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Tugas 4 Sisitem Kendali-1
Tugas 4 Sisitem Kendali-1
SISTEM KENDALI
“Diagram Blok”
Oleh :
III. TEORI
Diagram blok adalah suatu pernyataan gambar yang ringkas, dari gabungan
sebab dan akibat antara masukkan dan keluaran dari suatu sistem.
Blok digambarkan sebagai kotak biasanya berisikan uraian dan nama elemennya,
atau simbol untuk operasi matematis yang harus dilakukan pada masukkan untuk
menghasilkan keluaran. Tanda anak panah menyatakan arah informasi aliran isyarat
atau unilateral.
x2 x2
e x1 x2
x3 Ge
x3 Gx1 Gx2
x1 G x3 x1 G x3
x2 1/G x2
x3 Gx1 x2
1
x3 G x1 x2
G
x1 x1 1/G
x 2 Gx1
1
x1 x2
G
x1 G x2 x1 G x2
x2 x2 G
B. Paralel
a. Program editor
clc
clear
num1=[1];den1=[500 0 0];
sys1=tf(num1,den1);
num2=[1 1];den2=[1 2];
sys2=tf(num2,den2);
sys=sys1+sys2
b. Command Windows
Transfer function:
500 s^3 + 500 s^2 + s + 2
-------------------------
500 s^3 + 1000 s^2
C. Umpan Balik
a. Program editor
clc
clear
numg=[1]; deng=[500 0 0];
sysg=tf(numg,deng);
numh=[1 1];denh=[1 2];
sysh=tf(numh,denh);
sys=series(sysg,sysh);
sysb=feedback(sys,[1],-1)
b. Command Windows
Transfer function:
s+1
--------------------------
500 s^3 + 1000 s^2 + s + 1
2. A. Seri
a. Program Editor
clc
clear
num1=[1];den1=[1 10];
num2=[1];den2=[1 1];
num=conv(num1,num2);
den=conv(den1,den2);
sys3=tf(num,den)
b. Command Windows
Transfer function:
1
---------------
s^2 + 11 s + 10
B. Paralel
a. Program Editor
clc
clear
num1=[1];den1=[1 10];
sys1=tf(num1,den1);
num2=[1];den2=[1 1];
sys2=tf(num2,den2);
sys=sys1+sys2
b. Command Windows
Transfer function:
2 s + 11
---------------
s^2 + 11 s + 10
C. Umpan Balik
a. Program Editor
clc
clear
numg=[1]; deng=[1 10];
sysg=tf(numg,deng);
numh=[1];denh=[1 1];
sysh=tf(numh,denh);
sys=series(sysg,sysh);
sysb=feedback(sys,[1],-1)
b. Command Windows
Transfer function:
1
---------------
s^2 + 11 s + 11
3. A. Seri
a. Program Editor
clc
clear
num1=[1 0 1];den1=[1 4 4];
num2=[1];den2=[1 1];
num=conv(num1,num2);
den=conv(den1,den2);
sys3=tf(num,den)
b. Command Windows
Transfer function:
s^2 + 1
---------------------
s^3 + 5 s^2 + 8 s + 4
B. Paralel
a. Program Editor
clc
clear
num1=[1 0 1];den1=[1 4 4];
sys1=tf(num1,den1);
num2=[1];den2=[1 1];
sys2=tf(num2,den2);
sys=sys1+sys2
b. Command Windows
Transfer function:
s^3 + 2 s^2 + 5 s + 5
---------------------
s^3 + 5 s^2 + 8 s + 4
C. Umpan Balik
a. Program Editor
clc
clear
numg=[1 0 1]; deng=[1 4 4];
sysg=tf(numg,deng);
numh=[1];denh=[1 1];
sysh=tf(numh,denh);
sys=series(sysg,sysh);
sysb=feedback(sys,[1],-1)
b. Command Windows
Transfer function:
s^2 + 1
---------------------
s^3 + 6 s^2 + 8 s + 5
4. A. Seri
a. Program Editor
clc
clear
num1=[6 0 1]; den1=[1 3 3 1];
num2=poly([-1 -2]);den2=poly([-2*i 2*i -3 ]);
num=conv(num1,num2);
den=conv(den1,den2);
sys3=tf(num,den)
b. Command Windows
Transfer function:
6 s^4 + 18 s^3 + 13 s^2 + 3 s + 2
--------------------------------------------------
s^6 + 6 s^5 + 16 s^4 + 34 s^3 + 51 s^2 + 40 s + 12
B. Paralel
a. Program Editor
clc
clear
num1=[6 0 1]; den1=[1 3 3 1];
sys1=tf(num1,den1);
num2=poly([-1 -2]);den2=poly([-2*i 2*i -3 ]);
sys2=tf(num2,den2);
sys=sys1+sys2
b. Command Windows
Transfer function:
7 s^5 + 24 s^4 + 39 s^3 + 91 s^2 + 13 s + 14
--------------------------------------------------
s^6 + 6 s^5 + 16 s^4 + 34 s^3 + 51 s^2 + 40 s + 12
C. Umpan Balik
a. Program Editor
clc
clear
numg=[6 0 1]; deng=[1 3 3 1];
sysg=tf(numg,deng);
numh=poly([-1 -2]);denh=poly([-2*i 2*i -3 ]);
sysh=tf(numh,denh);
sys=series(sysg,sysh);
sysb=feedback(sys,[1],-1)
b. Command Windows
Transfer function:
6 s^4 + 18 s^3 + 13 s^2 + 3 s + 2
--------------------------------------------------
s^6 + 6 s^5 + 22 s^4 + 52 s^3 + 64 s^2 + 43 s + 14
5. A. Seri
a. Program Editor
clc
clear
num1=[1 -3]; den1=[1 -5 4];
num2=[5 -8];den2=[1 2];
num=conv(num1,num2);
den=conv(den1,den2);
sys3=tf(num,den)
b. Command Windows
Transfer function:
5 s^2 - 23 s + 24
---------------------
s^3 - 3 s^2 - 6 s + 8
B. Parallel
a. Program Editor
clc
clear
num1=[1 -3]; den1=[1 -5 4];
sys1=tf(num1,den1);
num2=[5 -8];den2=[1 2];
sys2=tf(num2,den2);
sys=sys1+sys2
b. Command Windows
Transfer function:
5 s^3 - 32 s^2 + 59 s - 38
--------------------------
s^3 - 3 s^2 - 6 s + 8
C. Umpan Balik
a. Program Editor
clc
clear
numg=[1 -3]; deng=[1 -5 4];
sysg=tf(numg,deng);
numh=[5 -8];denh=[1 2];
sysh=tf(numh,denh);
sys=series(sysg,sysh);
sysb=feedback(sys,[1],-1)
b. Command Windows
Transfer function:
5 s^2 - 23 s + 24
-----------------------
s^3 + 2 s^2 - 29 s + 32
Reduksi Diagram Blok dan Fungsi Transfer Sistem
6. Reduksi Diagram Blok dan Fungsi Transfer Sistem
a. Program Editor
clc
clear
ng1=[1]; dg1=[1 10];
sysg1=tf(ng1,dg1);
ng2=[1]; dg2=[1 1];
sysg2=tf(ng2,dg2);
ng3=[1 0 1]; dg3=[1 4 4];
sysg3=tf(ng3,dg3);
nh1=[1 1]; dh1=[1 2];
sysh1=tf(nh1,dh1);
nh2=[2];dh2=[1];
sysh2=tf(nh2,dh2);
sys2=series(sysg2,sysg3);
sys3=feedback(sys2,sysh2,-1);
sys4=series(sysg1,sys3);
sys1=sysh1/sysg3;
sys5=feedback(sys4,sys1,+1);
sys=feedback(sys5,[1],-1)
b. Command Windows
Transfer function:
s^5 + 2 s^4 + 2 s^3 + 4 s^2 + s + 2
------------------------------------------------------------------
s^7 + 19 s^6 + 113 s^5 + 258 s^4 + 337 s^3 + 357 s^2 + 225 s + 118
sys2=parallel(sysg3,sysg2);
sys3=series(sysg4,sys2);
sys1=sysh1/sysg4;
sys4=feedback(sys3,sys1,-1);
sys5=series(sysg1,sys4);
sys=feedback(sys5,sysh2,-1)
b. Command Windows
Transfer function:
s^4 + 4 s^3 + 9 s^2 + 15 s + 10
------------------------------------------------------------------
2 s^7 + 30 s^6 + 125 s^5 + 282 s^4 + 321 s^3 + 148 s^2 + 30 s + 20
8. Reduksi Diagram Blok dan Fungsi Transfer Sistem
a. Program Editor
clc
clear
ng1=[1]; dg1=[1 10];
sysg1=tf(ng1,dg1);
ng2=[1]; dg2=[1 1];
sysg2=tf(ng2,dg2);
ng3=[1 0 1]; dg3=[1 4 4];
sysg3=tf(ng3,dg3);
ng4=[1]; dg4=[1 0 0];
sysg4=tf(ng4,dg4);
nh1=[1 1]; dh1=[1 2];
sysh1=tf(nh1,dh1);
nh2=[2];dh2=[1];
sysh2=tf(nh2,dh2);
nh3=[1];dh3=[1];
sysh3=tf(nh3,dh3);
sys3=series(sysg3,sysg4);
sys4=feedback(sys3,sysh2,-1);
sys5=series(sysg2,sys4);
sys1=sysh3/sysg4;
sys6=feedback(sys5,sys1,-1);
sys7=series(sysg1,sys6);
sys2=sysh1/(sysg3*sysg4);
sys=feedback(sys7,sys2,-1)
b. Command Windows
Transfer function: