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tp1 Autmatique
tp1 Autmatique
tp1 Autmatique
r=
>> p=2*pi*r
p=
25.1327
>> q=1/r
q=
0.2500
>> v1=[1 2]
v1 =
1 2
>> v2=[3;4]
v2 =
4
>> A=[1 4 7;2 5 8;3 1 9]
A=
1 4 7
2 5 8
3 1 9
>> B=2*A
B=
2 8 14
4 10 16
6 2 18
>> A=[1,4,7;2,5,8;3,1,9]
A=
1 4 7
2 5 8
3 1 9
>> B=B+A
B=
3 12 21
6 15 24
9 3 27
>> eye(3)
ans =
1 0 0
0 1 0
0 0 1
>> zeros(3,2)
ans =
0 0
0 0
0 0
>> ones(2,3)
ans =
1 1 1
1 1 1
>> C=A+B
C=
4 16 28
8 20 32
12 4 36
>> D=A-B
D=
-2 -8 -14
-4 -10 -16
-6 -2 -18
>> E=A*B
E=
90 93 306
96 78 330
>> Ai=inv(A)
Ai =
>> At=A'
At =
1 2 3
4 5 1
7 8 9
>> trA=trace(A)
trA =
15
>> P=[3 -2 1]
P=
3 -2 1
>> zerosP=roots(P)
zerosP =
0.3333 + 0.4714i
0.3333 - 0.4714i
Overloaded methods:
gf/roots
localpoly/roots
doc roots
Construction:
SYS with zeros Z, poles P, and gains K. SYS is an object of class @zpk.
for example,
z = zpk('z',0.1); H = (z+.1)*(z+.2)/(z^2+.6*z+.09)
For example,
sys = zpk(1,2,3,'Variable','p','DisplayFormat','freq')
help zpk.<PropertyName>
Data format:
For SISO models, Z and P are the vectors of zeros and poles (set
input j to output i
For example,
[ -5 /(s-1) ]
[ (s-2)(s-3)/s(s+1) ]
You can create arrays of zpk models by using ND cell arrays for Z,P
SYS = zpk(Z,P,K)
creates the 5-by-1 array of zpk models
Conversion:
Overloaded methods:
DynamicSystem/zpk
mfilt.zpk
adaptfilt.zpk
idParametric/zpk
mpc/zpk
dfilt.zpk
doc zpk
dspblkpolyval - is the mask function for the DSP System Toolbox Polynomial Block
localpolynomial -
G=
2 (s+0.5)
---------
(s+1)^2
G1 =
2s+1
-------------
s^2 + 2 s + 1
G2 =
2 (s+0.5)
---------
(s+1)^2
G3 =
4s+3
---------------
2 s^2 + 8 s + 6
G3 =
2 (s+0.75)
-----------
(s+3) (s+1)
Continuous-time zero/pole/gain model.
>> Gs1=G1*G2
Gs1 =
4 (s+0.5)^2
-----------
(s+1)^4
>> Gs2=series(G1,G2)
Gs2 =
4 (s+0.5)^2
-----------
(s+1)^4
>> Gp1=G1+G2
Gp1 =
4 (s+0.5) (s+1)^2
-----------------
(s+1)^4
Continuous-time zero/pole/gain model.
>> Gp2=parallel(G1,G2)
Gp2 =
4 (s+0.5) (s+1)^2
-----------------
(s+1)^4
>> Gf=feedback(G1,G2)
Gf =
2 (s+0.5) (s+1)^2
--------------------------------------------
>> pole(G3)
ans =
-3
-1
>> step(G3)
Step Response
0.7
0.6
0.5
0.4
Amplitude
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
>> impulse(G3)
Impulse Response
2
1.5
1
Amplitude
0.5
-0.5
0 0.5 1 1.5 2 2.5 3 3.5
Time (seconds)
>> bode(G3)
Bode Diagram
-5
-10
-20
-25
-30
-35
0
-30
Phase (deg)
-60
-90
-1 0 1 2
10 10 10 10
Frequency (rad/s)
>> nyquist(G3)
Nyquist Diagram
0.4
0.3
0.2
0.1
Imaginary Axis
-0.1
-0.2
-0.3
-0.4
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6
Real Axis
>> nichols(G3)
Nichols Chart
-5
-10
-15
Open-Loop Gain (dB)
-20
-25
-30
-35
-40
-90 -60 -30 0
Open-Loop Phase (deg)
>> pzmap(G3)
Pole-Zero Map
1
0.8
0.6
0.4
Imaginary Axis (seconds-1)
0.2
-0.2
-0.4
-0.6
-0.8
-1
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis (seconds -1)
>> i
ans =
0.0000 + 1.0000i
>> j
ans =
0.0000 + 1.0000i
>> z1=1+2*i
z1 =
1.0000 + 2.0000i
>> z2=2+1.5*j
z2 =
2.0000 + 1.5000i
>> z3=z1+z2
z3 =
3.0000 + 3.5000i
>> z5=z1*z2
z5 =
-1.0000 + 5.5000i
>> Rz1=real(z1)
Rz1 =
1
>> Iz2=imag(z2)
Iz2 =
1.5000
>> r=abs(z1)
r=
2.2361
>> theta=angle(z2)
theta =
0.6435
>> z=r*exp(j*theta)
z=
1.7889 + 1.3416i
C=
D=
F1 =
--------
12 s + 3
>> impulse(F1)
Impulse Response
0.5
0.45
0.4
0.35
0.3
Amplitude
0.25
0.2
0.15
0.1
0.05
0
0 5 10 15 20 25
Time (seconds)
>> step(F1)
Step Response
2
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40
Time (seconds)
>> z=0.707
z=
0.7070
F2 =
-----------------------
Impulse Response
5
3
Amplitude
-1
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (seconds)
>> step(F2)
Step Response
2.5
1.5
Amplitude
0.5
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time (seconds)