Question 1

b)
num=[1];
den=[1,4,7,0];
y=tf(num,den);
rlocus(y)
Gm=margin(y)
 Question 2
b)

d)
den= [1 5 6]
num=1
num2=20*[1 0.06]
den2=[1 0.01]
sys1=tf(num,den)
sys2=tf(num2,den2)
sys=sys1*sys2
bode(sys)
sys =
 20 s + 1.2
------------------------------
s^3 + 5.01 s^2 + 6.05 s + 0.06

Question 3
b)

d)
num1 = 10
den1= [1 6 5]
num2=20*[1 0.022]
den2=[1 0.01]
sys1=tf(num1,den1)
sys2=tf(num2,den2)
sys=sys1*sys2
bode(sys)

Question 4
c)
A=[0 1 0;0 0 1;0 0 0];
B=[0;0;1];
P=[-12.6+12.85j;-12.6-12.85j; -63]
P=[-12.6+12.85i;-12.6-12.85i; -63]
K=acker(A,B,P)
K=
1.0e+04 *
2.0405 0.1911 0.0088

d)

plot(out.t,out.y)
xlabel('time')
ylabel('y')
grid on
plot(out.t,out.x1)
hold on
plot(out.t,out.x2)
plot(out.t,out.x3)
xlabel('time')
ylabel('x1, x2, x3')
grid on

f)
F=[0 1 0; 0 0 1; 0 0 0]
H=[1 0 0]
P=[-50;-55;-132]
L=acker(F',H',P')
P=
-50
-55
-132
L=
237 16610 363000

i)
subplot(2,2,1)
hold on
plot(out.t,out.y)
ylabel('y')
subplot(2,2,2)
plot(out.t,out.x1)
hold on
plot(out.t,out.x1hat)
ylabel('x1, x1hat')
subplot(2,2,3)
plot(out.t,out.x2)
hold on
plot(out.t,out.x2hat)
ylabel('x2, x2hat')
subplot(2,2,4)
plot(out.t,out.x3)
hold on
plot(out.t,out.x3hat)
ylabel('x3, x3hat')
k)
 Question 5
b=0.01
k=100
m=1
F=[-b/m -k/m; 1 0]
G=[1/m ; 0]
H=[0 1]
J=0
P=[-2;-5]
acker(F,G,P)
ans =
6.9900 -90.0000

P1=[-10;-15]
acker(F',H',P1)
ans =
49.7501 24.9900

e)

h)
l)

m)
 Question 6
num=1;
den=[1 4 7 0];
h=tf(num,den);
nyquistplot(h);