
2 // e x a m p l e 1
3 // p a g e 291
4 s = %s ;
5 g = s /( s +1) ;
6 G = syslin ( c ,g )
7 evans (g ,200)

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2
// c a p t i o n : r o o t l o c u s
// e x a m p l e 2
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Figure 7.1: root locus
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81

3 // p a g e 291
4 s = %s ;
5 g =1/( s *( s +4) ) ;
7 evans (g ,200)

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// e x a m p l e 3
// p a g e 292
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4 s = %s ;
5 g =1/( s *( s +1) *( s +3) ) ;
7 evans (g ,200)
Scilab code Exa 7.5.1 stability using Routh hurwitz criterion

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// c a p t i o n : s t a b i l i t y u s i n g R o u t h h u r w i t z c r i t e r i o n
// e x a m p l e 7 . 5 . 1
// p a g e 202
clc ;
s = %s ;
A = s ^3+4.5* s ^2+3.5* s +1.5;
b = coeff ( A )
n = length ( b )
B = routh_t ( A )
disp (B , r o u t h t a b l e : ) ;
c =0;
for ( i =1: n )
if ( B (i ,1) <0)
c = c +1;
end
end
if (c >=1)
disp ( s y s t e m i s u n s t a b l e )
else ( s y s t e m i s s t a b l e )
end

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// e x a m p l e 7 . 5 . 2
// p a g e 202
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s = %s ;
A = s ^3+4*10^2* s ^2+5*10^4* s +2*10^6;
b = coeff ( A )
n = length ( b )
B = routh_t ( A )
c =0;
for ( i =1: n )
if ( B (i ,1) <0)
c = c +1;
end
end
if (c >=1)
printf ( \n s y s t e m i s u n s t a b l e )
end

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// e x a m p l e 7 . 5 . 3
// p a g e 203
s = %s ;
A = s ^5+4*1.5* s ^4+4* s ^3+4* s ^2+5* s +10;
C =2* s +5;
CL = A / C ;
disp ( CL , C( s ) /R( s )= ) ;
disp ( =0 ,A , c h a r a c t e r i s t i c s eq i s : )
b = coeff ( A )
n = length ( b )
B = routh_t ( A )
c =0;
r =1;
for ( i =1: n )
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if ( B (i ,1) <0)
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c = c +1;
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if ( i == n & B (n ,1) <0)
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r=r;
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else
22
r = r +1;
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end
24
end
25 end
26 if (c >=1)
27
printf ( s y s t e m i s u n s t a b l e \n ) ;
28 else ( s y s t e m i s s t a b l e ) ;
29 end
30 mprintf ( no . o f r o o t s w i t h p o s i t i v e
r e a l p a r t s=%d ,r
);

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// e x a m p l e 7 . 5 . 4
// p a g e 203
ieee (2)
s = %s ;
A = s ^5+ s ^4+2* s ^3+2* s ^2+11* s +10;
b = coeff ( A ) ;
n = length ( b ) ;
B = routh_t ( A ) ;
K=B;
c =0;
syms eps ;
x = limit ( eps , eps ,0) ;
y = limit ((( -1+2* eps ) / eps ) ,eps ,0) ;
z = limit ((( -1+2* eps -10* eps ^2) /( -1+2* eps ) ) ,eps ,0) ;
// a f t e r p u t t i n g t h e l i m i t we g e t :
K (3 ,1) =0;
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18 K (4 ,1) = - %inf ;
19 K (5 ,1) =1;
20 disp (K , r o u t h t a b l e : )
21 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 ,
h e n c e t h e s y s t e m i s u n s t a b l e \n )

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// e x a m p l e 7 . 5 . 5
// p a g e 204
s = %s ;
A = s ^6+ s ^5+5* s ^4+3* s ^3+2* s ^2 -4* s -8;
b = coeff ( A )
n = length ( b )
routh =[ b ([7 ,5 ,3 ,1]) ; b ([6 ,4 ,2]) ,0];
c =[ routh (1 ,1) , routh (1 ,3) ; routh (2 ,1) , routh (2 ,3) ]
d =[ routh (1 ,1) , routh (1 ,4) ; routh (2 ,1) , routh (2 ,4) ]
routh =[ routh ; - det ( routh (1:2 ,1:2) ) / routh (2 ,1) ,- det ( c )
/ routh (2 ,1) ,- det ( d ) / routh (2 ,1) ,0];
routh1 = routh ;
e =[ routh (2 ,1) , routh (2 ,2) ; routh (3 ,1) , routh (3 ,2) ]
f =[ routh (2 ,1) , routh (2 ,3) ; routh (3 ,1) , routh (3 ,3) ]
routh =[ routh ; - det ( e ) / routh (3 ,1) ,- det ( f ) / routh (3 ,1)
,0 ,0];
disp ( s i n c e a l l e l e m e n t s o f f o u r t h row a r e z e r o , s o
we make a u x i l i a r y e q u a t i o n )
A = sym ( 2 s 4+6 s 28 )
B = diff (A , s )
routh =[ routh1 ;8 ,12 ,0 ,0]
g =[ routh (3 ,1) , routh (3 ,3) ; routh (4 ,1) , routh (4 ,3) ]
routh =[ routh ; - det ( routh (3:4 ,1:2) ) / routh (4 ,1) ,- det ( g )
/ routh (4 ,1) ,0 ,0];
routh =[ routh ; - det ( routh (4:5 ,1:2) ) / routh (5 ,1) ,0 ,0 ,0];
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routh =[ routh ; - det ( routh (5:6 ,1:2) ) / routh (6 ,1) ,0 ,0 ,0]

disp ( routh , r o u t h t a b l e : )
c =0;
r =1;
for ( i =1: n )
if ( routh (i ,1) <0)
c = c +1;
if ( i == n & routh (n ,1) <0)
r=r;
else
r = r +1;
end
end
end
if (c >=1)
printf ( s y s t e m i s u n s t a b l e \n )
end
mprintf ( no . o f r o o t s w i t h p o s i t i v e r e a l p a r t s=%d ,r
);

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// e x a m p l e 7 . 5 . 6
// p a g e 206
s = %s ;
syms T
num = exp ( - s * T ) ;
den = s *( s +2) ;
G = num / den ;
H =1;
a =(1+ G * H ) ;
CL = G / a ;
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CH = s ^2+2* s + exp ( - s * T ) ;
// exp ( s T)=1sT+(sT ) 2 / 2 + . . . .
CH = s ^2+(2 - T ) * s +1;
disp ( =0 ,CH , c h a r a c t e r s t i c s e q , CH= )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
b =[ c0 c1 c2 ]
n =3;
routh =[ b ([3 ,1]) ; b ([2]) ,0];
routh =[ routh ; simple ( - det ( routh ) / routh (2 ,1) ) ,0]
disp ( routh , r o u t h= ) ;
disp ( f o r g i v e n s y s t e m t o be s t a b l e : ) ;
disp ( 2T>0 ) ;
disp ( which g i v e s : ) ;
disp ( T<2 ) ;
Scilab code Exa 7.5.7.a stability using Routh hurwitz criterion

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// e x a m p l e 7 . 5 . 7 . ( a )
// p a g e 207
s = %s ;
syms T K
P = s *( s *( s +10) + T ) ;
CH = sym ( s 3+10 s 2+T s+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
routh =[ routh ; - det ( routh ) / routh (2 ,1) ,0]
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17 t = routh (2:3 ,1:2)

18 routh =[ routh ; - det ( t ) / t (2 ,1) ,0]
19 disp ( routh , r o u t h= )
20 disp ( f o r g i v e n s y s t e m t o be s t a b l e : ) ;
21 disp ( ( ( 1 0 TK) / 1 0 ) >0 and K>0 ) ;
22 disp ( which g i v e s : ) ;
23 disp ( 0<K<10T ) ;
Scilab code Exa 7.5.7.b value of K of characterstics equation

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// c a p t i o n : v a l u e o f K o f c h a r a c t e r s t i c s e q
// e x a m p l e 7 . 5 . 7 . ( b )
// p a g e 207
s = %s ;
syms K s1 ;
CH = s ^3+10* s ^2+18* s + K
s = s1 -1;
CH = eval ( CH ) ;
CH = simple ( CH ) ;
disp ( =0 ,CH , c h a r a c t e r s t i c s e q , CH= ) ;
c0 = coeffs ( CH , s 1 ,0) ;
c1 = coeffs ( CH , s 1 ,1) ;
c2 = coeffs ( CH , s 1 ,2) ;
c3 = coeffs ( CH , s 1 ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
routh =[ routh ; - det ( t ) / t (2 ,1) ,0]
disp ( routh , r o u t h= )
disp ( (( (K16) ) / 7 ) >0 and K9>0 ) ;
disp ( 9<K<16 ) ;
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Scilab code Exa 7.5.8 value of K in terms of T1 and T2

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// c a p t i o n : v a l u e o f K i n t e r m s o f T 1 a n d T 2
// e x a m p l e 7 . 5 . 8
// p a g e 207
s = %s ;
syms K T1 T2 ;
m = s *( s * T1 +1) *( s * T2 +1)
G=K/m;
CH =1+ G ;
disp ( on s i m p l y f y i n g CH )
CH = m + K ;
CH = simple ( CH ) ;
disp ( =0 ,CH , c h a r a c t e r s t i c s e q , CH= ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
disp ( K>0 and ( (KT1T2T2T1 ) / ( T2+T1 ) ) >0 ) ;
disp ( 0<K<((1/ T1 ) +(1/T2 ) ) ) ;
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Figure 7.4: stability using Nyquist criterion
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Scilab code Exa 7.17.1 stability using Nyquist criterion

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// c a p t i o n : s t a b i l i t y u s i n g N y q u i s t c r i t e r i o n
// e x a m p l e 7 . 1 7 . 1
// p a g e 236
clf ;
s = %s ;
s1 = - s ;
g =50/(( s +1) *( s +2) ) ;
g1 =50/(( s1 +1) *( s1 +2) ) ;
GH = syslin ( c ,g )
GH1 = syslin ( c , g1 )
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -5 30 -20 20]) ;
xtitle ( N y q u i s t p l o t o f 5 0 / ( ( s +1) ( s +2) ) )
figure ;
show_margins ( GH , n y q u i s t )
disp ( s i n c e t h e p o i n t (1+%i0 ) i s n o t e n c i r c l e d by
N y q u i s t p l o t , s o N=0 and P=0( g i v e n ) )
N =0; // no . o f e n c i r c l e m e n t o f 1+%i0 by G( s )H( s ) p l o t
P =0; // no . o f p o l e s o f G( s )H( s ) w i t h p o s i t i v e r e a l
part
Z =P - N ; // np . o f z e r o s o f 1+G( s )H( s ) =0 w i t h p o s i t i v e
r e a l part
disp (Z , Z= )
disp ( a s Z=0 , t h e r e a r e no r o o t s o f c l o s e d l o o p
c h a r a c t e r s t i c s eq h a v i n g p o s i t i v e r e a l p a r t ,
hence system i s s t a b l e . )
Scilab code Exa 7.17.2.i stability using Nyquist criterion

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// e x a m p l e 7 . 1 7 . 2
// p a g e 237
clf () ;
s = %s ;
s1 = - s ;
disp ( f o r K=1.25 )
g =(1.25*( s +1) ) /(( s +0.5) *( s -2) ) ;
g1 =(1.25*( s1 +1) ) /(( s1 +0.5) *( s1 -2) ) ;
GH = syslin ( c ,g ) ;
GH1 = syslin ( c , g1 ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -1.5 0.2 -0.3 0.3]) ;
xtitle ( N y q u i s t p l o t o f ( 1 0 ( s 1) ) / ( ( s +2) ( s +3) ) ; )
figure ;
disp ( s i n c e t h e p o i n t (1+%i0 ) i s
encircled
c l o c k w i s e by N y q u i s t p l o t , s o N=1 and P=1( g i v e n )
)
N = -1; // no . o f e n c i r c l e m e n t o f 1+%i0 by G( s )H( s )
plot anticlockwise
part
r e a l part
disp (Z , Z= )
disp ( a s Z=2 , t h e r e a r e two r o o t s o f c l o s e d l o o p
hence system i s u n s t a b l e . )
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Scilab code Exa 7.17.2.ii stability using Nyquist criterion

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// e x a m p l e 7 . 1 7 . 2 i i
// p a g e 237
disp ( f o r K=2.5 )
g =(2.5*( s +1) ) /(( s +0.5) *( s -2) ) ;
g1 =(2.5*( s1 +1) ) /(( s1 +0.5) *( s1 -2) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -3 0.5 -0.6 0.6]) ;
xtitle ( N y q u i s t p l o t o f ( 2 . 5 ( s +1) ) / ( ( s + 0 . 5 ) ( s 2) )
)
figure ;
encircled
a n t i c l o c k w i s e by N y q u i s t p l o t , s o N=1 and P=1(
given ) )
anticlockwise
part
r e a l part
disp (Z , Z= )
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// e x a m p l e 7 . 1 7 . 3
// p a g e 238
clf () ;
s = %s ;
s1 = - s ;
g =( s +0.25) /( s ^2*( s +0.5) *( s +1) ) ;
g1 =( s1 +0.25) /( s1 ^2*( s1 +0.5) *( s1 +1) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -2000 500 -30 30]) ;
xtitle ( N y q u i s t p l o t o f ( s + 0 . 2 5 ) / ( s 2 ( s + 0 . 5 ) ( s +1) )
)
figure ;
encircled
)
plot anticlockwise
part
r e a l part
disp (Z , Z= )
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Figure 7.12: Phase Margin
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Scilab code Exa 7.17.5 Phase Margin

// c a p t i o n : p h a s e m a r g i n
// e x a m p l e 7 . 1 7 . 5
// p a g e 241
clf () ;
s = %s ;
s1 = - s ;
disp ( f o r K=3 )
g =(2.5*3) /( s *(0.4* s +1) *(0.2* s +1) ) ;
g1 =(2.5*3) /( s1 *(0.4* s1 +1) *(0.2* s1 +1) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -5 1 -500 500]) ;
xtitle ( N y q u i s t p l o t o f ( 2 . 5 3 ) / ( s ( 0 . 4 s +1) ( 0 . 2 s
+1) ) )
16 pm = p_margin ( GH )
17 disp ( pm , p h a s e m a r g i n= )
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// e x a m p l e 7 . 1 7 . 7
// p a g e 244
clf () ;
s = %s ;
s1 = - s ;
g =(2.2/( s *( s +1) *( s ^2+2* s +2) ) )
104
105
8 g1 =(2.2/( s1 *( s1 +1) *( s1 ^2+2* s1 +2) ) )

9 GH = syslin ( c ,g ) ;
10 GH1 = syslin ( c , g1 ) ;
11 nyquist ( GH ) ;
12 nyquist ( GH1 ) ;
13 mtlb_axis ([ -2.5 0.2 -75 75]) ;
14 disp ( a s t h e n y q u i s t p l o t p a s s e s t h r o u g h t h e p o i n t
1+%i 0 , s o s y s t e m i s m a r g i n a l l y s t a b l e and
output r e p r e s e n t s s u s t a i n e d o s c i l l a t i o n s . )
Scilab code Exa 7.17.9 gain margin and phase margin

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// c a p t i o n : g a i n m a r g i n a n d p h a s e m a r g i n
// e x a m p l e 7 . 1 7 . 9
// p a g e 245
s = %s ;
syms w ;
s1 = - s ;
gh =(32/( s *( s + sqrt (6) ) ^3) ) ;
g = sym ((32/( s *( s + sqrt (6) ) ^3) ) ) ;
s = %i * w ;
a = eval ( g ) ;
w = sqrt (2) ;
b = float ( eval ( abs ( a ) ) ) ;
disp (b , a t w=s q r t ( 2 ) , |G( jw )H( jw ) |= ) ;
GH = syslin ( c , gh ) ;
gm = g_margin ( GH ) ;
pm = p_margin ( GH ) ;
disp ( gm , Gain m a r g i n= ) ;
disp ( pm , Phase m a r g i n= ) ;
disp ( s i n c e gm=0 and pm=0 , s o s y s t e m i s m a r g i n a l l y
s t a b l e )
106
Figure 7.14: gain phase plot
107
Scilab code Exa 7.17.18 gain phase plot

1 // c a p t i o n : g a i n p h a s e p l o t
2 // e x a m p l e 7 . 1 7 . 1 8
3 // p a g e 256
4 k =1;
5 s = %s ;
6 G = syslin ( c ,k /( s *(0.5* s +1) *(0.25* s +1) ) ) ;
7 // f r e q r a n g e t o p l o t
8 fmin =0.1;
9 fmax =7;
10 black (G , fmin , fmax )
11 xgrid
12 xtitle ( Gain p h a s e p l o t )
13 disp ( f o r GM=8 db , K=2.23 )
14 disp ( f o r PM=20 deg . , K=2.69 )
Scilab code Exa 7.19.1 stability using bode plot

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// c a p t i o n : s t a b i l i t y u s i n g b o d e p l o t
// e x a m p l e 7 . 1 9 . 1
// p a g e 280
s = %s ;
g =50/(( s +1) *( s +2) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
bode (G , fmin , fmax )
show_margins ( G )
gm = g_margin ( G )
108
Figure 7.15: stability using bode plot
109
Figure 7.16: gain margin and phase margin

12 pm = p_margin ( G )
13 disp ( gm , g a i n m a r g i n= ) ;
14 disp ( pm , p h a s e m a r g i n= ) ;
15 disp ( s i n c e g a i n and p h a s e m a r g i n a r e b o t h p o s i t i v e
so system i s s t a b l e )
Scilab code Exa 7.19.2 gain margin and phase margin

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3
// e x a m p l e 7 . 1 9 . 2
// p a g e 282
110
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s = %s ;
g =((2*( s +0.25) ) /( s ^2*( s +1) *( s +0.5) ) ) ;
G = syslin ( c ,g )
fmin =0.1;
fmax =100;
[ gm , freqGM ]= g_margin ( G ) ;
[ pm , freqPM ]= p_margin ( G ) ;
show_margins ( 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= ) ;
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 g a i n and p h a s e m a r g i n a r e b o t h n e g a t i v e
so system i s u n s t a b l e )
Scilab code Exa 7.19.3 stability using bode plot

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// c a p t i o n : s t a b i l i t y u s i n g b o d e p l o t
// e x a m p l e 7 . 1 9 . 3
// p a g e 283
s = %s ;
g =(48*( s +10) ) /( s *( s +20) *( s ^2+2.4* s +16) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
gm = g_margin ( G )
pm = p_margin ( G )
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Figure 7.17: stability using bode plot
112
Figure 7.18: root locus description

15
disp ( s i n c e g a i n and p h a s e m a r g i n a r e b o t h p o s i t i v e
so system i s s t a b l e )
Scilab code Exa 7.24.1 root locus description

1 // c a p t i o n : r o o t l o c u s d e s c r i p t i o n
2 // e x a m p l e 7 . 2 4 . 1
3 // p a g e 295
4 clc ;
5 s = %s ;
6 syms K
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G = K /( s *( s +4) ) ;
disp ( t h e c h a r a c t e r s t i c s eq . i s d e t e r m i n e d a s : )
CH =( s *( s +4) ) + K
CH = sym ( ( s ( s +4) )+K ) ;
eq =( s *( s +4) )
p = roots ( eq )
disp (p , open l o o p p o l e s a r e : )
K = sym ( ( s ( s +4) ) )
d = diff (K , s )
e =2* s +4
P =2;
Z =0;
disp ( s i n c e 2 l i e s on r o o t l o c u s s o breakaway p o i n t
i s 2 )
for ( k =0:1)
A =((2* k +1) *180) /( P - Z ) ;
disp (A , a s y m p t o t e a r e a t a n g l e : )
end
x =((0 -4) -0) /( P - Z ) // ( s u m o f P s u m o f Z ) / ( PZ )
disp (x , a s y m p t o t e s i n t e r s e c t a t )
disp ( s i n c e |G( s ) H( s ) |=1 )
disp ( which g i v e s K=8 )
k =8
g = k /( s *( s +4) )
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)

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// c a p t i o n : r o o t l o c u s d e s c r i p t i o n
// e x a m p l e 7 . 2 4 . 2
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// p a g e 296
s = %s ;
syms K ;
GH = K /( s *( s +1) *( s +3) )
zeta =0.5
// from g i v e n d a t a
CH =( s *( s +1) *( s +3) ) + K
CH = sym ( ( s ( s +1) ( s +3) )+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
K = sym ( ( s 3+4 s 2+3 s ) )
d = diff (K , s )
e = -3* s ^2 -8* s -3
r1 = roots ( e )
disp ( r1 , r o o t s= )
disp ( 0.45 i s b r e a k away p o i n t s i n c e i t l i e s on
root l o c u s )
disp ( f o r g i v e n s y s t e m t o be m a r g i n a l l y s t a b l e : ) ;
disp ( (12 K) =0 ) ;
disp ( K=12 , f o r m a r g i a n l s t a b i l i t y ) ;
K =12;
k =12
a =4* s ^2+ k // i n t e r s e c t i o n o f r o o t l o c u s w i t h i m a g i n a r y
plane
r = roots ( a )
g = k /( s *( s +1) *( s +3) )
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40 evans (g ,8)
41 xgrid (2)
42 disp ( t h e l i n e t h e t a=a c o s ( z e t a ) =60 i n t e r s e c t s
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root
l o c u s a t s a =( 0.35+ i 0 . 6 ) )
disp ( t h e v a l u e o f K a t s=s a i s f i n d t o be 1 . 6 6 )
disp ( t h e v a l u e o f K a t s=4 )
disp ( K=12 )
disp ( a t K=1.66 )
k =1.66
H =1
G = k /( s *( s +1) *( s +3) )
CL = G /(1+ G * H )
disp ( CL , C( s ) /R( s )= )

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// c a p t i o n : r o o t l o c u s d e s c r i p t i o n
// e x a m p l e 7 . 2 4 . 3
// p a g e 299
clc ;
s = %s ;
syms K
G = K /( s *( s +6) *( s ^2+4* s +13) ) ;
CH =( s *( s +6) *( s ^2+4* s +13) ) + K
CH = sym ( ( s ( s +6) ( s 2+4 s +13) )+K ) ;
eq =( s *( s +6) *( s ^2+4* s +13) )
p = roots ( eq )
phi1 =180 -( atan (3/2) *180/ %pi )
phi2 = atan (3/4) *180/ %pi
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phi3 =90
phi_p2 =180 -( phi1 + phi2 + phi3 )
phi_p3 = - phi_p2
disp ( phi_p2 , a n g l e o f d e p a r t u r e f o r 2+3 i = )
disp ( phi_p3 , a n g l e o f d e p a r t u r e f o r 23 i= )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
routh =[ routh ; - det ( routh (1:2 ,1:2) ) / routh (2 ,1) , routh
(1 ,3) ,0]
routh (3 ,1) = simple ( routh (3 ,1) )
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
routh =[ routh ;l ,0 ,0]
routh =[ routh ;K ,0 ,0]
K = sym ( ( s ( s +6) ( s 2+4 s +13) ) )
d = diff (K , s )
e = -(4* s ^3+30* s ^2+74* s +78)
f=-e;
r = roots ( f ) ;
disp (r , r= )
disp ( s i n c e 4.2 l i e s on r o o t l o c u s , s o t h e
breakaway p o i n t i s 4.2 )
disp ( ( 7 8 0 . 3 4 K) =0 ) ;
disp ( K= 2 2 9 . 4 ) ;
K =229.4;
k =229.4;
a =29.2* s ^2+229.4 // i n t e r s e c t i o n o f r o o t l o c u s w i t h s
plane
r1 = roots ( a )
g = k /( s *( s +6) *( s ^2+4* s +13) ) ;
119

52 g = syslin ( c ,g )
53 evans (g ,200)
54 xgrid (2)
55 disp ( r1 , t h e p o i n t o f
i n te r s e ct i o n of root locus
w i t h i m a g i n a r y a x i s = )
Scilab code Exa 7.24.4 root locus

1
2
3
// e x a m p l e 7 . 2 4 . 4
// p a g e 301
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clc ;
s = %s ;
syms K ;
GH = K /( s *( s +4) *( s ^2+4* s +13) )
CH =( s *( s +4) *( s ^2+4* s +13) ) + K
CH = sym ( ( s ( s +4) ( s 2+4 s +13) )+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
K = sym ( ( s ( s +4) ( s 2+4 s +13) ) )
d = diff (K , s )
e =( -4* s ^3+24* s ^2+58* s +52)
r = roots ( e )
disp ( s i n c e 2 l i e s on r o o t l o c u s s o c o m p l e x
breakaway p o i n t i s 2+ i 1 . 5 8 and 2 i 1 . 5 8 )
disp ( ((20 4K) / 5 ) =0 ) ;
disp ( K=5 ) ;
K =5;
k =5
a =5* s ^2+5 // i n t e r s e c t i o n o f r o o t l o c u s w i t h s p l a n e
r = roots ( a )
g = k /( s *( s +2) *( s ^2+2* s +2) )
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41 evans (g ,200)
42 xgrid (2)
43 eq =( s *( s +4) *( s ^2+4* s +13) )
44 p = roots ( eq )
45 disp (p , open l o o p p o l e s a r e : )
46 phi1 =180 -( atan (3/2) *180/ %pi )
47 phi2 = atan (3/2) *180/ %pi
48 phi3 =90
49 phi_p2 =180 -( phi1 + phi2 + phi3 )
50 phi_p3 = - phi_p2
51 disp ( phi_p2 , a n g l e o f d e p a r t u r e
52 disp ( phi_p3 , a n g l e o f d e p a r t u r e
f o r 2+3 i = )
f o r 23 i= )

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// e x a m p l e 7 . 2 4 . 6
// p a g e 304
clc ;
s = %s ;
syms K ;
clf () ;
g =( K *( s +1) /( s ^2+0.4* s +0.4) ) ;
eq =( s ^2+0.4* s +0.4)
p = roots ( eq )
disp (p , open l o o p p o l e s a r e : ) ;
P =2;
Z =1;
k =0
A =((2* k +1) *180) /( P - Z ) ;
disp (A , a s y m p t o t e a r e a t a n g l e : )
CH =( s ^2+0.4* s +0.4) + K *( s +1)
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CH = sym ( ( s 2 + 0 . 4 s + 0 . 4 )+K ( s +1) ) ;

K = sym ( ( s 2 + 0 . 4 s + 0 . 4 ) / ( s +1) )
d = diff (K , s )
e = s *( s +2)
disp ( b r e a k away p o i n t s=2 a s i t l i e s on r o o t l o c u s
)
disp ( s i n c e |G( s ) H( s ) |=1 )
disp ( which g i v e s K=3.6 )
k =3.6
g =( k *( s +1) ) /( s ^2+0.4* s +0.4) ;
G = syslin ( c ,g )
evans (g ,200)
xgrid (1)
v =[ -20 1 -2 2]
mtlb_axis ( v ) ;
disp ( p o l e s s =(0.2+ j 0 . 6 and 0.2 j 0 . 6 ) a r e
e q u i d i s t a n t from t h e z e r o s =1, h e n c e r o o t l o c u s
p l o t i s a r c o f t h e c i r c l e w i t h c e n t r e s=1 and
r a d i u s 1 . )

2 // e x a m p l e 7 . 2 4 . 7
3 // p a g e 306
4 s = %s ;
5 syms K ;
6 GH = K /( s *( s +2) *( s +4) )
7 // s i n c e Mp=40%, s o .4= exp (( z e t a %pi ) / ( s q r t (1 z e t a
2) )
8 zeta =0.3
9 // from g i v e n d a t a
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CH =( s *( s +2) *( s +4) ) + K
K = sym ( ( s 3+6 s 2+8 s ) )
d = diff (K , s )
e = -3* s ^2 -12* s -8
r1 = roots ( e )
disp ( 0.842 i s b r e a k away p o i n t s i n c i t l i e s on
root l o c u s )
CH = sym ( s 3+6 s 2+8 s+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
disp ( (48 K) =0 ) ;
disp ( K=48 ) ;
K =48;
k =48
a =6* s ^2+48 // i n t e r s e c t i o n o f r o o t l o c u s w i t h
imaginary plane
r = roots ( a )
g = k /( s *( s +2) *( s +4) )
G = syslin ( c ,g )
evans (g ,8)
xgrid (2)
disp ( t h e l i n e t h e t a=a c o s ( z e t a ) =72.5 i n t e r s e c t s r o o t
l o c u s a t s a =(0.5+ i 1 . 6 5 ) )
disp ( t h e v a l u e o f K a t s=s a i s f i n d t o be 1 4 . 8 7 f o r
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45
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50
Mp=40% )
K =14.87
ts =4/0.5
// t s =4/( z e t a wn )
Kv = limit ( s * GH ,s ,0)
Kv = eval ( Kv )
Kv = float ( Kv )
disp ( Kv , Kv= ) ;

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// e x a m p l e 7 . 2 4 . 8
// p a g e 308
clc ;
s = %s ;
syms K ;
GH = K /( s *( s +1) *( s +3) )
zeta =0.5
CH =( s *( s +1) *( s +3) ) + K
CH = sym ( ( s ( s +1) ( s +3) )+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
K = sym ( ( s 3+4 s 2+3 s ) )
d = diff (K , s )
e = -3* s ^2 -8* s -3
r1 = roots ( e )
disp ( 0.45 i s b r e a k away p o i n t s i n c e i t l i e s on
root l o c u s )
disp ( (12 K) =0 ) ;
disp ( K=12 , f o r m a r g i a n l s t a b i l i t y ) ;
K =12;
k =12
a =4* s ^2+ k // i n t e r s e c t i o n o f r o o t l o c u s w i t h i m a g i n a r y
plane
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38 r = roots ( a )
39 disp (r , i n t e r s e c t i o n
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point o f root l o c u s with

i m a g i n a r y a x i s= )
g = k /( s *( s +1) *( s +3) )
G = syslin ( c ,g )
evans (g ,8)
xgrid (2)
disp ( f o r K=6 )
k =6;
GH = k /( s *( s +1) *( s +3) )
gm = K / k //gm=K( m a r g i n a l s t a b i l i t y ) /K( d e s i r e d )
disp ( gm , g a i n m a r g i n= )
disp ( t h e p o i n t where K=6 i s s =1.2 )
pm =180+( -90 -( atan (1.2/1) *180/ %pi ) -( atan (1.2/3) *180/
%pi ) )
disp ( pm , p h a s e m a r g i n= )

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// e x a m p l e 7 . 2 4 . 9
// p a g e 308
clc ;
s = %s ;
syms K
clf () ;
g =( K *( s ^2+4) /( s *( s +1) ) ) ;
Z =2
P =2
CH =( s *( s +1) ) + K *( s ^2+4)
CH = sym ( ( s ( s +1) )+K ( s 2+4) ) ;
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eq =( s *( s +1) )
p = roots ( eq )
K = sym ( ( s ( s +1) ) / ( s 2+4) )
d = diff (K , s )
e =2* s ^2 -8* s -8
r = roots ( e ) ;
disp (r , r= )
disp ( s i n c e 0.82 l i e s on r o o t l o c u s , s o t h e
breakaway p o i n t i s 0.82 )
disp ( by p u t t i n g s = 0.82 i n
|G( s ) H( s ) | = 1 , t h e
v a l u e o f K a t s = 0.82 i s K=0.2 )
k =0.2
g =( k *( s ^2+4) /( s *( s +1) ) ) ;
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)
disp ( p a r t ( b ) )
disp ( by p u t t i n g s =0.69+ i 0 . 9 i n
=0.464 )
|G( s ) H( s ) | = 1 , K
Scilab code Exa 7.24.10 Overall Transfer Function and Root Locus
// C a p t i o n : o v e r a l l t r a n s f e r f u n c t i o n a n d r o o t l o c u s
// e x a m p l e 7 . 2 4 . 1 0
// p a g e 314
syms Ka Ke Kf Rf Lf eq N1 N2 N3 N4 N5
Kf=m o t o r t o r q u e c o n s t ; Rf= f i e l d r e s i s t a n c e ; L f=
f i e l d i n d u c t a n c e Jeq=m o m e n t o f i n e r t i a ; f e q=
6 s = %s ;
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131
Figure 7.26: Overall Transfer Function and Root Locus
132
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d = N1 / N2 ;
e = N4 / N3 ;
f = N4 / N5 ;
n = N3 / N5
Ke =0.05; Kf =2; Rf =10; Lf =2; Jeq =0.5*10^ -4; feq
=10^ -4; d =0.1; e =5; f =0.5; n =0.2;
a =(1* Ke ) ; // i n s e r i e s
b = Kf /( Rf + s * Lf ) ;
c =1/( s *( Jeq * s + feq ) ) ;
g= (b*c)
// i n s e r i e s
h= (g*a)
// i n s e r i e s
j = ( h *0.02) // i n s e r i e s
k = j /(1+ j *0.5) ;
a1 =1/20;
cl = a1 * k
disp ( cl , C( s ) /R( s )= ) ;
clf () ;
G = syslin ( c , cl )
evans (G ,200)
xgrid (2)

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// e x a m p l e 7 . 2 4 . 1 1
// p a g e 308
clc ;
s = %s ;
syms K
clf () ;
g = K *( s +0.1) /( s *( s -0.2) *( s ^2+ s +0.6) ) ;
Z =2
P =2
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CH =( s *( s -0.2) *( s ^2+ s +0.6) ) + K *( s +0.1)
CH = sym ( ( s ( s 0 . 2 ) ( s 2+ s + 0 . 6 ) )+K ( s + 0 . 1 ) ) ;
eq =( s *( s -0.2) *( s ^2+ s +0.6) )
p = roots ( eq )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
K = sym ( ( s ( s 0 . 2 ) ( s 2+ s + 0 . 6 ) ) / ( s + 0 . 1 ) )
d = diff (K , s )
e =3* s ^4+2* s ^3+0.64* s ^2+0.08* s -0.12
r = roots ( e ) ;
disp (r , r= )
disp ( s i n c e 0.37 and 0 . 0 8 l i e s on r o o t l o c u s , s o
t h e breakaway p o i n t i s 0.37 and 0 . 0 8 )
disp ( ( 6 2 5 K2 310K+33) / ( 6 2 5 K275)=0 ) ;
disp ( K= 0 . 1 4 8 and 0 . 3 5 2 ) ;
K1 =0.148;
K2 =0.352
a =((11 -25* K1 ) /20) * s ^2+ K1 /10 // i n t e r s e c t i o n o f r o o t
l o c u s w i t h jw a x i s
r1 = roots ( a )
135
46 b =((11 -25* K2 ) /20) * s ^2+ K2 /10 // i n t e r s e c t i o n

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of root
l o c u s w i t h jw a x i s
r2 = roots ( b )
disp ( r1 , r2 , r o o t l o c u s c r o s s e s i m a g i n a r y a x i s a t : )
g =( s +0.1) /( s *( s -0.2) *( s ^2+ s +0.6) ) ;
G = syslin ( c ,g )
evans (G ,200)
xgrid (2)
v =[ -1 0.7 -2 2];
mtlb_axis ( v )
136
Chapter 8
COMPENSATION OF
CONTROL SYSTEMS
Scilab code Exa 8.6.1 design suitable compensator

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// c a p t i o n : d e s i g n s u i t a b l e c o m p e n s a t o r
// e x a m p l e 8 . 6 . 1
// p a g e 339
s = %s ;
clf () ;
syms K ;
g =( K /( s *(1+0.2* s ) ) ) ;
Kv = limit ( s *g ,s ,0) ; // s t a t i c v e l o c i t y e r r o r
coefficient
// s i n c e Kv=10
K =10;
g =(10/( s *(1+0.2* s ) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
xtitle ( u n c o m p e n s a t e d s y s t e m )
137
19 [ pm , freqPM ]= p_margin ( G ) ;
20 disp ( gm , g a i n m a r g i n= ) ;
21 disp (( freqGM *2* %pi ) , g a i n m a r g i n f r e q= ) ;
22 disp ( pm , p h a s e m a r g i n= ) ;
23 disp (( freqPM *2* %pi ) ,
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p h a s e m a r g i n f r e q o r g a i n c r o s s o v e r f r e q u e n c y = )
;
disp ( 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 a t i n g n e t w o r k a t
w=5.5 r a d / s e c and p o l e a t w=13.8 r a d / s e c and
applying gain to account a t t e n u a t i n f a c t o r . )
gc =(1+0.18* s ) /(1+0.072* 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;
figure () ;
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 8.6.2 design phase lead compensator

1
// c a p t i o n : d e s i g n p h a s e l e a d c o m p e n s a t o r
138
Figure 8.1: design suitable compensator
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// e x a m p l e 8 . 6 . 2
// p a g e 340
clc ;
s = %s ;
clf () ;
syms K ;
g =( K /( s ^2*(1+0.05* s ) ) ) ;
Ka = limit ( s ^2* g ,s ,0) ; // s t a t i c a c c e l e r a t i o n e r r o r
coefficient
// s i n c e Ka=100
K =100;
g =(100/( s ^2*(1+0.05* s ) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
disp (( freqPM *2* %pi ) ,
;
disp ( s i n c e P .M i s n e g a a t i v e s o s y s t e m i s u n s t a b l e
)
w=5 r a d / s e c and p o l e a t w=54 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 n f a c t o r . )
gc =(1+0.2* s ) /(1+0.0186* s )
G1 = G * Gc
fmin =0.01;
fmax =100;
141
Figure 8.3: design phase lead compensator

34 figure () ;
35 bode ( G1 , fmin , fmax )
36 show_margins ( G1 )
37 xtitle ( c o m p e n s a t e d s y s t e m )
38 [ gm , freqGM ]= g_margin ( G1 ) ;
39 [ pm , freqPM ]= p_margin ( G1 ) ;
40 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= ) ;
41 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 = ) ;
142
Figure 8.4: design phase lead compensator
143
Scilab code Exa 8.6.3 design suitable compensator

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// c a p t i o n : d e s i g n s u i t a b l e c o m p e n s a t o r
// e x a m p l e 8 . 6 . 3
// p a g e 344
clc ;
s = %s ;
clf () ;
syms K ;
g =( K /( s *(1+0.5* s ) *(1+0.2* s ) ) ) ;
Kv =1/0.125 // s t a t i c v e l o c i t y e r r o r c o e f f i c i e n t ( Kv=
d e s i r e d output v e l o c i t y / steady s t a t e e r r o r )
// s i n c e Kv=8 , a s s y s t e m i s t y p e 1 , s o K=Kv ;
K =8;
g =(8/( s *(1+0.5* s ) *(1+0.2* s ) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
disp (( freqGM *2* %pi ) ,
g a i n m a r g i n f r e q o r p h a s e c r o s s o v e r f r e q u e n c y==
);
;
disp ( s i n c e g a i n c r o s s o v e r f r e q and p h a s e c r o s s o v e r
f r e q a r e v e r y c l o s e t o e a c h o t h e r . So , s y s t e m i s
m a r g i n a l l y s t a b l e );
disp ( s o we n e e d p h a s e l a g n e t w o r k )
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gc =(1+5.55* s ) /(1+24.7* s )
G1 = G * Gc
fmin =0.01;
fmax =100;
figure () ;
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 )
disp (( freqGM *2* %pi ) ,
g a i n m a r g i n f r e q o r p h a s e c r o s s o v e r f r e q u e n c y==
);
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 = ) ;
145
146
147
Chapter 9
INTRODUCTION TO STATE
SPACE ANALYSIS OF
CONTROL SYSTEMS
Scilab code Exa 9.8.1 Check for Contrallability of System

// c a p t i o n : c h e c k f o r c o n t r a l l a b i l i t y o f s y s t e m
// e x a m p l e 9 . 8 . 1
// p a g e 381
A =[1 1;0 -1]
B =[1;0]
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 );
11 else
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printf ( s y s t e m i s c o n t r o l l a b l e ) ;
13 end ;
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148

// e x a m p l e 9 . 8 . 2
// p a g e 381
A =[ -2 0;0 -1]
B =[1;1]
d = determ ( P )
if d ==0
11 else
12
13 end ;
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Scilab code Exa 9.9.1.a Check for Observability of System

// c a p t i o n : c h e c k f o r o b s e r v a b i l i t y o f s y s t e m
// e x a m p l e 9 . 9 . 1 a
// p a g e 383
A =[0 1; -2 -3]
B =[0;1]
C =[1 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 = determ ( P )
if d ==0
u n o b s e r v a b l e );
12 else
13
printf ( s y s t e m i s o b s e r v a b l e ) ;
14 end ;
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149
Scilab code Exa 9.9.1.b Check for Observability of System

// c a p t i o n : c h e c k f o r o b s e r v a b i l i t y o f s y s t e m
// e x a m p l e 9 . 9 . 1 b
// p a g e 383
A =[ -2 1;0 1]
B =[1;1]
C =[1 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 = determ ( P )
if d ==0
12 else
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14 end ;
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Scilab code Exa 9.10.4.a Obtain State Matrix

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// c a p t i o n : o b t a i n s t a t e m a t r i x
// e x a m p l e 9 . 1 0 . 4 a
// p a g e 387
s = %s ;
g =1/(( s +1) *( s +3) ) ;
CL = syslin ( c ,g ) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
[ Ac , Bc ,U , ind ]= canon ( SS (2) , SS (3) )
disp ( SS , s t a t e s p a c e m a t r i x= )
disp ( Ac , Ac ,Bc , Bc ,U , U ,ind , i n d )
150
Scilab code Exa 9.10.4.b Obtain State Matrix

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// e x a m p l e 9 . 1 0 . 4 b
// p a g e 387
clc ;
s = %s ;
g =(2* s +1) /( s ^2+2) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
Scilab code Exa 9.10.5 Obtain State Matrix

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// e x a m p l e 9 . 1 0 . 5
// p a g e 388
s = %s ;
g =( s +3) /( s ^2+3* s +4) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
151

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// e x a m p l e 9 . 1 0 . 6
// p a g e 389
s = %s ;
g =( s ^2+3* s +2) /( s ^3+9* s ^2+26* s +24) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )

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// e x a m p l e 9 . 1 0 . 7
// p a g e 390
s = %s ;
g =( s +3) /(( s +1) *( s +2) ) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )

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// e x a m p l e 9 . 1 0 . 9
// p a g e 392
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s = %s ;
g =(10*( s +3) ) /(( s +4) *( s +2) ^2) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )

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// e x a m p l e 9 . 1 0 . 1 0
// p a g e 393
s = %s ;
g =( s ^2+6* s +8) /(( s +3) *( s ^2+2* s +5) ) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
Scilab code Exa 9.10.11 Obtain Time Response

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// c a p t i o n : o b t a i n t i m e r e s p o n s e
// e x a m p l e 9 . 1 0 . 1 1
// p a g e 394
s = %s ;
syms t
A =[0 1; -2 0]
B =[1 -1]
x0 =[1 1]
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[ r c ]= size ( A ) ; // s i z e o f m a t r i x A
p = s * eye (r , c ) -A ; // s IA where I i s i d e n t i t y m a t r i x
q = det ( p ) // d e t e r m i n a n t o f s I A
r = inv ( p ) // i n v e r s e o f s I A
// f o r c a l c u l a t i n g s t a t e t r a n s i s t i o n m a t r i x
ip =[0 0;0 0]
i =1; j =1;
for i =1:2
for j =1:2
ip (i , j ) = ilaplace ( r (i , j ) ,s , t ) ;
j = j +1;
end
i = i +1;
end
disp ( ip , s t a t e t r a n s i s t i o n m a t r i x , i p ( t )= ) ;
x = ip * x0
y = x (1 ,1) -x (2 ,1)
y = simple ( y ) // o u t p u t
disp (y , t i m e r e s p o n s e o f t h e system , y ( t )= ) ;
Scilab code Exa 9.10.12.i Obtain Zero Input Response

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// c a p t i o n : o b t a i n z e r o i n p u t r e s p o n s e
// e x a m p l e 9 . 1 0 . 1 2 ( i )
// p a g e 395
s = %s ;
syms t
A =[0 1; -2 -1]
B =[0 1]
x0 =[1 0]
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ip =[0 0;0 0]
i =1; j =1;
for i =1:2
for j =1:2
j = j +1;
end
i = i +1;
end
x = ip * x0
disp (x , z e r o i n p u t r e s p o n s e o f t h e system , x ( t )= ) ;
Scilab code Exa 9.10.12.ii Obtain Zero State Response

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// c a p t i o n : o b t a i n z e r o s t a t e r e s p o n s e
// e x a m p l e 9 . 1 0 . 1 2 ( i i )
// p a g e 395
s = %s ;
syms t
A =[0 1; -2 -1]
B =[0 1]
x0 =[1 0]
m = r * B *(1/ s ) ;
// f o r c a l c u l a t i n g z e r o s t a t e r e s p o n s e
x =[0;0]
x (1 ,1) = ilaplace ( m (1 ,1) ,s , t ) ;
x (2 ,1) = ilaplace ( m (2 ,1) ,s , t ) ;
155
Scilab code Exa 9.10.13 Obtain Time Response

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// e x a m p l e 9 . 1 0 . 1 3
// p a g e 397
syms t ;
A =[0 1; -2 0]
x0 =[1 1]
// s i n c e exp ( At )=I+A t +(A t ) 2/2+(A t ) 3 / 3 + . . .
I = eye (r , c )
p = I + A * t +( A * t ) ^2/2+( A * t ) ^3/3
x = p * x0 ;
disp ( x (1 ,1) , t i m e r e s p o n s e o f t h e system , x1 ( t )= ) ;
disp ( x (2 ,1) , t i m e r e s p o n s e o f t h e system , x2 ( t )= ) ;
Scilab code Exa 9.10.14 Obtain Time Response using Diagonalization Process
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11
// c a p t i o n :
obtain time response using diagonalization process
// e x a m p l e 9 . 1 0 . 1 4
// p a g e 398
syms m11 m22 m21 m12 t ;
s = %s ;
poly (0 , l ) ;
A =[1 4; -2 -5]
B =[0;1]
C =[1;0]
x0 =[1 0]
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I = eye (r , c ) ;
p = l *I - A ; // l IA where I i s i d e n t i t y m a t r i x
q = det ( p ) // d e t e r m i n a n t o f l I A
// r o o t s o f q a r e 1 and 3
l1 = -1;
l2 = -3;
// f o r d e t e r m i n i n g modal m a t r i x
x1 =[ m11 ; m21 ]
q1 =( l1 *I - A ) * x1
// on s o l v i n g we f i n d m11=1 , m21=0.5
m11 =1; m21 = -0.5
x2 =[ m12 ; m22 ]
q2 =( l2 *I - A ) * x1
// on s o l v i n g we f i n d m12=1 , m22=1
m12 =1; m22 = -1
M =[ m11 m12 ; m21 m22 ]
M1 = inv ( M ) ;
k1 = M1 * A * M ;
z0 = M1 * x0 ;
k2 = M1 * B
Z = inv ( s *I - k1 ) * z0 +( inv ( s *I - k1 ) * k2 ) *(1/ s ) ;
X=M*Z
x =[0;0]
x (1 ,1) = ilaplace ( X (1 ,1) ,s , t ) ;
x (2 ,1) = ilaplace ( X (2 ,1) ,s , t ) ;
y=C*x
disp (y , o u t p u t e q u a t i o n i s , y ( t )= )
Scilab code Exa 9.10.15 Obtain Time Response using Diagonalization Process
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// c a p t i o n :
obtain time response using diagonalization process
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// e x a m p l e 9 . 1 0 . 1 5
// p a g e 403
syms t ;
s = %s ;
poly (0 , l ) ;
A =[0 1; -6 -5]
B =[0;1]
C =[6 1]
x0 =[1 0]
I = eye (r , c ) ;
p = l *I - A ; // l IA where I i s i d e n t i t y m a t r i x
q = det ( p ) // d e t e r m i n a n t o f l I A
// r o o t s o f q a r e 1 and 3
l1 = -2;
l2 = -3;
// f o r d e t e r m i n i n g vandermonde s m a t r i x
P =[1 1; l1 l2 ];
P1 = inv ( P ) ;
k1 = P1 * A * P ;
z0 = P1 * x0 ;
k2 = P1 * B
Z = inv ( s *I - k1 ) * z0 +( inv ( s *I - k1 ) * k2 ) *(1/ s ) ;
X=P*Z
X (2 ,1) = -5/( s ^2+5* s +6)
x =[0;0]
x (1 ,1) = ilaplace ( X (1 ,1) ,s , t ) ;
x (2 ,1) = ilaplace ( X (2 ,1) ,s , t ) ;
y=C*x
y = simple ( y )
disp (y , o u t p u t e q u a t i o n i s , y ( t )= )
Scilab code Exa 9.10.16 Determine Transfer Matrix

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// c a p t i o n : d e t e r m i n e t r a n s f e r m a t r i x
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// e x a m p l e 9 . 1 0 . 1 6
// p a g e 406
clc ;
s = %s
A =[1 -2;4 -5]
B =[2;1]
C =[1 1]
G = C * r * B // t r a n s f e r m a t r i x
disp (G , t r a n s f e r m a t r i x= )

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// e x a m p l e 9 . 1 0 . 1 7
// p a g e 407
s = %s
A =[ -3 1;0 -1]
B =[1;1]
C =[1 1]
D =0;

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// e x a m p l e 9 . 1 0 . 1 7
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// p a g e 407
s = %s
A =[0 3; -2 -5]
B =[1 1;1 1]
C =[2 1;1 0]
D =0;

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// e x a m p l e 9 . 1 0 . 2 0
// p a g e 410
A =[0 1 0;0 0 1;0 -2 -3]
B =[0 1;0 0;1 1]
S =[ P (1) P (4) P (7) ; P (2) P (5) P (8) ; P (3) P (6) P (9) ]; //
c o l l e c t i n g c o l u m n s from P t o form a s q u a r e m a t r i x
(33)
d = det ( S ) ;
if d ==0
else
end ;
Scilab code Exa 9.10.21 Check for Contrallability and Observability

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// c a p t i o n :
check for contrallability and observability of system
// e x a m p l e 9 . 1 0 . 2 1
// p a g e 411
A =[0 1 0;0 0 1; -6 -11 -6]
B =[1 0 1]
C =[10 5 1]
d = det ( P )
if d ==0
else
end ;
P1 = obsv_mat (A , C ) ;
disp ( P1 , O b s e r v a b i l i t y M a t r i x= ) ;
d1 = det ( P1 )
if d1 ==0
else
end ;
Scilab code Exa 9.10.22 Check for Contrallability and Observability

1
// c a p t i o n :
check for contrallability and observability of system
2 // e x a m p l e 9 . 1 0 . 2 1
3 // p a g e 411
4 s = %s ;
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g =(10*( s +3) ) /(( s +4) *( s +2) ^2) ;

disp ( CL , Y( s ) /U( s )= ) ;
SS = tf2ss ( CL )
A = SS (2)
B = SS (3)
C = SS (4)
P = round ( P )
d = det ( P )
if d ==0
else
end ;
P1 = obsv_mat (A , C ) ;
P1 = round ( P1 ) ;
disp ( P1 , O b s e r v a b i l i t y M a t r i x= ) ;
d1 = det ( P1 )
if d1 ==0
else
end
162
Chapter 11
SOLUTION OF PROBLEMS
USING COMPUTER
Scilab code Exa 11.1 pole zero Plot

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// C a p t i o n : p o l e z e r o p l o t
// e x a m p l e 11 1
// p a g e 468
// t r a n s f e r f u n c t i o n :G( s ) = ( ( 8 ( s +3) ( s +4) ) / ( s ( s +2) (
s 2+2 s +2) ) )
s = %s ;
G = syslin ( c ,((8*( s +3) *( s +4) ) /( s *( s +2) *( s ^2+2* s +2) ) )
);
disp (G , G( s )= ) ;
x = plzr ( G )
xgrid (2)
Scilab code Exa 11.2 transfer function
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Figure 11.1: pole zero Plot
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// e x a m p l e 11 2
// p a g e 469
syms G1 G2 G3 H1 ;
s = %s ;
G1 =4/( s *( s +4) ) ;
G2 = s +1.2;
G3 = s +0.8;
H1 =1;
H2 =( G2 + G3 ) ;
a = G1 /. H1 ;
y = a /(1+ a * H2 )
disp (y , C( s ) /R( s )= )
Scilab code Exa 11.3 transfer function

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// e x a m p l e 11 3
// p a g e 470
syms G1 G2 G3 H1 ;
s = %s ;
G1 =4;
G2 = s
G3 =1/( s *( s +2) ) ;
H1 =0.5;
H2 =1;
a =( G1 + G2 ) ;
b =( a * G3 ) ;
c = b /. H1 ;
y = c /(1+ c * H2 )
disp (y , C( s ) /R( s )= )
Scilab code Exa 11.4 determine Wn zeta and Mp

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// c a p t i o n : determine Wn , z e t a a n d M p
// e x a m p l e 11 4
// p a g e 471
s = %s ;
num =1;
den = sym ( s ( 1 + 0 . 5 s ) ( 1 + 0 . 2 s ) ) ;
c = num / den ;
c = simple ( c ) ;
disp (c , C( s ) /E( s )= ) ;
G=c;
H =1;
CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
A = pfss ((10/( s ^3+7* s ^2+10* s +10) ) ) ;
d = denom ( A (1) ) ;
b = coeff ( denom ( A (1) ) )
printf ( f o r o s c i l l a t o r y r o o t s : )
Wn = sqrt ( b (1 ,1) ) ; // n a t u r a l f r e q u e n c y
// 2 z e t a Wn= 1 . 5 ;
zeta =1.5/(2* Wn ) ; // damping r a t i o
% peak overshoot
23 disp ( Wn , n a t u r a l f r e q u e n c y ,Wn= ) ;
24 disp ( zeta , damping r a t i o , z e t a= ) ;
25 disp ( Mp , % p e a k o v e r s h o o t , Mp= ) ;
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Scilab code Exa 11.5 time response for unit step function
1 // C a p t i o n : t i m e r e s p o n s e f o r u n i t s t e p f u n c t i o n
2 // e x a m p l e 11 6
3 // p a g e 474
4 s = %s ;
5 syms t ;
6 G =( s +2) /( s *( s +1) )
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H =1;
CL = G /. H
disp ( CL , C( s ) /R( s )= )
y = ilaplace ( CL ,s , t ) ;
disp (y , c ( t )= ) ;
b = denom ( CL )
c = coeff ( b )
//Wn2= c ( 1 , 1 )
// 2 z e t a Wn=c ( 1 , 2 )
tr =( %pi - atan ( sqrt (1 - zeta ^2) / zeta ) ) /( Wn * sqrt (1 - zeta
^2) )
20 Mp =( exp ( -( zeta * %pi ) / sqrt (1 - zeta ^2) ) ) *100 //max .
overshoot
21 disp ( tr , r i s e t i m e= ) ;
22 disp ( Mp , max . peak o v e r s h o o t= ) ;
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// e x a m p l e 11 7
// p a g e 475
s = %s ;
syms t ;
CL =( s +2) /( s ^2+2* s +2)
disp ( CL , C( s ) /R( s )= )
disp (y , c ( t )= ) ;
b = denom ( CL )
c = coeff ( b )
//Wn2= c ( 1 , 1 )
// 2 z e t a Wn=c ( 1 , 2 )
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15 zeta = c (1 ,2) /(2* Wn ) // damping r a t i o

16 Wd = Wn * sqrt (1 - zeta ^2) // damped f r e q u e n c y
17 Tp = %pi / Wd // peak t i m e
18 Mp =( exp ( -( zeta * %pi ) / sqrt (1 - zeta ^2) ) ) *100 //max .
overshoot
19 disp ( Tp , peak t i m e= ) ;
20 disp ( Mp , max . peak o v e r s h o o t= )
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// e x a m p l e 11 8
// p a g e 476
s = %s ;
syms t ;
G =(20) /(( s +1) *( s +5) )
H =1;
CL = G /. H
disp ( CL , C( s ) /R( s )= )
disp (y , c ( t )= ) ;
b = denom ( CL )
c = coeff ( b )
//Wn2= c ( 1 , 1 )
// 2 z e t a Wn=c ( 1 , 2 )
overshoot
t =(2* %pi ) /( Wn * sqrt (1 - zeta ^2) ) // p e r i o d o f o s c i l l a t i o n
N = Wd /(2* %pi ) * ts // no . o f o s c i l l a t i o n s c o m p l e t e d
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disp ( Tp , peak t i m e= ) ;
disp ( Mp , max . peak o v e r s h o o t= ) ;
disp (t , p e r i o d o f o s c i l l a t i o n ) ;
r e a c h i n g s t e a d y s t a t e= ) ;
28 disp ( ts , s e t t l i n g t i m e= )
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// e x a m p l e 11 9
// p a g e 476
s = %s ;
syms t ;
CL =(4* s +4) /( s ^2+2* s +5)
disp ( CL , C( s ) /R( s )= )
disp (y , c ( t )= ) ;
b = denom ( CL )
c = coeff ( b )
//Wn2= c ( 1 , 1 )
// 2 z e t a Wn=c ( 1 , 2 )
overshoot
18 Tp = %pi / Wd // peak t i m e
19 disp ( Tp , peak t i m e= ) ;
20 disp ( Mp , max . peak o v e r s h o o t= ) ;
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Scilab code Exa 11.10.a calculate tr Tp Mp

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// C a p t i o n : c a l c u l a t e t r , Tp , Mp
// e x a m p l e 11 1 0 a
// p a g e 478
s = %s ;
G =16/( s ^2+1.6* s )
H =1;
CL = G /. H
disp ( CL , C( s ) /R( s )= ) ;
b = denom ( CL )
c = coeff ( b )
//Wn2= c ( 1 , 1 )
// 2 z e t a Wn=c ( 1 , 2 )
overshoot
tr =( %pi - atan ( sqrt (1 - zeta ^2) / zeta ) ) /( Wn * sqrt (1 - zeta
^2) ) // r i s e t i m e
disp ( Mp , max . peak o v e r s h o o t= )
disp ( tr , r i s e t i m e= )
Scilab code Exa 11.10.b calculate Td tr Tp Mp

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// C a p t i o n : c a l c u l a t e T d , t r , Tp , Mp
// e x a m p l e 11 1 0 b
// p a g e 478
s = %s ;
syms Td
G =16/( s ^2+1.6* s )
G1 =1+ s * Td
H =1;
a = G * G1
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CL = a /. H
CL = simple ( CL )
disp ( CL , C( s ) /R( s )= ) ;
zeta =0.8 // g i v e n
// s i n c e z e t a =0.8 s o 2 z e t a Wn=1.6+16Td
Wn = sqrt (16)
// s o on s o l v i n g
Td =0.3
// s o t r a n s f e r f u n c t i o n t a k e s t h e form :
CL1 =(16+4.8* s ) /( s ^2+6.4* s +6)
disp ( CL1 , C( s ) /R( s )= ) ;
Wn1 = sqrt (16)
// 2 z e t a 1 Wn1=6.4
zeta1 =6.4/(2* Wn1 ) // damping r a t i o
Wd = Wn1 * sqrt (1 - zeta1 ^2) // damped f r e q u e n c y
Mp =( exp ( -( zeta1 * %pi ) / sqrt (1 - zeta1 ^2) ) ) *100 //max .
overshoot
tr =( %pi - atan ( sqrt (1 - zeta1 ^2) / zeta1 ) ) /( Wn1 * sqrt (1 zeta1 ^2) ) // r i s e t i m e
disp ( Mp , max . peak o v e r s h o o t= )
disp ( tr , r i s e t i m e= )
Scilab code Exa 11.11 expression for unit step response

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// C a p t i o n : e x p r e s s i o n f o r u n i t s t e p r e s p o n s e
// e x a m p l e 11 1 1
// p a g e 481
syms G1 G2 G3 H1 t ;
s = %s ;
G1 = s +1;
G2 =1/( s +2) ;
H2 =1/( s *( s +1) ) ;
H1 =1/( s +2) ;
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a = G1 /(1+ G1 * H1 ) ;
b = a /(1+ a * H2 )
y = b * G2 ;
disp (y , C( s ) /R( s )= )
// f o r u n i t s t e p r e s p o n s e R( s ) =1/ s ;
C = y *(1/ s )
c = ilaplace (C ,s , t )
disp (c , e x p r e s s i o n f o r u n i t s t e p r e s p o n s e i s = )
Scilab code Exa 11.12 unit step and impulse response

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// C a p t i o n : u n i t s t e p a n d i m p u l s e r e s p o n s e
// e x a m p l e 11 1 2
// p a g e 482
s = %s ;
syms t ;
G =(4* s +1) /(4* s ^2)
H =1;
CL = G /. H
disp ( CL , C( s ) /R( s )= )
disp (y , u n i t i m p u l s e r e s p o n s e , c ( t )= ) ;
C = CL *(1/ s )
c = ilaplace (C ,s , t )
disp (c , e x p r e s s i o n f o r u n i t s t e p r e s p o n s e i s = )
Scilab code Exa 11.13 determine transfer function

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// C a p t i o n : d e t e r m i n e t r a n s f e r f u n c t i o n
// e x a m p l e 11 1 3
// p a g e 483
syms t ;
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5 f = exp ( - t ) *(1 - cos (2* t ) )

6 F = laplace (f ,t , s ) ;
7 disp (F , F ( s )= )
Scilab code Exa 11.14 determine Wn Wd Tp zeta and steady state error
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// c a p t i o n : determine Wn ,Wd, Tp ,
// e x a m p l e 11 1 4
// p a g e 484
s = %s ;
syms t ;
G =20/(( s +5) *( s +1) )
H =1;
CL = G /. H
disp ( CL , C( s ) /R( s )= )
b = denom ( CL )
disp (0 ,b , = , t h e c h a r . eq i s : ,)
// 2 z e t a Wn=6
z = sqrt (1 - zeta ^2) ;
tfirst =(2* %pi ) / Wd
// t i m e f o r f i r s t u n d e r s h o o t
period =(2* %pi ) / Wd
// p e r i o d o f o s c i l l a t i o n
N =( Wd /(2* %pi ) ) * ts // no . o f o s c i l l a t i o n s c o m p l e t e d
disp ( Wn , n a t u r a l f r e q u e n c y= ) ;
disp ( zeta , damping r a t i o = ) ;
disp ( Wd , damped f r e q u e n c y o f o s c i l l a t i o n = ) ;
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disp ( Mp , % max . peak o v e r s h o o t= ) ;

disp ( tfirst , t i m e f o r f i r s t u n d e r s h o o t= ) ;
disp ( period , p e r i o d o f o s c i l l a t i o n = ) ;
r e a c h i n g s t e a d y s t a t e= ) ;
Scilab code Exa 11.15 determine Wn Wd zeta and steady state error
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// e x a m p l e 11 1 5
// p a g e 484
s = %s ;
G = sym ( 2 5 / ( s ( s +5) ) ) ;
G = simple ( G ) ;
H =1;
CL = G /. H ;
disp ( CL , C( s ) /R( s )= ) ;
disp ( s 2+5 s +25 )
// 2 z e t a Wn=5
z = sqrt (1 - zeta ^2) ;
z e t a /Wn)
disp ( p a r t ( a ) : )
disp ( Wd , d a m p e d f r e q u e n c y o f o s c i l l a t i o n= ) ;
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disp ( Mp , % max . p e a k o v e r s h o o t= ) ;
// i f damping r a t i o i s i n c r e a s e d from 0 . 5 t o 0 . 7 5 by
i n c o r p o r a t i n g tachometer feedback
zeta =0.75;
H1 = sym ( s Kt ) // t a c h o m e t e r f e e d b a c k
CL1 = G /(1+ G * H1 ) ;
CL2 = CL1 /(1+ H * CL1 ) ;
disp ( CL2 , C( s ) /R( s )= ) ;
Wn = sqrt (25) ;
// 2 z e t a Wn=25Kt +5;
Kt =(2* zeta * Wn -5) /25; // t a c h o m e t e r g a i n
Mp1 = exp (( - zeta * %pi ) / sqrt (1 - zeta ^2) ) *100; //
% peak overshoot
disp ( A f t e r a p p l y i n g t a c h o m e t e r f e e d b a c k : )
disp ( Kt , t a c h o m e t e r g a i n= ) ;
disp ( Mp1 , % p e a k o v e r s h o o t= ) ;
Scilab code Exa 11.16 determine Kp Kv Ka

// e x a m p l e 11 1 6
// p a g e 485
s = %s ;
syms t ;
num =10
den = sym ( s 2+6 s +10 ) ;
GH = num / den ;
disp ( GH , G( s )H( s )= ) ;
coefficient
12 disp ( Kp , s t a t i c p o s i t i o n a l e r r o r c o e f f i c i e n t = ) ;
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13 Kv = limit ( s * GH ,s ,0) ; // s t a t i c
velocity error
coefficient
14 disp ( Kv , s t a t i c v e l o c i t y e r r o r c o e f f i c i e n t = ) ;
15 Ka = limit ( s ^2* GH ,s ,0) ; // s t a t i c a c c e l e r a t i o n e r r o r
coefficient
16 disp ( Ka , s t a t i c a c c e l e r a t i o n e r r o r c o e f f i c i e n t = ) ;

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// e x a m p l e 11 1 6
// p a g e 485
s = %s ;
syms t ;
num = sym ( 1 0 0 ( s +2) ( s +40) ) ;
den = sym ( ( s 3 ( s 2+4 s +200) ) ) ;
GH = num / den ;
disp ( GH , G( s )H( s )= ) ;
coefficient
disp ( Kp , s t a t i c p o s i t i o n a l e r r o r c o e f f i c i e n t = ) ;
coefficient
coefficient

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// e x a m p l e 11 1 8
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// p a g e 488
s = %s ;
syms t ;
num = sym ( 2 ( s 2+3 s +20) ) ;
den = sym ( s ( s +2) ( s 2+4 s +10) ) ;
GH = num / den ;
disp ( GH , G( s )H( s )= ) ;
input1 =5;
coefficient
Ess =5*(1/(1+ Kp ) ) ; // s t e a d y s t a t e e r r o r
e =(1/( %inf +1) ) ;
e =0;
Ess = e ;
disp ( Kp , s t a t i c p o s i t i o n a l e r r o r c o e f f i c i e n t = ) ;
input2 =4* t ;
coefficient
Ess =(1/ Kv ) *4; // s t e a d y s t a t e e r r o r
input3 =(4* t ^2) /2;
coefficient
Ess =(1/ Ka ) *4; // s t e a d y s t a t e e r r o r
disp ( s t e a d y s t a t e e r r o r= ) ;
disp ( i n f i n i t y )

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// C a p t i o n : d e t e r m i n e t r a n s f e r f u n c t i o n
// e x a m p l e 11 1 9
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3 // p a g e 489
4 syms t ;
5 s = %s ;
6 c =0.5+(1.25* exp ( - t ) ) -(1.75* exp ( -12* t ) ) ;
7 C = laplace (c ,t , s ) ;
8 disp (C , C( s )= )
Scilab code Exa 11.21.a roots of characterstics equation

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// C a p t i o n : r o o t s o f c h a r a c t e r s t i c s e q u a t i o n
// e x a m p l e 11 2 1 a
// p a g e 491
s = %s ;
num =210
den = sym ( s ( s +2) ( s 2+12 s +6) ) ;
G = num / den ;
G = simple ( G ) ;
H =1;
n1 = poly ([210] , s , c o e f f ) ;
d1 = poly ([210 192 390 44 1] , s , c o e f f ) ;
CL = syslin ( c ,n1 , d1 )
disp ( CL , C( s ) /R( s )= )
b = denom ( CL )
disp (0 , = ,b , t h e c h a r . eq i s : ,)
r = roots ( b ) ;
disp (r , r o o t s o f c h a r . eq . a r e= ) ;
Scilab code Exa 11.21.b bode plot

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// C a p t i o n : b o d e p l o t
// e x a m p l e 11 2 1 b
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Figure 11.2: bode plot
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// p a g e 491
s = %s ;
num =210
den =( s *( s +2) *( s ^2+12* s +6) ) ;
g = num / den ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
gm = g_margin ( G )
pm = p_margin ( G )
Scilab code Exa 11.22 gain margin and phase margin

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// e x a m p l e 11 2 2
// p a g e 493
s = %s ;
g =((2*( s +0.25) ) /( s ^2*( s +1) *( s +0.5) ) ) ;
G = syslin ( c ,g )
fmin =0.1;
fmax =100;
180
Figure 11.3: gain margin and phase margin
181

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Scilab code Exa 11.24 stability using Nyquist criterion

1 // c a p t i o n : s t a b i l i t y u s i n g N y q u i s t c r i t e r i o n
2 // e x a m p l e 11 2 4
3 // p a g e 496
4 clf ;
5 s = %s ;
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s1 = - s ;
g =50/(( s +1) *( s +2) ) ;
g1 =50/(( s1 +1) *( s1 +2) ) ;
GH = syslin ( c ,g )
GH1 = syslin ( c , g1 )
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -5 30 -20 20]) ;
xtitle ( N y q u i s t p l o t o f 5 0 / ( ( s +1) ( s +2) ) )
figure ;
disp ( s i n c e t h e p o i n t (1+%i0 ) i s n o t e n c i r c l e d by
N y q u i s t p l o t , s o N=0 and P=0( g i v e n ) )
part
r e a l part
disp (Z , Z= )
Scilab code Exa 11.25 stability using Nyquist criterion

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// e x a m p l e 11 2 5
// p a g e 497
clf () ;
s = %s ;
s1 = - s ;
g =(2.2/( s *( s +1) *( s ^2+2* s +2) ) )
g1 =(2.2/( s1 *( s1 +1) *( s1 ^2+2* s1 +2) ) )
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184

9 GH = syslin ( c ,g ) ;
10 GH1 = syslin ( c , g1 ) ;
11 nyquist ( GH ) ;
12 nyquist ( GH1 ) ;
13 mtlb_axis ([ -2.5 0.2 -75 75]) ;
14 disp ( a s t h e n y q u i s t p l o t p a s s e s t h r o u g h t h e p o i n t
1+%i 0 , s o s y s t e m i s m a r g i n a l l y s t a b l e and
output r e p r e s e n t s s u s t a i n e d o s c i l l a t i o n s . )
Scilab code Exa 11.26.i stability using Nyquist criterion
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// e x a m p l e 11 2 6 i
// p a g e 497
clf () ;
s = %s ;
s1 = - s ;
disp ( f o r K=10 )
g =(10*( s -1) ) /(( s +2) *( s +3) ) ;
g1 =(10*( s1 -1) ) /(( s1 +2) *( s1 +3) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -2 2 -2.5 2.5]) ;
xtitle ( N y q u i s t p l o t o f ( 1 0 ( s 1) ) / ( ( s +2) ( s +3) ) ; )
encircled
)
plot anticlockwise
part
r e a l part
disp (Z , Z= )
disp ( a s Z=1 , t h e r e i s one r o o t s o f c l o s e d l o o p
Scilab code Exa 11.26.ii stability using Nyquist criterion

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// e x a m p l e 11 2 6 i i
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// p a g e 497
clf () ;
s = %s ;
s1 = - s ;
disp ( f o r K=4 )
g =(4*( s -1) ) /(( s +2) *( s +3) ) ;
g1 =(4*( s1 -1) ) /(( s1 +2) *( s1 +3) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
mtlb_axis ([ -1 1 -1 1]) ;
xtitle ( N y q u i s t p l o t o f ( 2 . 5 ( s +1) ) / ( ( s + 0 . 5 ) ( s 2) )
)
encircled
a n t i c l o c k w i s e by N y q u i s t p l o t , s o N=1 and P=1(
given ) )
anticlockwise
part
r e a l part
disp (Z , Z= )

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// e x a m p l e 11 2 7
// p a g e 499
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s = %s ;
clf () ;
g =(( s ^2+4) /( s *( s +1) ) ) ;
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)

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// e x a m p l e 11 2 8
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// p a g e 501
s = %s ;
clf () ;
g =1/( s *( s +2) *( s ^2+2* s +2) ) ;
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)

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2 // e x a m p l e 11 2 9
3 // p a g e 502
4 s = %s ;
5 g =1/( s *( s +1) *( s +3) ) ;
7 evans (g ,200)
8 xgrid (2)

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2 // e x a m p l e 11 3 0
3 // p a g e 503
4 s = %s ;
5 g =1/( s *( s +4) *( s ^2+4* s +13) ) ;
7 evans (g ,200)
8 xgrid (2)
Scilab code Exa 11.31 design lead compensator

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// c a p t i o n : d e s i g n l e a d c o m p e n s a t o r
// e x a m p l e 11 3 1
// p a g e 339
s = %s ;
clf () ;
syms K ;
g =( K /( s *(1+0.2* s ) ) ) ;
Kv = limit ( s *g ,s ,0) ; // s t a t i c v e l o c i t y e r r o r
coefficient
// s i n c e Kv=10
K =10;
g =(10/( s *(1+0.2* s ) ) ) ;
G = syslin ( c ,g )
fmin =0.01;
fmax =100;
show_margins ( G )
;
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disp ( 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 )
gc =(1+0.18* s ) /(1+0.072* s )
G1 = G * Gc
fmin =0.01;
fmax =100;
figure () ;
bode ( G1 , fmin , fmax ) ;
show_margins ( 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 11.32 nicholas chart

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// c a p t i o n : n i c h o l a s c h a r t
// e x a m p l e 11 3 2
// p a g e 507
s = %s ;
num =20;
den =( s *( s +2) *( s +5) )
g = num / den
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Figure 11.12: design lead compensator
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Figure 11.13: design lead compensator
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Figure 11.14: nicholas chart
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9 fmin =0.01
10 fmax =100
11 black (G , fmin , fmax )
12 xgrid (2)
Scilab code Exa 11.33 obtain state matrix

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// e x a m p l e 11 3 3
// p a g e 509
s = %s ;
g =( s +2) /(( s +1) *( s +3) ) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )

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// e x a m p l e 11 3 4
// p a g e 509
s = %s ;
g =( s ^2+ s +2) /( s ^3+9* s ^2+26* s +24) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
198

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// e x a m p l e 11 3 5
// p a g e 510
s = %s ;
g =1/( s ^2+2* s +5) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
Scilab code Exa 11.36 state transition matrix

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// c a p t i o n : s t a t e t r a n s i t i o n m a t r i x
// e x a m p l e 11 3 6
// p a g e 511
s = %s ;
syms t
A =[1 4; -2 -5]
ip =[0 0;0 0]
i =1; j =1;
for i =1:2
for j =1:2
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j = j +1;
18
end
19
i = i +1;
20 end
21 disp ( ip , s t a t e t r a n s i s t i o n m a t r i x , i p ( t )= ) ;
Scilab code Exa 11.37 check for contrallability of system

// e x a m p l e 11 3 7
// p a g e 512
A =[1 1;0 -1]
B =[1;0]
d = determ ( P )
if d ==0
11 else
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// c a p t i o n : d e t e r m i n e t r a n s f e r f u n c t i o n
// e x a m p l e 11 3 8
// p a g e 513
s = %s
A =[ -5 1; -6 0]
B =[1;2]
C =[2 1]
200
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D =0;
G = C * r * B + D // t r a n s f e r m a t r i x
Scilab code Exa 11.39 determine transfer matrix

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// e x a m p l e 11 3 9
// p a g e 513
s = %s
A =[0 1; -6 -5]
B =[0;1]
C =[2 1]
D =0;
G = C * r * B + D // t r a n s f e r m a t r i x
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Chapter 12
CLASSIFIED SOLVED
EXAMPLES
Scilab code Exa 12.1 Transfer Function

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// e x a m p l e 1 2 . 1
// p a g e 515
// we a r e s o l v i n g t h i s p r o b l e m from s i g n a l f l o w
graph approach
syms G H ;
P1 =1* G *1
P2 =1;
L1 = - G ;
L2 = - G * H ;
L3 = G * H ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 ) ;
D = simple ( D )
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17 Y =( P1 * D1 + P2 * D2 ) / D ;
18 Y = simple ( Y ) ;
19 disp (Y , C( s ) /R( s )= ) ;

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// e x a m p l e 1 2 . 2
// p a g e 516
graph approach
syms G1 G2 G3 G4
P1 = G1 ;
P2 = G2 ;
P3 = - G1 * G2 * G3 ;
P4 = G1 * G2 * G4 ;
L1 = - G1 * G2 * G3 * G4 ;
D1 =1;
D2 =1;
D3 =1;
D4 =1;
D =1 -( L1 ) ;
Y =( P1 * D1 + P2 * D2 + P3 * D3 + P4 * D4 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= ) ;

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// e x a m p l e 1 2 . 3
// p a g e 517
graph approach
syms G1 G2 G3 G4 H2 H1 H3
P1 = G2 * G4 ;
P2 = G2 * G3 * G4 ;
P3 = G1 * G3 * G4 ;
L1 = - G4 * H1 ;
L2 = - G3 * G4 * H1 * H2 ;
L3 = - G1 * G3 * G4 * H1 * H2 * H3
D1 =1;
D2 =1;
D3 =1;
D =1 -( L1 + L2 + L3 ) ;
Y =( P1 * D1 + P2 * D2 + P3 * D3 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= ) ;

// e x a m p l e 1 2 . 4
// p a g e 518
graph approach
5 syms G1 G2
6 // f o r w a r d p a t h d e n o t e d by P1 , P2 and s o on and l o o p
7 // p a t h f a c t o r by D1 , D2 and s o on and g r a p h
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P1 = G1 ;
P2 = G2 ;
P3 = G1 * G2 ;
P4 = G1 * G2 ;
L1 = - G1 ;
L2 = - G2 ;
L3 = G1 * G2 ;
L4 = - G1 * G2 ;
L5 = - G1 * G2 ;
D1 =1;
D2 =1;
D3 =1;
D4 =1;
D =1 -( L1 + L2 + L3 + L4 + L5 ) ;
Y =( P1 * D1 + P2 * D2 + P3 * D3 + P4 * D4 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= ) ;

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// e x a m p l e 1 2 . 5
// p a g e 518
graph approach
syms G1 G2 G3 G4 G5 H1 H2
P1 = G1 * G4 * G5 ;
P2 = G1 * G2 * G3 * G5 ;
L1 = - G3 * G5 ;
L2 = - G3 * G5 * H2 ;
L3 = - G1 * G4 * G5 * H1 ;
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L4 = - G1 * G2 * G3 * G5 * H1 ;
D1 =1;
D2 =1;
D =1 -( L1 + L2 + L3 + L4 ) ;
Y =( P1 * D1 + P2 * D2 ) / D ;
Y = simple ( Y ) ;
disp (Y , C( s ) /R( s )= ) ;
Scilab code Exa 12.7 Determine Peak Time and Peak Overshoot
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// C a p t i o n : d e t e r m i n e p e a k t i m e a n d p e a k o v e r s h o o t
// e x a m p l e 1 2 . 7
// p a g e 520
s = %s ;
syms t ;
G = sym ( ( s +2) / ( s ( s +1) ) ) //G( s )
H =1;
CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
d = CL *(1/ s ) ;
a=s*d;
disp (d , C( s )= ) ;
c = ilaplace (d ,s , t ) ;
disp (c , c ( t )= ) ;
// f o r peak t i m e we g e t t p =3%pi /4
tp =3* %pi /4
Cmax =1 -( exp ( - tp ) * cos ( tp ) ) ;
Css = limit (a ,s ,0) ;
disp ( Css , Css= ) ;
Mp =(( Cmax - Css ) / Css ) *100
Mp = float ( Mp )
disp ( Mp , p e a k o v e r s h o o t= )
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Scilab code Exa 12.8 Time Response and Peak Overshoot

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// C a p t i o n : t i m e r e s p o n s e a n d p e a k o v e r s h o o t
// e x a m p l e 1 2 . 8
// p a g e 521
s = %s ;
syms t ;
num = sym ( 8 ( s +1) ) ;
den = sym ( ( s 2+2 s +2) ) ;
CL = num / den ;
disp ( CL , C( s ) /R( s )= ) ;
d = CL *(1/ s ) ;
disp (d , C( s )= ) ;
disp (c , c ( t )= ) ;
// f o r peak t i m e we g e t t p=%pi /2
t = %pi /2
a=s*d;
a = simple ( a )
Cmax =4*(1+1.414* exp ( - t ) * sin (t -( %pi /4) ) )
Css = limit (a ,s ,0) ;
Mp =(( Cmax - Css ) / Css ) *100
Mp = float ( Mp )
Scilab code Exa 12.9 Determine Peak Overshoot

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// C a p t i o n : d e t e r m i n e p e a k o v e r s h o o t
// e x a m p l e 1 2 . 9
// p a g e 523
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s = %s ;
syms t K ;
CL = sym ( ( s +1) / ( s 2+2 s +5) ) ;
CL = K * CL ;
disp ( CL , C( s ) /R( s )= )
d = CL *(1/ s )
Css = limit ( s *d ,s ,0)
// s i n c e Css =0.8 ( g i v e n )
K =0.8*5;
CL = eval ( CL ) ;
disp ( CL , C( s ) /R( s )= ) ;
d = CL *(1/ s )
disp (d , C( s )= ) ;
disp (c , c ( t )= ) ;
// f o r peak t i m e we g e t t p = 0 . 7 8 5
t =0.785
a=s*d;
a = simple ( a )
Cmax =(4/5) *(1 - exp ( - t ) * cos (2* %pi /4) + exp ( - t ) *2* sin (2*
%pi /4) )
Css = limit (a ,s ,0)
Mp =(( Cmax - Css ) / Css ) *100
Mp = float ( Mp )
Scilab code Exa 12.10 Determine Unit Step Response

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// C a p t i o n : d e t e r m i n e u n i t s t e p r e s p o n s e
// e x a m p l e 1 2 . 1 0
// p a g e 524
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s = %s ;
syms t ;
CL = sym ( 1 / ( ( s +1) ( s 2+1) ) )
disp ( CL , C( s ) /R( s )= ) ;
d = CL *(1/ s ) ;
a=s*d;
disp (c , c ( t )= ) ;
Scilab code Exa 12.11 Determine Unit Step and Unit Impulse Response
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// C a p t i o n :
determine unit step and unit impulse response
// e x a m p l e 1 2 . 1 1
// p a g e 524
s = %s ;
syms t ;
G = sym ( 8 / ( s +1) ) ;
H = sym ( ( 1 / 2 s ) ) ;
CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
d = CL *(1/ s ) ;
disp (d , C( s )= ) ;
disp (c , u n i t s t e p r e s p o n s e , c ( t )= ) ;
// f o r u n i t i m p u l s e r e s p o n s e R( s ) =1;
e = CL *(1) ;
disp (e , C( s )= ) ;
ct = ilaplace (e ,s , t ) ;
disp ( ct , u n i t i m p u l s e r e s p o n s e , c ( t )= ) ;
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Scilab code Exa 12.12 Determine Wn Wd zeta and steady state error
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// e x a m p l e 12 1 2
// p a g e 526
s = %s ;
G = sym ( 2 0 / ( s ( s 2+6 s +6) ) ) ;
H =0.25;
CL = G /(1+ G * H ) ;
disp ( CL , C( s ) /R( s )= ) ;
disp ( s 2+ s +1=0 )
// 2 z e t a Wn=1
z = sqrt (1 - zeta ^2) ;
ts =4/( zeta * Wn ) ; // s e t t l i n g t i m e
tp = %pi /( Wn * sqrt (1 - zeta ^2) ) ; // p e a k t i m e
tu =2* %pi /( Wn * sqrt (1 - zeta ^2) ) ; // f i r s t u n d e r s h o o t
ti = tu - tp ; // t i m e i n t e r v a l b e t w e e n max . and min .
values
disp ( Wd , d a m p e d f r e q u e n c y o f o s c i l l a t i o n= ) ;
disp ( Mp , % max . p e a k o v e r s h o o t= ) ;
disp ( ts , s e t t l i n g t i m e = ) ;
disp ( tp , p e a k t i m e= ) ;
disp ( ti , t i m e i n t e r v a l b e t w e e n m a x a n d m i n v a l u e s= )
;
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Scilab code Exa 12.13 Determine Wn Wd zeta and steady state error
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// e x a m p l e 12 1 3
// p a g e 527
syms Kp K Kd T
s = %s ;
a =( Kp + s * Kd ) * K
b =1/( s *( s * T +1) )
G = series (a , b )
H =1;
er =1/(1+ G * H )
disp ( er , E( s ) /R( s )= ) ;
R =1/ s ^2
E = R * er
ess = limit ( s *E ,s ,0)
disp ( ess , s t e a d y s t a t e e r r o r , e s s= )
Scilab code Exa 12.15 Stability Using Routh Hurwitz Criterion

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// e x a m p l e 1 2 . 1 5
// p a g e 529
s = %s ;
syms K
G = sym ( K/ ( s ( s 2+ s +1) ( s +5) ) ;
H =1;
CH =( s *( s ^2+ s +1) *( s +5) + K )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
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c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
routh =[ routh ; - det ( routh (1:2 ,1:2) / routh (2 ,1) ) ,K ,0]
t = routh (2:3 ,1:2)
routh =[ routh ; - det ( t ) / t (2 ,1) ,0 ,0]
disp ( ( ( 5 . 1 5 6 K) / 5 . 1 ) >0 and K>0 ) ;
disp ( 0<K<4.25 ) ;

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// e x a m p l e 1 2 . 1 6
// p a g e 530
s = %s ;
syms K
CH = s ^4+2* s ^3+10* s ^2+( K -10) * s + K
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
routh =[ routh ; - det ( routh (1:2 ,1:2) / routh (2 ,1) ) ,K ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
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// r o u t h =[ r o u t h ; K, 0 , 0 ]
disp ( f o r g i v e n s y s t e m t o be s t a b l e , f o l l o w i n g
c o n d i t i o n s h o u l d be s a t i s f i e d ) ;
23 disp ( K<30 ,K<22.9 and K> 1 3 . 1 ,K>0 )
24 disp ( which g i v e s , )
25 disp ( 13.1 <K<22.9 ) ;
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// e x a m p l e 1 2 . 1 7
// p a g e 530
s = %s ;
syms K
G = sym ( K/ ( ( s 3+3 s +2) ( s 2+6 s +24) ) ) ;
H =1;
CH =(( s ^3+3* s +2) *( s ^2+6* s +24) + K )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
// r o u t h =[ r o u t h ; K, 0 , 0 ]
disp ( f o r g i v e n s y s t e m t o be s t a b l e , f o l l o w i n g
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c o n d i t i o n s h o u l d be s a t i s f i e d ) ;
25 disp ( 7 8 . 8 4 0 . 2 5 9K>0 )
26 disp ( which g i v e s l i m i t i n g v a l u e o f K )
27 disp ( K< 2 8 8 . 9 ) ;

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// e x a m p l e 1 2 . 1 8
// p a g e 531
s = %s ;
A = s ^5+ s ^4+4* s ^3+4* s ^2+ s +1;
b = coeff ( A )
n = length ( b )
routh =[ b ([6 4 2]) ; b ([5 3 1]) ]
routh1 = routh ;
/ routh (2 ,1) ,0]
disp ( s i n c e a l l e l e m e n t s o f t h i r d row a r e z e r o , s o
A = sym ( s 4+4 s 2+1 ) // a u x i l i a r y e q u a t i o n
B = diff (A , s )
routh =[ routh1 ;4 ,8 ,0]
routh =[ routh ; - det ( routh (2:3 ,1:2) ) / routh (3 ,1) ,- det ( d )
/ routh (3 ,1) ,0]
routh2 = routh
routh =[ routh ; - det ( routh (3:4 ,1:2) ) / routh (4 ,1) ,0 ,0]
routh =[ routh ; - det ( routh (4:5 ,1:2) ) / routh (5 ,1) ,0 ,0];
disp ( s t a b i l i t y i s examined a s b e l o w . s i n c e r o o t s
o f a u x i l i a r y eq a r e a l s o r o o t s o f c h a r a c t e r s t i c s
eq )
A = s ^4+4* s ^2+1
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24 b = roots ( A )
25 disp ( s i n c e t h e e q u a t i o n h a s non r e p e a t i n g
s plane imaginary a x i s . hence system

unstable )
r o o t s on
are

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// e x a m p l e 1 2 . 1 9
// p a g e 531
s = %s ;
A = s ^5+ s ^4+4* s ^3+4* s ^2+4* s +4;
b = coeff ( A )
n = length ( b )
routh =[ b ([6 ,4 ,2]) ; b ([5 3 1]) ]
routh1 = routh ;
/ routh (2 ,1) ,0]
disp ( s i n c e a l l e l e m e n t s o f t h i r d row a r e z e r o , s o
A = sym ( s 4+4 s 2+4 ) // a u x i l i a r y e q u a t i o n
B = diff (A , s )
routh =[ routh ; - det ( routh (2:3 ,1:2) ) / routh (3 ,1) ,- det ( d )
/ routh (3 ,1) ,0]
routh2 = routh
routh =[ routh ; - det ( routh (3:4 ,1:2) ) / routh (4 ,1) ,0 ,0]
disp ( s i n c e a l l e l e m e n t s o f f i f t h row a r e z e r o , s o
A = sym ( 2 s 2+4 ) // a u x i l i a r y e q u a t i o n
B = diff (A , s )
routh =[ routh ; - det ( routh (4:5 ,1:2) ) / routh (5 ,1) ,0 ,0];
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disp ( s t a b i l i t y i s examined a s b e l o w . s i n c e r o o t s
o f a u x i l i a r y eq a r e a l s o r o o t s o f c h a r a c t e r s t i c s
eq )
27 A = s ^4+4* s ^2+4
28 b = roots ( A )
29 disp ( s i n c e t h e e q u a t i o n h a s m u l t i p l e r o o t s on s
plane imaginary a x i s . hence system are u n s t a b l e
)
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Scilab code Exa 12.21 Determine Frequency of Oscillations

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// c a p t i o n : d e t e r m i n e f r e q u e n c y o f o s c i l l a t i o n s
// e x a m p l e 1 2 . 2 1
// p a g e 533
s = %s ;
syms K
G = sym ( K ( s ( 2 s +1) ) / ( s 3+3 s +20) ) ;
H =1;
CH =(( s ^3+3* s +20) + K *( s *(2* s +1) ) )
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
routh =[ b ([4 ,2]) ; b ([3 ,1]) ]
routh =[ routh ; - det ( routh (1:2 ,1:2) / routh (2 ,1) ) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
routh =[ routh ;l ,0]
disp ( f o r s u s t a i n e d o s c i l l a t i o n s : ) ;
disp ( 2K2+6K20=0 )
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Figure 12.1: Stability Using Nyquist Criterion

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disp ( which g i v e s K )
disp ( K=2 ) ;
disp ( f r e q o f o s c i l l a t i o n s i s c a l c u l a t e d by s o l v i n g
e q u a t i o n f o r m e d by s 2 row o f t h e r o u t h t a b l e )
K =2
k =2
A =2* k * s ^2+20
r = roots ( A )
disp ( %i * r (2) , f r e q u e n c y o f o s c i l l a t i o n s = )
Scilab code Exa 12.23.i Stability Using Nyquist Criterion

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// e x a m p l e 12 2 3 i
// p a g e 535
clf () ;
s = %s ;
s1 = - s ;
g =(0.1*( s +10) *( s +40) ) /( s *( s +1) *( s +4) ) ;
g1 =(0.1*( s1 +10) *( s1 +40) ) /( s1 *( s1 +1) *( s1 +4) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
// m t l b a x i s ( [ 1 . 5 0 . 2 0.3 0 . 3 ] ) ;
xtitle ( N y q u i s t p l o t o f ( 0 . 1 ( s +10) ( s +40) ) / ( s ( s +1)
( s +4) ) )
figure ;
not e n c i r c l e d
c l o c k w i s e by N y q u i s t p l o t , s o N=0 and P=0 )
anticlockwise
part
r e a l part
disp (Z , Z= )
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Scilab code Exa 12.23.ii Stability Using Nyquist Criterion

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// e x a m p l e 12 2 3 i i
// p a g e 535
disp ( f o r K=1 )
g =(0.1*( s +10) *( s +40) ) /( s *( s +1) *( s +4) ) ;
g1 =(0.1*( s1 +10) *( s1 +40) ) /( s1 *( s1 +1) *( s1 +4) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
// m t l b a x i s ([ 3 0 . 5 0.6 0 . 6 ] ) ;
( s +4) ) )
figure ;
encircled twice
)
plot anticlockwise
part
r e a l part
disp (Z , Z= )
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Scilab code Exa 12.23.iii Stability Using Nyquist Criterion

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// e x a m p l e 12 2 3 i i i
// p a g e 535
disp ( f o r K=10 )
g =(10*( s +10) *( s +40) ) /( s *( s +1) *( s +4) ) ;
g1 =(10*( s1 +10) *( s1 +40) ) /( s1 *( s1 +1) *( s1 +4) ) ;
nyquist ( GH ) ;
nyquist ( GH1 ) ;
// m t l b a x i s ( [ 1 . 5 0 . 2 0.3 0 . 3 ] ) ;
( s +4) ) )
figure ;
disp ( s i n c e t h e p o i n t (1+%i0 ) i s e n c i r c l e d o n c e i n
c l o c k w i s e and o n c e i n a n t i c l o c k w i s e d i r e c t i o n by
N y q u i s t p l o t , s o N=0 and P=0 )
anticlockwise
part
r e a l part
disp (Z , Z= )
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Figure 12.7: Gain and Phase Margin
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Scilab code Exa 12.27 Gain and Phase Margin

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// c a p t i o n : g a i n a n d p h a s e m a r g i n
// e x a m p l e 12 2 7
// p a g e 5 4 3
clf () ;
s = %s ;
s1 = - s ;
g =(0.5) /( s *( s +1) ^2) ;
nyquist ( GH ) ;
// m t l b a x i s ([ 5 1 500 5 0 0 ] ) ;
xtitle ( N y q u i s t p l o t o f ( 2 . 5 3 ) / ( s ( 0 . 4 s +1) ( 0 . 2 s
+1) ) )
pm = p_margin ( GH )
disp ( pm , p h a s e m a r g i n= )
gm = g_margin ( GH )
disp ( gm , g a i n m a r g i n= )
Scilab code Exa 12.33 Determine Close Loop Stability

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// c a p t i o n : d e t e r m i n e c l o s e l o o p s t a b i l i t y
// e x a m p l e 12 3 3
// p a g e 550
s = %s ;
g =(720*( s +1.25) ) /( s *( s +10) *( s ^2+2* s +9) ) ;
G = syslin ( c ,g )
fmin =0.1;
fmax =100;
227
Figure 12.8: Determine Close Loop Stability
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Figure 12.9: Root Locus

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Scilab code Exa 12.42 Root Locus
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2 // e x a m p l e 12 4 2
3 // p a g e 562
4 s = %s ;
5 syms K ;
6 GH = K /( s *( s +2) *( s +4) )
7 // s i n c e Mp=40%, s o .4= exp (( z e t a %pi ) / ( s q r t (1 z e t a
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2) )
zeta =0.3
CH =( s *( s +2) *( s +4) ) + K
K = sym ( ( s 3+6 s 2+8 s ) )
d = diff (K , s )
e = -3* s ^2 -12* s -8
r1 = roots ( e )
disp ( 0.842 i s b r e a k away p o i n t s i n c i t l i e s on
root l o c u s )
CH = sym ( s 3+6 s 2+8 s+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
disp ( (48 K) =0 ) ;
disp ( K=48 ) ;
K =48;
k =48
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37 a =6* s ^2+48 // i n t e r s e c t i o n
o f root l o c u s with
imaginary plane
38 r = roots ( a )
39 g = k /( s *( s +2) *( s +4) )
41 evans (g ,8)
42 xgrid (2)
43 disp ( t h e l i n e t h e t a=a c o s ( z e t a ) =72.5 i n t e r s e c t s
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l o c u s a t s a =(0.5+ i 1 . 6 5 ) )
disp ( t h e v a l u e o f K a t s=s a i s f i n d t o be 1 4 . 8 7 f o r
Mp=40% )
K =14.87
ts =4/0.5
// t s =4/( z e t a wn )
Kv = limit ( s * GH ,s ,0)
Kv = eval ( Kv )
Kv = float ( Kv )
disp ( Kv , Kv= ) ;
Scilab code Exa 12.43 Root Locus and Value of K

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root
// c a p t i o n : r o o t l o c u s a n d v a l u e o f K
// e x a m p l e 1 2 . 4 3
// p a g e 564
s = %s ;
syms K ;
GH = K /( s *( s +2) *( s ^2+2* s +2) )
CH =( s *( s +2) *( s ^2+2* s +2) ) + K
CH = sym ( s 4+4 s 3+6 s 2+4 s+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
231
Figure 12.10: Root Locus and Value of K
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14 c3 = coeffs ( CH , s ,3) ;
15 c4 = coeffs ( CH , s ,4) ;
16 b =[ c0 c1 c2 c3 c4 ]
17 routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
18 routh =[ routh ; - det ( routh (1:2 ,1:2) ) / routh (2 ,1) , routh
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(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
K = sym ( s 4+4 s 3+6 s 2+4 s )
d = diff (K , s )
e = -(4* s ^3+12* s ^2+12* s +4)
r = roots ( e )
disp ( ((20 4K) / 5 ) =0 ) ;
disp ( K=5 ) ;
K =5;
k =5
a =5* s ^2+5 // i n t e r s e c t i o n o f r o o t l o c u s w i t h s p l a n e
r = roots ( a )
disp (r , i n t e r s e c t i o n p o i n t w i t h i m a g i n a r y a x i s= )
g = k /( s *( s +2) *( s ^2+2* s +2) )
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)
disp ( a n g l e o f d e p a r t u r e =90 and +90 )
disp ( breakaway p o i n t i s 1 and +j and j )
disp ( on s o l v i n g we f i n d K=1 )
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// e x a m p l e 1 2 . 4 4
// p a g e 565
s = %s ;
syms K ;
GH = K /(( s ^2+2* s +5) *( s ^2+2* s +2) )
CH =(( s ^2+2* s +5) *( s ^2+2* s +2) ) + K
CH = sym ( ( ( s 2+2 s +5) ( s 2+2 s +2) )+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
K = sym ( ( s 2+2 s +5) ( s 2+2 s +2) )
d = diff (K , s )
e = -(4* s ^3+12* s ^2+22* s +14)
r = roots ( e )
disp ( ( ( 7 . 5 1 4 4 (K+10) / 7 . 5 ) =0 ) ;
disp ( K= 1 6 . 2 5 ) ;
K =16.25;
k =16.25
a =7.5* s ^2+26.25 // i n t e r s e c t i o n o f r o o t l o c u s w i t h s
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plane
r = roots ( a )
g = k /(( s ^2+2* s +5) *( s ^2+2* s +2) )
G = syslin ( c ,g )
evans (g ,200)
xgrid (2)
disp (r , t h e p o i n t o f i n t e r s e c t i o n o f r o o t l o c u s w i t h
i m a g i n a r y a x i s = )
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// e x a m p l e 1 2 . 4 5
// p a g e 567
s = %s ;
syms K ;
GH = K *( s +1) /( s *( s +2) *( s ^2+4* s +8) )
CH =(( s *( s +2) *( s ^2+4* s +8) ) ) + K *( s +1)
CH = sym ( ( ( s ( s +2) ( s 2+4 s +8) ) )+K ( s +1) ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
c4 = coeffs ( CH , s ,4) ;
b =[ c0 c1 c2 c3 c4 ]
routh =[ b ([5 ,3 ,1]) ; b ([4 ,2]) ,0]
(1 ,3) ,0]
t = routh (2:3 ,1:2)
l = simple ( - det ( t ) / t (2 ,1) )
disp ( (K2 28K1280)=0 ) ;
disp ( K=52.4 and 24.42 ) ;
K =52.4; // c o n s i d e r i n g p o s i t i v e v a l u e
k =52.4
a =((80 -52.4) /6) * s ^2+52.4 // i n t e r s e c t i o n o f r o o t l o c u s
with imaginary a x i s
r = roots ( a )
g = k *( s +1) /( s *( s +2) *( s ^2+4* s +8) )
G = syslin ( c ,g )
clf () ;
evans (g ,10)
237

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xgrid (2)

1 // c a p t i o n : r o o t l o c u s a n d v a l u e o f K
2 // e x a m p l e 1 2 . 4 6
3 // p a g e 570
4 s = %s ;
5 syms K ;
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GH = K /( s *(( s +6) ^2) )

CH =( s *(( s +6) ^2) ) + K
CH = sym ( ( s ( ( s +6) 2 ) )+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
K = sym ( ( s ( ( s +6) 2 ) ) )
d = diff (K , s )
e =3* s ^2+24* s +36
r1 = roots ( e )
disp ( 2 i s b r e a k away p o i n t s i n c i t l i e s on r o o t
l o c u s )
disp ( ( (K432) / 1 2 ) =0 ) ;
disp ( K=432 ) ;
K =432; // c o n s i d e r i n g p o s i t i v e v a l u e
k =432
a =12* s ^2+ k // i n t e r s e c t i o n o f r o o t l o c u s w i t h
imaginary axis plane
r = roots ( a )
g = k /( s *(( s +6) ^2) )
G = syslin ( c ,g )
clf () ;
evans (g ,5)
xgrid (2)
239


1 // c a p t i o n : r o o t l o c u s a n d v a l u e o f K
2 // e x a m p l e 12 4 8
3 // p a g e 574
4 s = %s ;
5 syms K ;
6 GH = K /( s *( s +2) *( s +4) )
7 zeta =0.277
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CH =( s *( s +2) *( s +4) ) + K
K = sym ( ( s 3+6 s 2+8 s ) )
d = diff (K , s )
e = -3* s ^2 -12* s -8
r1 = roots ( e )
disp ( 0.85 i s b r e a k away p o i n t s i n c i t l i e s on r o o t
l o c u s )
CH = sym ( s 3+6 s 2+8 s+K ) ;
c0 = coeffs ( CH , s ,0) ;
c1 = coeffs ( CH , s ,1) ;
c2 = coeffs ( CH , s ,2) ;
c3 = coeffs ( CH , s ,3) ;
b =[ c0 c1 c2 c3 ]
n =4;
routh =[ b ([4 ,2]) ; b ([3 ,1]) ];
t = routh (2:3 ,1:2)
disp ( (48 K) =0 ) ;
disp ( K=48 ) ;
K =48;
k =48
a =6* s ^2+48 // i n t e r s e c t i o n o f r o o t l o c u s w i t h
imaginary plane
r = roots ( a )
g = k /( s *( s +2) *( s +4) )
G = syslin ( c ,g )
evans (g ,8)
xgrid (2)
disp ( t h e l i n e t h e t a=a c o s ( z e t a ) =73.9 i n t e r s e c t s r o o t
l o c u s a t s a =(0.5+ i 1 . 6 6 ) )
241

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disp ( t h e v a l u e o f K a t s=s a i s f i n d t o be 15 f o r
z e t a =0.277 )
K =15
k =15
g = k /( s *( s +2) *( s +4) )
cl = g /(1+ g )
disp ( cl , C( s ) /R( s )= )

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// e x a m p l e 1 2 . 4 9
// p a g e 576
s = %s ;
syms K ;
GH =( K *( s +4) ) /( s +2) ^2
CH =( s +2) ^2+( K *( s +4) )
CH = sym ( ( ( s +2) 2 )+K ( s +4) ) ;
K = sym ( ( ( s +2) 2 / ( s +4) ) )
d = diff (K , s )
e =( s +2) *( s +6)
r1 = roots ( e )
disp ( 2 and 6 i s b r e a k away p o i n t )
g =( s +4) /(( s +2) ^2)
G = syslin ( c ,g )
clf () ;
evans (g ,10)
xgrid (2)
disp ( f o r wd=2 r a d / s e c , t h e p o i n t on r o o t l o c u s i s s
=4+j 2 )
disp ( t h e v a l u e o f K a t s=4+j 2 i s 4 )
K =4
k =4
g = k *( s +4) /(( s +2) ^2)
cl = g /(1+ g )
disp ( cl , C( s ) /R( s )= )
Scilab code Exa 12.50 Root Locus and Closed loop Transfer Function
1
// c a p t i o n :
243
Figure 12.16: Root Locus and Closed loop Transfer Function
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root locus and close loop transfer function

// e x a m p l e 1 2 . 5 0
// p a g e 578
s = %s
K =8
G = K /( s *( s +4) )
H =1;
GH = G * H
G = syslin ( c ,G )
evans (G ,8)
xgrid (2)
CH = s *( s +4) + K
r = roots ( CH )
disp (r , t h e p o i n t a t which K=8 )
cl = G /(1+ GH )
disp ( cl , C( s ) /R( s )= )
disp ( p a r t b )
g = K /( s +4)
h =1/ s
gh = g * h
CL = g /(1+ gh )
disp ( CL , C( s ) /R( s )= )
Scilab code Exa 12.51 Root Locus and Gain and Phase Margin
1 // c a p t i o n : r o o t l o c u s a n d g a i n , p h a s e m a r g i n
2 // e x a m p l e 1 2 . 5 1
3 // p a g e 580
4 s = %s ;
245
Figure 12.17: Root Locus and Gain and Phase Margin
246
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K =3.46
G = K /( s *( s +1) *( s +2) )
G = syslin ( c ,G )
clf () ;
evans (G ,20)
xgrid (2)
[ gm , freq_gm ]= g_margin ( G )
[ pm , freq_pm ]= p_margin ( G )
disp ( gm , g a i n m a r g i n= , freq_gm *2* %pi ,
g a i n m a r g i n f r e q= )
14 disp ( pm , p h a s e m a r g i n= , freq_pm *2* %pi ,
p h a s e m a r g i n f r e q= )
Scilab code Exa 12.54 Obtain State Matrix

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// e x a m p l e 12 5 4
// p a g e 583
s = %s ;
g =5*( s +2) /( s *( s +1) *( s +5) ) ;
disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
Scilab code Exa 12.55 Obtain State Matrix

1 // c a p t i o n : o b t a i n s t a t e m a t r i x
2 // e x a m p l e 12 5 5
3 // p a g e 585
4 s = %s ;
247
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g =50/( s *( s ^2+0.5* s +50) ) ;

disp ( CL , C( s ) /R( s )= ) ;
SS = tf2ss ( CL )
Scilab code Exa 12.56 Obtain State Transistion Matrix

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// c a p t i o n : o b t a i n s t a t e t r a n s i s t i o n m a t r i x
// e x a m p l e 12 5 6
// p a g e 586
s = %s ;
syms t
A =[0 1;0 -3]
ip =[0 0;0 0]
i =1;
j =1;
for i =1:2
for j =1:2
if ( i ==2 & j ==1)
else
j = j +1;
end
end
i = i +1;
end
r (2 ,1) =0
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Scilab code Exa 12.57 Obtain Time Response

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// e x a m p l e 12 5 7
// p a g e 586
s = %s ;
syms t
A =[0 1; -2 -3]
B =[1 0]
x0 =[0 0]
u =1/( s +1)
m = r * B *(1/( s +1) ) ;
x =[0;0]
x (1 ,1) = ilaplace ( m (1 ,1) ,s , t ) ;
x (2 ,1) = ilaplace ( m (2 ,1) ,s , t ) ;
disp (x , t i m e r e s p o n s e o f t h e system , x ( t )= ) ;
Scilab code Exa 12.59 Obtain Time Response

1 // c a p t i o n : o b t a i n t i m e r e s p o n s e
2 // e x a m p l e 12 5 9
3 // p a g e 590
4 s = %s ;
5 syms t
6 A =[ -1 0;1 -1]
7 B =[0 1]
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x0 =[1 0]
m = r * B *(1/ s )
r1 = r * x0
X = r1 + m
x =[0;0]
x (1 ,1) = ilaplace ( X (1 ,1) ,s , t ) ;
x (2 ,1) = ilaplace ( X (2 ,1) ,s , t ) ;
Scilab code Exa 12.61 Obtain Transfer Matrix

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// c a p t i o n : o b t a i n t r a n s f e r m a t r i x
// e x a m p l e 12 6 1
// p a g e 592
s = %s ;
syms t
A =[ -1 -1;3 -5]
B =[1 1]
C =[1 2]
G=C*r*B
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Appendix
Scilab code AP 1 SERIES OF TWO FUNCTION
1 function [ y ] = series ( sys1 , sys2 )
2 y =
sys1 * sys2
3 endfunction
Scilab code AP 2 PARALLEL OF TWO FUNCTION

1 function [ y ]= parallel ( sys1 , sys2 )
2 y = sys1 + sys2 ;
3 endfunction
251

Linear Control System by B. S. Manke

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Linear Control System by B. S. Manke

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Scilab Textbook Companion for

Linear Control Systems

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

4 SIGNAL FLOW GRAPHS

5 MODELLING A CONTROL SYSTEM

6 TIME RESPONSE ANALYSIS OF CONTROL SYSTEMS

7 STABILITY ANALYSIS OF CONTROL SYSTEMS

8 COMPENSATION OF CONTROL SYSTEMS

9 INTRODUCTION TO STATE SPACE ANALYSIS OF CONTROL SYSTEMS

12 CLASSIFIED SOLVED EXAMPLES

List of Scilab Codes

Exa 3.2.13 Transfer Function . . . . . . . . . . . . . . . . . . .

Exa 6.10.13determine K ts tp and Mp . . . . . . . . . . . . . . .

Exa 7.24.7 root locus . . . . . . . . . . . . . . . . . . . . . . . . .

Exa 11.9 time response for unit step function . . . . . . . .

Exa 12.8 Time Response and Peak Overshoot . . . . . . .

pole zero plot . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 pole zero Plot . . . . . . . . . .

12.1 Stability Using Nyquist Criterion . . . . . . .

12.17Root Locus and Gain and Phase Margin . . . . . . . . . . .

Scilab code Exa 1.6.1.i inverse laplace transform

Scilab code Exa 1.6.1.ii inverse laplace transform

Scilab code Exa 1.6.1.iii inverse laplace transform

Scilab code Exa 1.6.1.iv inverse laplace transform

Scilab code Exa 1.6.1.v inverse laplace transform

Scilab code Exa 1.6.1.vi program laplace transform

Scilab code Exa 1.6.2 solution of differential equation

Scilab code Exa 1.6.3 solution of differential equation

Scilab code Exa 1.6.4 solution of differential equation

Scilab code Exa 1.6.5 initial value

Scilab code Exa 1.6.7 final value

Scilab code Exa 1.6.8 steady state value

Scilab code Exa 1.6.9 initial values

Scilab code Exa 1.6.10 final value

Scilab code Exa 2.4.1 pole zero plot

Figure 2.1: pole zero plot

Scilab code Exa 2.4.2 final value

Scilab code Exa 3.2.1 Transfer Function

check Appendix AP 2 for dependency:

Scilab code Exa 3.2.2 Transfer Function

Scilab code Exa 3.2.3 Transfer Function

Scilab code Exa 3.2.4 Transfer Function

Scilab code Exa 3.2.5 Transfer Function

Scilab code Exa 3.2.6 Transfer Function

check Appendix AP 2 for dependency:

Scilab code Exa 3.2.7 Transfer Function

check Appendix AP 2 for dependency:

Scilab code Exa 3.2.8 Transfer Function

check Appendix AP 1 for dependency:

Scilab code Exa 3.2.9 Transfer Function

Scilab code Exa 3.2.10 Transfer Function

Scilab code Exa 3.2.11 Transfer Function

Scilab code Exa 3.2.12 Transfer Function

Scilab code Exa 3.2.13 Transfer Function

Scilab code Exa 3.2.14 Transfer Function

Scilab code Exa 3.2.15 Transfer Function

Scilab code Exa 4.3.1 Overall Transmittance

Scilab code Exa 4.3.2 Overall Transmittance

Scilab code Exa 4.4.1 Closed Loop Transfer Function

Scilab code Exa 4.4.2 Overall Gain

Scilab code Exa 4.4.9 Overall Transfer Function

Scilab code Exa 5.9.4 Calculate Reference Voltage Vr

Scilab code Exa 5.9.5 Calculate Reference Voltage Vr

Scilab code Exa 5.9.6 Calculate Gain of Amplifier Ka

8 g1 =(2.2/( s1 ( s1 +1) ( s1 ^2+2* s1 +2) ) )