9 files changed, 125 insertions, 0 deletions

diff --git a/29/CH8/EX8.6.1/exa8_6_1.sce b/29/CH8/EX8.6.1/exa8_6_1.sce
new file mode 100755
index 000000000..57c5eb943
--- /dev/null
+++ b/29/CH8/EX8.6.1/exa8_6_1.sce
@@ -0,0 +1,40 @@
+//caption:design_suitable_compensator

+//example 8.6.1

+//page 339

+s=%s;

+clf();

+syms K;

+g=(K/(s*(1+0.2*s)));

+Kv=limit(s*g,s,0);//static velocity error coefficient

+//since Kv=10

+K=10;

+g=(10/(s*(1+0.2*s)));

+G=syslin('c',g)

+fmin=0.01; 

+fmax=100; 

+bode(G, fmin, fmax) 

+show_margins(G)

+xtitle("uncompensated system")

+[gm,freqGM]=g_margin(G);

+[pm,freqPM]=p_margin(G);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq=");

+disp(pm,"phase_margin=");

+disp((freqPM*2*%pi),"phase_margin_freq_or_gain_cross_over_frequency=");

+disp("since P.M is less than desired value so we need phase lead network ")

+disp("selecting zero of lead compensating network at w=5.5rad/sec and pole at w=13.8rad/sec and applying gain to account attenuatin factor .")

+gc=(1+0.18*s)/(1+0.072*s)

+Gc=syslin('c',gc)

+disp(Gc,"transfer function of lead compensator=");

+G1=G*Gc

+disp(G1,"overall transfer function=");

+fmin=0.01; 

+fmax=100; 

+figure();

+bode(G1, fmin, fmax);

+show_margins(G1)

+xtitle("compensated system")

+[gm,freqGM]=g_margin(G1);

+[pm,freqPM]=p_margin(G1);

+disp(pm,"phase_margin_of_compensated_system=");

+disp((freqPM*2*%pi),"gain_cross_over_frequency=");
\ No newline at end of file
diff --git a/29/CH8/EX8.6.1/exa8_6_1_compensated.jpg b/29/CH8/EX8.6.1/exa8_6_1_compensated.jpg
new file mode 100755
index 000000000..13582834c
--- /dev/null
+++ b/29/CH8/EX8.6.1/exa8_6_1_compensated.jpg
diff --git a/29/CH8/EX8.6.1/exa8_6_1_uncompensated.jpg b/29/CH8/EX8.6.1/exa8_6_1_uncompensated.jpg
new file mode 100755
index 000000000..c1dd97c6a
--- /dev/null
+++ b/29/CH8/EX8.6.1/exa8_6_1_uncompensated.jpg
diff --git a/29/CH8/EX8.6.2/exa8_6_2.sce b/29/CH8/EX8.6.2/exa8_6_2.sce
new file mode 100755
index 000000000..52026a035
--- /dev/null
+++ b/29/CH8/EX8.6.2/exa8_6_2.sce
@@ -0,0 +1,41 @@
+//caption:design_phase_lead_compensator

+//example 8.6.2

+//page 340

+clc;

+s=%s;

+clf();

+syms K;

+g=(K/(s^2*(1+0.05*s)));

+Ka=limit(s^2*g,s,0);//static acceleration error coefficient

+//since Ka=100

+K=100;

+g=(100/(s^2*(1+0.05*s)));

+G=syslin('c',g)

+fmin=0.01; 

+fmax=100; 

+bode(G, fmin, fmax) 

+show_margins(G)

+xtitle("uncompensated system")

+[gm,freqGM]=g_margin(G);

+[pm,freqPM]=p_margin(G);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq=");

+disp(pm,"phase_margin=");

+disp((freqPM*2*%pi),"phase_margin_freq_or_gain_cross_over_frequency=");

+disp("since P.M is negaative so system is unstable ")

+disp("selecting zero of lead compensating network at w=5rad/sec and pole at w=54rad/sec and applying gain to account attenuatin factor .")

+gc=(1+0.2*s)/(1+0.0186*s)

+Gc=syslin('c',gc)

+disp(Gc,"transfer function of lead compensator=");

+G1=G*Gc

+disp(G1,"overall transfer function=");

+fmin=0.01; 

+fmax=100; 

+figure();

+bode(G1, fmin, fmax) 

+show_margins(G1)

+xtitle("compensated system")

+[gm,freqGM]=g_margin(G1);

+[pm,freqPM]=p_margin(G1);

+disp(pm,"phase_margin_of_compensated_system=");

+disp((freqPM*2*%pi),"gain_cross_over_frequency=");
\ No newline at end of file
diff --git a/29/CH8/EX8.6.2/exa8_6_2_compensated.jpg b/29/CH8/EX8.6.2/exa8_6_2_compensated.jpg
new file mode 100755
index 000000000..1f281ea73
--- /dev/null
+++ b/29/CH8/EX8.6.2/exa8_6_2_compensated.jpg
diff --git a/29/CH8/EX8.6.2/exa8_6_2_uncompensated.jpg b/29/CH8/EX8.6.2/exa8_6_2_uncompensated.jpg
new file mode 100755
index 000000000..d22203e90
--- /dev/null
+++ b/29/CH8/EX8.6.2/exa8_6_2_uncompensated.jpg
diff --git a/29/CH8/EX8.6.3/exa8_6_3.sce b/29/CH8/EX8.6.3/exa8_6_3.sce
new file mode 100755
index 000000000..24a6be898
--- /dev/null
+++ b/29/CH8/EX8.6.3/exa8_6_3.sce
@@ -0,0 +1,44 @@
+//caption:design_suitable_compensator

+//example 8.6.3

+//page 344

+clc;

+s=%s;

+clf();

+syms K;

+g=(K/(s*(1+0.5*s)*(1+0.2*s)));

+Kv=1/0.125//static velocity error coefficient(Kv=desired output velocity/steady state error)

+//since Kv=8, as system is type 1 , so K=Kv;

+K=8;

+g=(8/(s*(1+0.5*s)*(1+0.2*s)));

+G=syslin('c',g)

+fmin=0.01; 

+fmax=100; 

+bode(G, fmin, fmax) 

+show_margins(G)

+xtitle("uncompensated system")

+[gm,freqGM]=g_margin(G);

+[pm,freqPM]=p_margin(G);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq_or_phase_cross_over_frequency==");

+disp(pm,"phase_margin=");

+disp((freqPM*2*%pi),"phase_margin_freq_or_gain_cross_over_frequency=");

+disp("since gain crossover freq and phase crossover freq are very close to each other. So, system is marginally stable");

+disp("so we need phase lag network ")

+disp("selecting zero of lead compensating network at w=0.18rad/sec and pole at w=0.04rad/sec and applying gain to account attenuatin factor .")

+gc=(1+5.55*s)/(1+24.7*s)

+Gc=syslin('c',gc)

+disp(Gc,"transfer function of lead compensator=");

+G1=G*Gc

+disp(G1,"overall transfer function=");

+fmin=0.01; 

+fmax=100; 

+figure();

+bode(G1, fmin, fmax) 

+show_margins(G1)

+xtitle("compensated system")

+[gm,freqGM]=g_margin(G1);

+[pm,freqPM]=p_margin(G1);

+disp(gm,"gain_margin=");

+disp((freqGM*2*%pi),"gain_margin_freq_or_phase_cross_over_frequency==");

+disp(pm,"phase_margin_of_compensated_system=");

+disp((freqPM*2*%pi),"gain_cross_over_frequency=");
\ No newline at end of file
diff --git a/29/CH8/EX8.6.3/exa8_6_3_compensated.jpg b/29/CH8/EX8.6.3/exa8_6_3_compensated.jpg
new file mode 100755
index 000000000..0d2769ff0
--- /dev/null
+++ b/29/CH8/EX8.6.3/exa8_6_3_compensated.jpg
diff --git a/29/CH8/EX8.6.3/exa8_6_3_uncompensated.jpg b/29/CH8/EX8.6.3/exa8_6_3_uncompensated.jpg
new file mode 100755
index 000000000..a376ee536
--- /dev/null
+++ b/29/CH8/EX8.6.3/exa8_6_3_uncompensated.jpg