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M := 0.001
d := 0.001
k := 1000
:= 800
______________________________________________________
tfinal := 0.1
steps := 1000
v ( t) := sin ( t)
______________________________________________________
Numerical Solution:
Given
M
d2
dt
y ( t) + d
d
y ( t) + k y ( t) = v ( t)
dt
y ( 0) = 0
y' ( 0) = 0
y := Odesolve t , tfinal , steps
y tfinal = 1.685 10 3
(Examples from MATLAB Mastery

- used with permission of
TechnicalMastery.com Corp.)
t := 0 ,
tfinal
steps
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.. tfinal
0.005
y ( t)
0.005
0.02
0.04
0.06
0.08
0.1
v ( t) :=
d
y ( t)
dt
5
v ( t)
0.02
0.04
0.06
5
t

0.08
0.1
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Transfer Function (Plant):

1
Gp ( s) :=
M s + d s + k
______________________________________________________
Denominator Coefficients, b:
1000
b := denom ( Gp ( s) ) coeffs , s .1e-2
.1e-2
k
d
M
______________________________________________________
Zeros (none) and Poles:
(polyroots can handle large polynomials)
0.5 1000i
X=
0.5
+
1000i
X := polyroots ( b)
______________________________________________________
Pole-Zero Map:
1000
Im ( X)
0
1000
0.6
0.5
Re ( X)
0.4

4 of 14
Unit Step Response:

U ( s) :=
1
s
Y ( s) := Gp ( s) U ( s)
y ( t) := Y ( s)
(.1e-2 s2 + .1e-2 s + 1000) s
invlaplace , s , t
( .50000) t
.10000e-2 .10000e-2 e
cos ( 10
float , 5
0.002
y ( t)
0.001
0.02
0.04
0.06
0.08

0.1
5 of 14
t := t
Response to v(t):
v ( t) := sin ( t)
V ( s) := v ( t) laplace , t , s
800
2
s + 640000
Y ( s) := Gp ( s) V ( s)
800
(.1e-2 s2 + .1e-2 s + 1000) (s2 + 640000)
invlaplace , s , t
expand , s
y ( t) := Y ( s)
.61728e-5 e
( .50000) t
cos ( 1000.0 t) .2
simplify
float , 5
0.005
y ( t)
0.005
0.02
0.04
0.06
t
y tfinal = 1.685 10 3

0.08
0.1
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ORIGIN := 1
|
|
\|/
Bode Plot:
n := 1001
:= logspace 10 2 , 10 6 , n
n = 1 10 6
1 = 100
k := 1 .. n
0
1000
50
20 log Gp k j
))
100
150
200
100
1 .10
1 .10
1 .10
1 .10
1000
50
360
arg Gp k j
100
2
( (
))
150
200
100
1 .10
1 .10
k
1 .10
1 .10
7 of 14
Nyquist Plot:
Gp ( s)
1
2
.1e-2 s + .1e-2 s + 1000
:= stack logspace 10 6 , 10 2 , 200000 , logspace 10 2 , 10 6 , 200000

k := 1 .. rows ( )
0.5
( (
Im Gp k j
))
0.5
0.5
0.5
( (
Re Gp k j

))
))
8 of 14
Define Feedback Loop with Derivative Controller:
Gp ( s)
1
2
.1e-2 s + .1e-2 s + 1000
Ki
Gc s , Ki := 1 +
+ 0.001 s
s
H ( s) := 1
______________________________________________________
( )
( )
Gp ( s) Gc s , Ki
G s , Ki :=
1 + Gp ( s) Gc s , Ki H ( s)

G s , Ki
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Unit response, varying Ki:
Y s , Ki := G s , Ki U ( s) simplify
y t , Ki := Y s , Ki
(3
1000. s + 1000. Ki + s
s s + 2. s + 1001000. s + 1000. Ki
1000 s + 1000 K
convert , parfrac , s
invlaplace
s 4 + 2 s 3 + 1001000 s 2
invlaplace , s , t
__________________________________________________________
( )
( (
a Ki := numer Y s , Ki
( )
( (
))
1000. Ki
coeffs , s 1000.
))
1000. Ki
coeffs , s 1001000.
2.
b Ki := denom Y s , Ki
__________________________________________________________
( )
( ( ))
O := O
( )
( ( ))
X := X
O Ki := polyroots a Ki
X Ki := polyroots b Ki

10 of 14
(s O (Ki)k)
a ( Ki) 3 k =
Y ( s , Ki) :=
4
b ( Ki) 5
convert , parfrac , s
(s X (Ki)k)
( X ( Ki) 4)
k= 1
( ) ( ) ( ) ( )
( ( )) ( ) ( ( ))
O Ki 1 X Ki 1 O Ki 1 O Ki 2
y t , Ki := Y s , Ki invlaplace , s , t
X Ki 4 + X Ki 1 X Ki 3 + X
t1 := 0 , 0.0001 .. 0.1
t2 := 0 , 0.01 .. 10
0.1
y ( t1 , 1)
1
y ( t2 , 1)
0.05
y ( t1 , 500)
y ( t2 , 500)
y ( t1 , 1000)
y ( t2 , 1000)
0
0.05
0.5
0.1
0.05
0.5
t1
t2

10
11 of 14
Bode Plot, varying Ki:

n := 1001
:= logspace 10 4 , 10 4 , n
k := 1 .. n
( (
))
20 log ( G ( k j , 500) )
20 log ( G ( k j , 1000) )
20 log G k j , 1
20
40
60
80
4
3
1 .10 1 .10 0.01
0.1
1
k

10
100 1 .10 1 .10

3
12 of 14
Nyquist Plot:
G s , Ki
1000. s + 1000. Ki + s
expand , s
3
2
simplify
s + 2. s + 1001000. s + 1000. Ki
:= stack logspace 10 4 , 10 1 , 50000 , logspace 10 1 , 10 4 , 50000

k := 1 .. rows ( )
0.5
( (
))
Im ( G ( k j , 500) )
Im ( G ( k j , 1000) )
0.5
Im G k j , 1
0.5
0.5
0.5
( (
))
( (
))
( (
))
Re G k j , 1 , Re G k j , 500 , Re G k j , 1000

))
13 of 14
MATLAB-produced Nyquist Plot:

14 of 14
Root-Locus Plot:
Ki := 1 , 11 .. 1001
1500
( ( ))
Im ( O ( Ki) 2)
Im ( X ( Ki) 1)
Im ( X ( Ki) 2)
Im ( X ( Ki) 3)
Im ( X ( Ki) 4)
1000
Im O Ki 1
500
1000
900
800
700
600
500
400
300
200
100
500
1000
1500
( ( ))
( ( ))
( ( ))
( ( ))
( ( ))
Re O Ki 1 , Re O Ki 2 , Re X Ki 1 , Re X Ki 2 , Re X Ki 3 , Re X


Mathcad For Controls

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Mathcad For Controls

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Mathcad for Controls

y := Odesolve t , tfinal , steps

(Examples from MATLAB Mastery