lag_c
Enter the vectors of the numerator (numo) and denominator (denum) pol.
Start with the highest order term. Ex: [1 2 3] corr. (s^2 + 2 s + 3)
Both vectors should have the same length
Enter numo: [0 0 0 1]

numo =

     0     0     0     1

Enter deno: [.5 1.5 1 0]

deno =

    0.5000    1.5000    1.0000         0

 OPEN-LOOP SYSTEM (without Compensator): 
 
num/den = 
 
              1
   ----------------------
   0.5 s^3 + 1.5 s^2 +  s
Enter desired Kv: 5

Kv =

     5

Warning: The closed-loop system is unstable.
> In /package/matlab-6.5/toolbox/control/control/@lti/margin.m at line 89
  In /package/matlab-6.5/toolbox/control/control/margin.m at line 92
  In /home/pan/.www/ELEC360/compensat/lag_c.m at line 43
 Phase margin "Pm" at the Gain crossover frq. "Wcp" 

Pm =

  -12.9919


Wcp =

    1.8020

 Gain margin "Gm" in dB at the  Phase crossover frq " Wcg" 

Gm =

   -4.4370


Wcg =

    1.4142

Zeros and poles of closed-loop system without compensator:

zeros =

   Empty matrix: 0-by-1


poles =

  -3.3089          
   0.1545 + 1.7316i
   0.1545 - 1.7316i

 Settling time "sett" and zeta "zeta" of same closed-loop system:

sett =

    1.2089


zeta =

     1

 Press CR to continue
 Press CR to continue
Desired Phase margin in degrees (include an allowance for the effect of lag compensator): 52
 Phase margin is "degree" degrees at w = "Wcg".

degree =

    52


Wcg =

    0.4632

Try another Phase margin? (y/n): .46
Enter wc, new gain crossover frequency: .46

wc =

    0.4600

Location of the zero of the compensator: .1

beta =

    9.6236


bTt =

    0.0104


Kc =

    0.5196

 Compensator: 
 
num/den = 
 
      s + 0.1
   ------------
   s + 0.010391
 Compensator gain Kc: 

Kc =

    0.5196

 Compensated Open-Loop trsf. function;
 
num/den = 
 
                0.51955 s + 0.051955
   ----------------------------------------------
   0.5 s^4 + 1.5052 s^3 + 1.0156 s^2 + 0.010391 s
 Phase margin "Pm" at the Gain crossover frq. "Wcp" 

Pm =

   40.9439


Wcp =

    0.4683

 Gain margin "Gm" in dB at the  Phase crossover frq " Wcg" 

Gm =

   13.9713


Wcg =

    1.3157

 Zeros and poles of Closed-loop system with compensator:

zeros =

   -0.1000


poles =

  -2.3245          
  -0.2823 + 0.5372i
  -0.2823 - 0.5372i
  -0.1214          

 Settling time "sett" and zeta "zeta" of compens. closed-loop system:

sett =

   14.1711


zeta =

    0.4652

 Press CR to continue
 Press CR to continue
 Enter decision ( >0 to continue) :0

decision =

     0

diary