Ziegler-nichols

ng=[1 -1];
dg=[1 3.1 3.57 1.813 0.343];
G=tf(ng,dg);
clf,rlocus(G);
[km,pole]=rlocfind(G)
wm=max(imag(pole));
kp=0.6*km;
kd=(kp*pi)/(4*wm);
ki=(kp*wm)/pi;
nk=[kd kp ki];
dk=[1 0];
gc=tf(nk,dk)
gd=series(G,gc)
GT=feedback(gd,1)
step(GT,'r')
hold on
GS=feedback(G,1)
step(GS,'g')
----------------------Routh
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clc
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clear
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r=input('input vector of your system coefficents: ');
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m=length(r);
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n=round(m/2);
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q=1;
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k=0;
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for p = 1:length(r)
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if rem(p,2)==0
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c_even(k)=r(p);
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else
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c_odd(q)=r(p);
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k=k+1;
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q=q+1;
28

end
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end
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a=zeros(m,n);
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if m/2 ~= round(m/2)
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c_even(n)=0;
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end
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a(1,:)=c_odd;
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a(2,:)=c_even;
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if a(2,1)==0
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a(2,1)=0.01;
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end
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for i=3:m
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for j=1:n-1
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x=a(i-1,1);
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if x==0
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x=0.01;
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end
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a(i,j)=((a(i-1,1)*a(i-2,j+1))-(a(i-2,1)*a(i-1,j+1)))/x;
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end
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if a(i,:)==0
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order=(m-i+1);
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c=0;
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d=1;
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for j=1:n-1
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a(i,j)=(order-c)*(a(i-1,d));
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d=d+1;
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c=c+2;
58

end
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end
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if a(i,1)==0
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a(i,1)=0.01;
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end
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end
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Right_poles=0;
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for i=1:m-1
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if sign(a(i,1))*sign(a(i+1,1))==-1
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Right_poles=Right_poles+1;
68
end
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end
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fprintf('\n Routh-Hurwitz Table:\n')
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a
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fprintf('\n Number Of Right Poles =%2.0f\n',Right_poles)
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reply = input('Do You Need Roots of System? Y/N ', 's');
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if reply=='y'||reply=='Y'
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ROOTS=roots(r);
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fprintf('\n Given Polynomials Coefficents Roots :\n')
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ROOTS
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else
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end