LAPORAN PRATIKUM TEKNIK KENDALI

ROOT LOCUS

Disusun oleh:

Arthoriq Daffa Oliyan

21130057

Dosen Pengampu :

Dr. Ridwan M.Sc. Ed.

PRODI D4 TEKNIK ELEKTRO INDUSTRI

DEPARTEMEN TEKNIK ELEKTRO

FAKULTAS TEKNIK

UNIVERSITAS NEGERI PADANG

2024
Contoh
1. Diketahui persamaaan loop terbuka sistem G(s) = K/[s(s+1)(s+2)}]
K = 1 numg=[K];
Deng = poly ([0 -1 -2]);
'G(s)'
printsys(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
title ('Roots Locus')
[numt,dent] = cloop(K*numg,deng,-1);
rlocus(numg,deng) hold
rlocus(numt,dent) figure
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
poles=roots(dent)

poles =
-2.3247
- 0.3376 + 0.5623i
- 0.3376 - 0.5623
2. % G(s) = K*(s+1.5)/(s(s+1)(s+10))
numg = [1 1.5]; deng = poly ([0 -1
-10]);
'G(s)'
printsys(numg,deng) rlocus(numg,deng) pos
= input('Type%OS') z =
-log(pos/100)/sqrt(pi^2+[log(pos/100)] ^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k’]) pause
pos =
1.5200 k
=
39.2551 p
=
-4.5992 + 3.3957i
-4.5992 - 3.3957i
-1.8016
Tugas Pratikum
1. Gambarkan root locus sistem dengan variasi nilai K dan tentukan batas kestabilan K

% G(s) = K*s^2+2s^2+4s+2/s^2(s+1)^2
numg = [2 2 4 2 ]; deng = poly ([1 -1 -
1]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
ans =
'G(s)'
num/den =
2 s^3 + 2 s^2 + 4 s + 2
-----------------------
s^3 + s^2 - 1 s - 1
Type%OS pos
=
[] z
=
[]
Select a point in the graphics
window selected_point = 1.0000 -
0.0155i k = 0.0062 p =
0.9846 + 0.0000i
-0.9923 + 0.0782i
-0.9923 - 0.0782i
ans =
'T(s)'
num/den =
0.012397 s^3 + 0.012397 s^2 + 0.024794 s + 0.012397
---------------------------------------------------
 1.0124 s^3 + 1.0124 s^2 - 0.97521 s - 0.9876

2. Plot Root Locus system berikut ini

a. % G(s) = K*(s+1)/(s(s+2) (s+3))

numg = [1 1]; deng = poly([0 -2
-3]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
ans =
'G(s)'
num/den =
s+1
-----------------
s^3 + 5 s^2 + 6 s
Type%OS pos
=
[] z
=
[]
Select a point in the graphics window
selected_point = 0.4589 + 0.0165i k
= 2.6771 p =
-2.3056 + 1.2523i
-2.3056 - 1.2523i
 -0.3889 + 0.0000i ans
=
'T(s)'
num/den =
2.6771 s + 2.6771
------------------------------- s^3
+ 5 s^2 + 8.6771 s + 2.6771

b. % G(s) = 10K*(s+1)/(s(s+2)(s+3))
numg = [10 1 1]; deng
= poly ([0 -2 -3]);
'G(s)' printsys(numg,deng)
rlocus(numg,deng) pos = input('Type%OS') z
= -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k']) ans =
'G(s)'
num/den =
10 s^2 + s + 1
-----------------
s^3 + 5 s^2 + 6 s

Type%OS pos
=
[] z
=
[]
Select a point in the graphics window
selected_point = 0.9834 - 0.0058i k
= 1.0028 p =
-14.5514 + 0.0000i
 -0.2383 + 0.1102i
-0.2383 - 0.1102i
ans =
'T(s)'
num/den =
10.028 s^2 + 1.0028 s + 1.0028
------------------------------------ s^3
+ 15.028 s^2 + 7.0028 s + 1.0028