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 diary