lead_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 4]
numo =
0 0 4
Enter deno: [1 2 0]
deno =
1 2 0
OPEN-LOOP SYSTEM (without Compensator):
num/den =
4
---------
s^2 + 2 s
Enter desired Kv: 20
Kv =
20
Phase margin "Pm" at the Gain crossover frq. "Wcp"
Pm =
17.9642
Wcp =
6.1685
Gain margin "Gm" in dB at the Phase crossover frq " Wcg"
Gm =
Inf
Wcg =
Inf
Zeros and poles of closed-loop system without compensator:
zeros =
Empty matrix: 0-by-1
poles =
-1.0000 + 6.2450i
-1.0000 - 6.2450i
Settling time "sett" and zeta "zeta" of same closed-loop system:
sett =
4.0000
zeta =
0.1581
Press CR to continue
Press CR to continue
Phase lead in degrees: 38
a =
0.2379
Kc =
42.0375
At "Wcp" the gain of the transfer function is equal to sqrt(a).
Use this frequency as the new gain crossover frequency wc
Wcp =
8.9461
Enter wc, the new gain crossover frequency : 9
wc =
9
Tt =
4.3896
aTt =
18.4527
Compensator:
num/den =
s + 4.3896
-----------
s + 18.4527
Compensator gain Kc:
Kc =
42.0375
Compensated Open-Loop trsf. function;
num/den =
168.1498 s + 738.1094
-----------------------------
s^3 + 20.4527 s^2 + 36.9055 s
Phase margin "Pm" at the Gain crossover frq. "Wcp"
Pm =
50.6342
Wcp =
8.9217
Gain margin "Gm" in dB at the Phase crossover frq " Wcg"
Gm =
Inf
Wcg =
Inf
Zeros and poles of Closed-loop system with compensator:
zeros =
-4.3896
poles =
-7.0161 + 8.1077i
-7.0161 - 8.1077i
-6.4205
Settling time "sett" and zeta "zeta" of compens. closed-loop system:
sett =
0.5701
zeta =
0.6544
Press CR to continue
Press CR to continue
Enter decision ( >0 to continue) :0
decision =
0
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