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Universidad de Puerto Rico Recinto Universitario de Mayagez Mayagez, Puerto Rico

Computer Homework #1

Ennio A. Gaud Figueroa (802-07-2972) Rubn J. Prez Rivera (843-06-6160) INEL 4505 Prof. Shawn David Hunt

We plotted in MATLAB the step response of a 3rd order system with finite zeros ( ) ( )

We varied this equation and plotted the results to see how changed with each parameter. We set a step response control and we will be evaluating based on that step response.

Step Response Control >> w=500; >> z=2; >> zeta=.75; >> alpha=5; >> b=[(w*w)/(z*alpha)*[1 z]]; >> a=[conv([1 2*zeta*w w*w],[1 alpha])]; >> sys=tf(b,a); >> step(sys);

Step Response 0.12

0.1

0.08
Amplitude

0.06

0.04

0.02

0.2

0.4

0.6 Time (sec)

0.8

1.2

Step Response (Change in Wn) >> w=100; >> z=2; >> zeta=.75; >> alpha=5; >> b=[(w*w)/(z*alpha)*[1 z]]; >> a=[conv([1 2*zeta*w w*w],[1 alpha])]; >> sys=tf(b,a); >> step(sys);

Step Response 0.1 0.09 0.08 0.07 0.06


Amplitude

0.05 0.04 0.03 0.02 0.01 0

0.2

0.4

0.6 Time (sec)

0.8

1.2

Here we can see comparing this graph with the step response control graph that the amplitude change as we change the natural frequency of the system. Also we can see that the system gets to its final value a bit late.

Step Response ( Change in z) >> w=500; >> z=5; >> zeta=.75; >> alpha=5; >> b=[(w*w)/(z*alpha)*[1 z]]; >> a=[conv([1 2*zeta*w w*w],[1 alpha])]; >> sys=tf(b,a);

>> step(sys);

Step Response 0.045 0.04 0.035 0.03


Amplitude

0.025 0.02 0.015 0.01 0.005 0

0.005 Time (sec)

0.01

0.015

We can see that putting a zero on the system, the amplitude changed; and the system got to its final value faster. It also presents an overshoot in the rise as the system tries to get to steady state.

Step Response (Change in ) >> w=500; >> z=2; >> zeta=100; >> alpha=5; >> b=[(w*w)/(z*alpha)*[1 z]]; >> a=[conv([1 2*zeta*w w*w],[1 alpha])]; >> sys=tf(b,a); >> step(sys);

Step Response 0.045 0.04 0.035 0.03


Amplitude

0.025 0.02 0.015 0.01 0.005 0

0.2

0.4

0.6

0.8 Time (sec)

1.2

1.4

1.6

Changing again presents a small overshoot to the system and also its get to its final value more slowly than varying the other parameters.
Step Response (Change in ) >> w=500; >> z=2; >> zeta=.75; >> alpha=100; >> b=[(w*w)/(z*alpha)*[1 z]]; >> a=[conv([1 2*zeta*w w*w],[1 alpha])]; >> sys=tf(b,a); >> step(sys);

3.5

x 10

-3

Step Response

2.5

Amplitude

1.5

0.5

0.01

0.02

0.03 Time (sec)

0.04

0.05

0.06

With the change in , we can see how the pole affect the response of the system and we see how with an addtional pole we can make the system get faster to its final value although this can make the system not stable.