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Root Locus Design Example Mathematica Version

This document demonstrates a root locus design example using Mathematica. Key steps include: 1) Defining transfer functions for an open loop system and closed loop system with feedback gain kr; 2) Calculating the asymptote position and angle; 3) Setting the feedback gain kr to place the system poles at the desired asymptote position; 4) Verifying the resulting closed loop system poles match the desired natural frequency.

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18 views4 pages

Root Locus Design Example Mathematica Version

This document demonstrates a root locus design example using Mathematica. Key steps include: 1) Defining transfer functions for an open loop system and closed loop system with feedback gain kr; 2) Calculating the asymptote position and angle; 3) Setting the feedback gain kr to place the system poles at the desired asymptote position; 4) Verifying the resulting closed loop system poles match the desired natural frequency.

Uploaded by

gamescity121
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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In[ ]:= ClearAll["Global`*"]

fn - fp
AsymptotePosition[fn_, fp_, n_, p_] := ;
n-p
180
AsymtoteAngle[k_, p_, n_] := (2 k + 1) ;
p-n
OS
Log 
100
DampRatio[OS_] := ;
2 OS 2
π + Log 
100

-b + b2 - 4 a c -b - b2 - 4 a c
factors[a_, b_, c_] :=  , 
2a 2a
2 Root Locus Design Example Mathematica Version.nb

ka 1 1
In[ ]:= openSys =
10 s+1 s
ka
Out[ ]=
10 s (1 + s)

In[ ]:= σo = AsymptotePosition[- 1, 0, 2, 0]


1
Out[ ]= -
2

In[ ]:= Expand[10 s (1 + s)]


Out[ ]= 10 s + 10 s2

clc
close all
clear all

num=[1];
dem=[10,10,0];
s=tf(num,dem);
figure(1)
rlocus(s)
Root Locus Design Example Mathematica Version.nb 3

1
(s+1)
In[ ]:= GMILs =
1
1+ kr
(s+1)

1
Out[ ]=
kr
(1 + s) 1 + 
1+s

In[ ]:= GMILs = Simplify[GMILs]


1
Out[ ]=
1 + kr + s

ka 1
In[ ]:= GFulls = (GMILs)
10 s
ka
Out[ ]=
kr
10 s (1 + s) 1 + 
1+s

In[ ]:= Expand[10 s (1 + kr + s)]


Out[ ]= 10 s + 10 kr s + 10 s2

ka
In[ ]:= GFulls = ;
2
10 s + 10 kr s + 10 s

ka
In[ ]:= GFulls =
2
10  s + (kr + 1) s

ka
Out[ ]=
10 (1 + kr) s + s2 
4 Root Locus Design Example Mathematica Version.nb

ka / 10
In[ ]:= GFulls = ;
( s) (s + kr + 1)
σo = AsymptotePosition[- 1 - kr, 0, 2, 0]
1
Out[ ]= (- 1 - kr)
2

In[ ]:= θo = AsymtoteAngle[{0, 1, 2}, 2, 0]


Out[ ]= {90, 270, 450}

asymptote Position is locate at half way between ξ ωn


Ts=1
Ts = ξ ω4 n ;

4
ωn = ;
ξ

1 + kr
2
=ξ ωn
1 + kr
2
=ξ 4ξ ;
1 + kr
2
=4;
kr=7;
In[ ]:= kr = 7
Out[ ]= 7

In[ ]:= GFulls


ka
Out[ ]=
10 s (8 + s)

In[ ]:= a = - 8 - 8 ;
ka
10 a (8 + a)
ka
= ωn2
10
ka = 10 (4 /ξ)2
4
In[ ]:= ξ = 0.707; ωn =
ξ
Out[ ]= 5.65771

In[ ]:= ωn2 * 10


Out[ ]= 320.097

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