ctms.engin.umich.edu 開ループ応答を制御に用いるなら、開ループ伝達関数は安定でなければならない 2次遅れ系の標準形式において、減衰率(damping ratio)ζは概算で位相余裕PMの100分の1となる。ただしこれは位相余裕PMが0°から60°の場合であって、位相余裕…

nyquist1.m 極が虚軸上にあっても正しくナイキスト線図を表示してくれる function [reout,imt,w] = nyquist1(a,b,c,d,iu,w) %NYQUIST1 Nyquist frequency response for continuous-time linear systems. % % This Version of the NYQUIST Command takes into…

ctms.engin.umich.edu clear; close all; m = 1; b = 10; k = 20; s = tf('s'); sys = 1/(m*s^2+b*s+k); Ts = 1/100; sys_d = c2d(sys,Ts,'zoh') A = [0 1; -k/m -b/m]; B = [ 0; 1/m]; C = [1 0]; D = [0]; Ts = 1/100; sys = ss(A,B,C,D); sys_d = c2d(sys…

ctms.engin.umich.edu clear; close all; A = [ 0 1 0 980 0 -2.8 0 0 -100 ]; B = [ 0 0 100 ]; C = [ 1 0 0 ]; poles = eig(A) t = 0:0.01:2; u = zeros(size(t)); x0 = [0.01 0 0]; sys = ss(A,B,C,0); [y,t,x] = lsim(sys,u,t,x0); plot(t,y) title('Ope…

www.youtube.com G = (1.151*s+0.1774)/(s^3+0.739*s^2+0.921*s); diskmarginplot(diskmargin(G).GainMargin,'disk')