1

.

) (
.

MTLAB .
:

) (control system
.
:
)(logic control
)(on-off control
)(proportional control
)(linear control
) (input ) (output
) (input ) (output .
output

)G(s

input

) (feedback
) (output ) (input .
)G(s

feedback

) (open-loop
. .

) (closed-loop
.
) . (output .
) (analog control systems
)(continuous-data
) (digital control systems
)(discrete-data
) (stability
.
.

) (control system theory

:






.
) (block diagram
) (inputs )(outputs
)(signal flow graph
:
-1
-2
-3
-4

-5 ) (transfer function
) (characteristic equation
-6
.

.
.

.

: ) f (t f (t )dt

st

0e

) f (t )dt = F (s

st

L f (t ) = e
0

: f (t ) = t

tdt

st

L t = e
0

)(2

1+1

! (n +1) = n (2) = 1

st
= e tdt

1
s2

st
= e tdt

1
s2

= L t

f (t )

F (s )

1
s
n!

tn

s n +1
1

e at

s a

s >0

s >a

sinat

s 2 + a2
s

cosat

s 2 + a2
a
s 2 a2

sinhat

coshat

s 2 a2

f (ct )

1 s
F( )
c c

e ct f (t )

F (s c )

e at sin bt

b
(s a) 2 +b 2

(t )n f (t )

F (n ) (s )

1
uc (t ) =
0

(t c )

t c
t <c

e cs
s
e ct

n ) f (t ) (t

)(0

)(n 1

(0) s n n f

)(2

(0) s n 3f

)(1

) (n

f :

s n F (s ) s n 1f (0) s n 2f

: :
y + y = sin 2t

y (0) = 0

y (0) = 1

:
:

2
s 2 +4

= )s 2Y (s ) sy (0) y (0

s 2 +6
Y (s ) = 2
)(s + 4)(s 2 +1

2
3

s +1 s + 4

= ) Y (s

.
:
y (t ) = 5 sin t 1 sin 2t
3

:
L

) x 6 X (s
L

) x 6 sX (s
L

) x 6 s 2 X (s
L
) F (s
s

= ] L [ f ( )d
0

dn
]) [F (s
)L [t f (t )] = (1
n
ds
n

t
) L [f ( )] = F ( s

) lim f (t ) = lim sF (s
s

t 0

) lim f (t ) = lim sF (s
s 0

)(0

)( n 1

(0) f

)( n 2

dn
L [ n f (t )] = s n F (s ) s n 1f (0) s n 2 f (0) sf
dt

f f f
)( n 1

f n 1

block- diagram

AG

AG
G

AG

AG

A G1-A G2

A
A-B

G1
-

B
G2

G1
1 + G1G 2

B
G1

G2
G2

A G1 G2

G2

A G1

A
G1

10

H2
-

G
G3

G2

G1
+

+
+

H1

G
G1G 2G 3
1 G1G 2 H 1 + G1G 3 H 2 + G1G 2G 3

+
-

11

.
f (t ) = mx + Bx + kx
) F (s ) = (ms 2 + Bs + k )X (s

:
) x 6 X (s

) x 6 sX (s

) x 6 s 2 X (s

) X (s
1
=
F (x ) ms 2 + Bs + k

:
) X (s

1
+ Bs + k

) F (x
2

ms

k = 0.8 , B = 1 , m = 1.5
MATLAB ) pulse( .

12

Root Locus

) ( .
)G(s

)H(s

) G (s
) 1 + G (s )H (s

1 + G (s )H (s ) = 0

:

.

.
.

.


.

13

14

. :
C (s ) b0S m + b1S m 1 + b 2S m 2 + + b m 1S 1 + b m
=
) R (s
a0S n + a1S n 1 + a2S n 2 + + an 1S 1 + an

m n a b .
) (Routh :
a0S n + a1S n 1 + a2S n 2 + + an 1S 1 + an = 0

a6

a4

a2

a0

Sn

a7

a5

a3

a1

S n 1

b4

b2

b1

S n 2

c4

c3

c2

c1

S n 3

d4

d3

d2

d1

S n 4

e2

e1

.
.
.
S2

f1

S1

g1

S0

b3

15

:
a1a 2 a0a3
a1

= b1

a1a 4 a0a5
a1

= b2

a1a 6 a0a7
a1

= b3

b
b1a 3 a1b 2
b1

= c1

b1a 5 a1b3
b1

= c2

b1a 7 a1b 4
b1

= c3

c1b 2 b1c 2
c1

= d1

c1b 3 b1c 3
c1

= d2

a0S n + a1S n 1 + a2S n 2 + + an 1S 1 + an = 0

) (

16

.
:
)( .
a0S 3 + a1S 2 + a2S + a3 = 0

a2

a0

S3

a3

a1

S2

a1a 2 a0a3
a1

S1

a3

S0

a1a 2 > a0a3 :

:

.
: K
)C(s

)R (s

K
) + s + 1)( s + 2

s (s

) C (s
K
=
R (s ) s (s 2 + s + 1)(s + 2) + K

17

:
s 4 + 3s 3 + 3s 2 + 2s + K = 0

:
K

S4

S3

7
3

S2

9
2 K
7

S1

S0

K :

14

9

14
>K >0
9

= K

K

s 4 + 3s 3 + 3s 2 + 2s + K

MATLAB :
;]>> num=[1
;]>> den=[1 3 3 2 1
)>> rlocus(num,den

K=1 .

MATLAB K = 1

18

Mason's rule

)(


.
.
) R(s ) C(s
:
) C (s
1
= =P
Pk k
k
) R (s

Pk k
) 1 = ( ) + (
) ( ... +
+

L + L L L L L
e

d ,e ,f

L L
b

b ,c

L L L
e

d ,e ,f

k ) (cofactor k

b ,c

= 1

19

:
) C (s

) R (s
H2
)C (s

)R(s

G3

G1

G2
+

+
-

H1

) R (s ) C (s )( :
P1 = G1G 2G 3
:

L2

L1

L1 = G1G 2 H 1
L 2 = G 2G 3 H 2
L3 = G1G 2G 3

L3

20

:
= 1 (L1 + L 2 + L3 ) = 1 G1G 2 H 1 + G 2G 3H 2 + G1G 2G 3
1 = 1

) C (s
P
=P = 1 1

) R (s
G1G 2G 3
) C (s
=
R (s ) 1 G1G 2 H 1 + G 2G 3H 2 + G1G 2G 3
) C (s
:
) R (s

) R (s ) C (s :
P1 = G1G 2G 3G 4G 5
P2 = G1G 6G 4G 5
P3 = G1G 2G 7

21

:
L1 = G 4 H 1

L 2 = G 2G 7 H 2
L3 = G 6G 4G 5 H 2
L1L 2

L 4 = G 2G 3G 4G 5 H 2

:
= 1 (L1 + L 2 + L3 + L 4 ) + L1L 2

L1 L 2 L 2 L1L 2 :

1 = 1
:

2 = 1

L 2 L3 L1L 2 :
3 = 1 L1

:
) C (s
1
) = P = (P11 + P2 2 + P3 3

) R (s
) G1G 2G 3G 4G 5 + G1G 6G 4G 5 + G1G 2G 7 (1 + G 4 H 1
) C (s
=
R (s ) 1 + G 4 H 1 + G 2G 7 H 2 + G 6G 4G 5 H 2 + G 2G 3G 4G 5 H 2 + G 4 H 1G 2G 7 H 2

22

Niquist criteria

:
)R (s

)C (s
)G(s
-

)H (s

) C (s
) G (s
=
) R (s ) 1 + G (s )H (s

1 + G (s )H (s ) = 0

.
) G ( j )H ( j
) 1 + G (s )H (s .s
.
:
F (s ) = 1 + G (s )H (s ) = 0

s ) F (s
6

) (singular point
)(s + 1)(s + 2

= ) G (s )H (s

1 + 2 j s 1.12 5.77 j ) F (s :
6
= 1.12 5.77 j
) (2 + 2 j )(3 + 2 j

F (1 + 2 j ) = 1 +

23

s
) F (s :

24

) G ( j
) G ( j ) . (phase
:

).(Nyquist diagram
1
: :
)s (Ts + 1

= ) G (s

1
T
1
= ) G ( j

j
1 + 2T 2
) (1 + 2T 2
) j (1 + j T

= )G ( j

limG ( j ) = T j 90

lim G ( j ) = 0 j 0

180

25

:
Z =N +P

Z ) 1 + G (s )H (s S
N 1 + j 0

P ) G (s )H (s S
P 0 Z = 0 N = P )
) (G ( j )H ( j P 1 + j 0
.
) G (s )H (s S
Z = N
1 + j 0

:
-1 1 + j 0 ) G (s )H (s
S .
-2 1 + j 0

) G (s )H (s S
.

26

-3 1 + j 0
.
:

:
K
)(T1s + 1)(T 2s + 1

= ) G (s )H (s

K T1 T 2
.
) G ( j )H ( j :
) G (s ) H (s
S ) G ( j )H ( j

1 + j 0
K T1 T 2 .
:

:
K
)s (T1s + 1)(T 2s + 1

:
-1 K
-2 K

= ) G (s )H (s

27

) G (s )H (s S
Z = N = 0 ) G (s )H (s
1 + j 0 :
K 1 + j 0 - K 1 + j 0

28

:
K
)s (Ts 1

= ) G (s )H (s

) G (s )H (s S
1

T

= s P = 1 ) G (s )H (s

1 + j 0
N = 1 Z = N + P Z = 2
S .

29

. MATLAB
MATLAB .
K
1
= ) G (s )H (s
)(T1s + 1)(T 2s + 1
)(2s + 1)(3s + 1
1
6S 2 + 5S + 1

= ) G (s )H (s

= ) G (s )H (s

;]>> num=[1
;]>> den=[6 5 1
)>> h=tf(num,den
Transfer function:
1
--------------6 s^2 + 5 s + 1
)>> nyquist(h
K
1
= ) G (s )H (s
)s (T1s + 1)(T 2s + 1
)s (s + 1)(s + 1
1
G (s ) H (s ) = 3
s + 2s 2 + s
K=1
;]>> num=[1
;]>> den=[1 2 1 0
)>> h=tf(num,den
Transfer function:
1
--------------s^3 + 2 s^2 + s
)>> nyquist(h

= ) G (s )H (s

30

K=0.1
>> num=[0.1];
>> den=[1 2 1 0];
>> h=tf(num,den)
Transfer function:
0.1
--------------s^3 + 2 s^2 + s
>> nyquist(h)

G (s )H (s ) =

K
1.5
G (s )H (s ) =
s (Ts 1)
s (3s 1)
G (s )H (s ) =

1.5
3s 2 s

>> num=[1.5];
>> den=[3 -1 0];
>> h=tf(num,den)
Transfer function:
1.5
--------3 s^2 - s
>> nyquist(h)

31

: MATLAB
a0s n + a1s n 1 + a2s n 2 + an 2s 2 + an 1s 1 + an
G (s )H (s ) =
b0s n + b1s n 1 + b 2s n 2 + b n 2s 2 + b n 1s 1 + b n

:
>> num=[ a0 a1 a2 ... an 2 an 1 an ];
>> den=[b0 b1 b 2 ... b n 2 b n 1 b n ];
>> h=tf(num,den)
Transfer function:
a0s n + a1s n 1 + a2s n 2 + an 2s 2 + an 1s 1 + an
---------------------------------------------------b0s n + b1s n 1 + b 2s n 2 + b n 2s 2 + b n 1s 1 + b n

>> nyquist(h)

32

.
)(servo motor
x y
.
dX = x

dY = y dE = e

E
E
dX +
dY
X
Y

= E = E (x , y ) dE
x

E
Y

x +

E
X

=e

:
E e
b
= =
x a +b
X

E e
a
=
=
y
a +b
Y

a = b :
1
1
e= x y
2
2
e :

q = c e
dy
dt

q =A

33

:
1
)) E (s ) = (X (s ) Y (s
2
) Q (s ) = c E (s
) Q (s ) = A S Y (s

) Y (s

1
AS

) X (s

1
2

) Y (s

) X (s

C
2AS

) Y (s
1
) Y (s
1
=

=
X (s ) 1 + 2A s
X (s ) 1 + s
C

.
xf
s

= xf

= x f

= ) x (t ) = x f u (t ) X (s

34

xf
1

Y (s ) = +
Y (s ) = x f (
)
s 1+s
s 1+s
s 1+s

Y (s ) = x f ( :
)
s 1+s

= ) Y (s

]) y (t ) = x f [u (t ) e u (t
t

) y (t ) = x f (1 e )u (t

) u (t
t .

MATLAB
A = 2 C = 3 :

) Y (s

) X (s

C
2AS

35

36

:
MODERN CONTROL ENGINEERING, FOURTH EDITION, KATSUHIKO OGATA

:
http://www.jalalalhajabed.com/nonlinear_systems.pdf

2010 - 2 13

 
 

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