with proportional controller:
matlab code:
s1 =
20 (s+5)
-------------------------
s (s+10) (s^2 + 3.5s + 6)
Continuous-time zero/pole/gain model.
sys =
20 (s+5)
------------------------------------------
(s+10.14) (s+2.239) (s^2 + 1.122s + 4.405)
Continuous-time zero/pole/gain model.
response:
with proportional + integral controller:
matlab code:
t=0:0.001:25;
k=2*(-10)*(-1);
z=[-0.5 -5];
p=[0 0 -10 -1.7500+1.7139*i -1.7500-1.7139*i ];
s1=zpk(z,p,k) %open loop transfer function
sys=feedback(s1,1) % close loop transfer function
ip=0.5*t; % ramp input with 0.5 as amplitude.
lsim(sys,ip,t)
output:
s1 =
20 (s+0.5) (s+5)
---------------------------
s^2 (s+10) (s^2 + 3.5s + 6)
Continuous-time zero/pole/gain model.
sys =
20 (s+5) (s+0.5)
------------------------------------------------------
(s+10.13) (s+1.904) (s+0.7302) (s^2 + 0.7337s + 3.549)
Continuous-time zero/pole/gain model.
response:
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