diff options
Diffstat (limited to '3885')
62 files changed, 3956 insertions, 0 deletions
diff --git a/3885/CH2/EX2.1/Ex2_1.sci b/3885/CH2/EX2.1/Ex2_1.sci new file mode 100644 index 000000000..7368c124e --- /dev/null +++ b/3885/CH2/EX2.1/Ex2_1.sci @@ -0,0 +1,23 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 2.1
+clc;
+clear;
+n=300;// number of turns
+li=0.01//linearity =1%
+v=30//voltage=30V
+kp=v/n
+disp(kp,'potentiometer constant in (volts/turn)')
+nmid=n/2
+vmid=kp*nmid
+disp(vmid,'voltage at mid point is;')
+disp('range of voltage at mid point with 1% linearoty is 14.7volts to 15.3 volts')//vmid(+-)0.3
+//assuming potentiometer is perfectly linear so the resistance at midpoint setting from reference is 50kohm
+//load resistance of 500Kohm is connected in parallel with potentiometer
+req=(500*50)/(500+50)
+v0=(v*req)/(50+req)//using voltage divison rule
+disp(v0,'voltage at midpoint with load resistance 500Kohm (in volts)')
+
diff --git a/3885/CH2/EX2.2/Ex2_2.sci b/3885/CH2/EX2.2/Ex2_2.sci new file mode 100644 index 000000000..2f5f5c8dc --- /dev/null +++ b/3885/CH2/EX2.2/Ex2_2.sci @@ -0,0 +1,24 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 2.2
+clc;
+clear;
+n1=20//no of teeth in first gear
+n2=10//no of teeth in second gear
+diratio=n1/n2
+disp(diratio,'the ratio of diameters is')
+theta1=40//gear1 is rotated by an angle of 40 degree
+theta2=(n1/n2)*theta1
+disp(theta2,'displace ment of gear2 in (degrees)')
+as1=30//angular speed of gear1 is 30 rad/sec
+as2=(n1/n2)*as1
+disp(as2,' angular speed of gear2 in(rad/sec)')
+aa2=4//angular accleration of gear 2 is 4 rad/sec^2
+aa1=(n2/n1)*aa2
+disp(aa1,'angular accleration of gear 1 in (rad/sec^2)')
+t1=5//torque on gear1 5N-m
+t2=(n2/n1)*t1
+disp(t2,'torque on gear2 in (N-m)')
diff --git a/3885/CH2/EX2.3/Ex2_3.sci b/3885/CH2/EX2.3/Ex2_3.sci new file mode 100644 index 000000000..a61eea73c --- /dev/null +++ b/3885/CH2/EX2.3/Ex2_3.sci @@ -0,0 +1,31 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 2.3
+clc;
+clear;
+n1=200//no of teeth in gear1
+n2=50//no of teeth in gear2
+n3=100//no of teeth in gear3
+n4=50//no of teeth in gear4
+n5=40//no of teeth in gear5
+n6=20//no of teeth in gear6
+n7=150//no of teeth in gear7
+//if gear 1 rotates in clockwise then all odd no gears rotate in clockwisw and even no gear rotate in anticlockwise
+ad1=2//angular displacement in gear 1 is 2rad
+ad4=(n1/n4)*ad1
+disp(ad4,'angular displacement in gear 4 in rad (anticlockwise)')
+ad7=(n1/n7)*ad1
+disp(ad7,'angular displacement in gear 7 in rad (clockwise)')
+av6=20//angular velocity of gear 6 is 20 rad/sec
+av1=(n6/n1)*av6
+disp(av1,'angular velocity of gear 1 in rad/sec; (clockwise)')
+av3=(n6/n3)*av6
+disp(av3,'angular velocity of gear 3 in rad/sec; (clockwise)')
+t1=10//torque on gear 1 is 10 N-m
+t3=(n3/n1)*t1
+disp(t3,'torque in gear 3 in N-m')
+t7=(n7/n1)*t1
+disp(t7,'torque in gear 7 in N-m')
diff --git a/3885/CH3/EX3.1/Ex3_1.sci b/3885/CH3/EX3.1/Ex3_1.sci new file mode 100644 index 000000000..43906e3c8 --- /dev/null +++ b/3885/CH3/EX3.1/Ex3_1.sci @@ -0,0 +1,18 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.1
+
+clc;
+clear;
+s=%s
+p=poly([4],'s','coeff')
+q=poly([0 5 1],'s','coeff')
+g=p./q
+disp(g,'the given transfer function is')
+c=g/(1+g)
+disp(c,'the closed loop transfer function is')
+u=c/s
+disp(u,'the in put is unit step signal')
diff --git a/3885/CH3/EX3.1/Ex3_1.xcos b/3885/CH3/EX3.1/Ex3_1.xcos new file mode 100644 index 000000000..69d8064a7 --- /dev/null +++ b/3885/CH3/EX3.1/Ex3_1.xcos @@ -0,0 +1,437 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex3_1"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="3ae06065:15fd4914b84:-7ff5" parent="0:2:0" interfaceFunctionName="CLR" blockType="c" dependsOnU="0" dependsOnT="1" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR"> + <ScilabString as="exprs" height="2" width="1"> + <data line="0" column="0" value="4"/> + <data line="1" column="0" value="s*(s+5)"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="9"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="-0.0"/> + <data line="0" column="2" realPart="1.0"/> + <data line="0" column="3" realPart="-5.0"/> + <data line="0" column="4" realPart="0.0"/> + <data line="0" column="5" realPart="1.0"/> + <data line="0" column="6" realPart="4.0"/> + <data line="0" column="7" realPart="0.0"/> + <data line="0" column="8" realPart="0.0"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="1" 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dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="STEP_FUNCTION"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="40.0" y="90.0" width="40.0" height="40.0"/> + <SuperBlockDiagram as="child" background="-1" gridEnabled="1" title=""> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGraphModel as="model"> + <root> + <mxCell id="3ae06065:15fd4914b85:-7ff2"/> + <mxCell id="3ae06065:15fd4914b86:-7ff2" parent="3ae06065:15fd4914b85:-7ff2"/> + <BasicBlock id="3ae06065:15fd4914b84:-7fcd" parent="3ae06065:15fd4914b86:-7ff2" interfaceFunctionName="STEP" blockType="c" dependsOnU="0" 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interfaceFunctionName="OUT_f" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="output" simulationFunctionType="DEFAULT" style=""> + <ScilabString as="exprs" height="1" width="1"> + <data line="0" column="0" value="1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabInteger as="integerParameters" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="1"/> + </ScilabInteger> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + 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id="3820b65e:15fe277c764:-7fda" parent="0:2:0" source="3820b65e:15fe277c764:-7fd6" target="3ae06065:15fd4914b84:-7fee" style="ExplicitLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="-4.0" y="40.0"/> + <Array as="points"> + <mxPoint x="150.0" y="130.0"/> + <mxPoint x="130.0" y="130.0"/> + <mxPoint x="140.0" y="250.0"/> + <mxPoint x="370.0" y="260.0"/> + <mxPoint x="370.0" y="120.0"/> + </Array> + <mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </ExplicitLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/> +</XcosDiagram>
\ No newline at end of file diff --git a/3885/CH3/EX3.2/Ex3_2.sci b/3885/CH3/EX3.2/Ex3_2.sci new file mode 100644 index 000000000..0af5261eb --- /dev/null +++ b/3885/CH3/EX3.2/Ex3_2.sci @@ -0,0 +1,19 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.2
+
+clc;
+clear;
+s=%s
+p=poly([100],'s','coeff')
+q=poly([0 2 1],'s','coeff')
+h=poly([1 0.1 0 ],'s','coeff')
+g=p./q
+disp(g,'the given transfer function is')
+c=g/(1+(g*h))
+disp(c,'the closed loop transfer function is')
+u=c/s
+disp(u,'the in put is unit step signal')
diff --git a/3885/CH3/EX3.2/Ex3_2.xcos b/3885/CH3/EX3.2/Ex3_2.xcos new file mode 100644 index 000000000..8709b952c --- /dev/null +++ b/3885/CH3/EX3.2/Ex3_2.xcos @@ -0,0 +1,361 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex3_2"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="3ae06065:15fd4914b84:-7fb6" parent="0:2:0" interfaceFunctionName="CLR" blockType="c" dependsOnU="0" dependsOnT="1" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLR"> + <ScilabString as="exprs" height="2" width="1"> + <data line="0" column="0" value="100"/> + <data line="1" column="0" value="s^2+12*s+100"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="9"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="-100.0"/> + <data line="0" column="2" realPart="1.0"/> + <data line="0" column="3" realPart="-12.0"/> + <data line="0" column="4" realPart="0.0"/> + <data line="0" column="5" realPart="1.0"/> + <data line="0" column="6" realPart="100.0"/> + <data line="0" column="7" realPart="0.0"/> + <data line="0" column="8" realPart="0.0"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="1" width="2"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="0.0"/> + </ScilabDouble> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="210.0" y="80.0" width="130.0" height="40.0"/> + </BasicBlock> + <ExplicitInputPort id="3ae06065:15fd4914b84:-7fb5" parent="3ae06065:15fd4914b84:-7fb6" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0"/> + <ExplicitOutputPort id="3ae06065:15fd4914b84:-7fb4" parent="3ae06065:15fd4914b84:-7fb6" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0"/> + <BasicBlock id="3ae06065:15fd4914b84:-7fad" parent="0:2:0" interfaceFunctionName="STEP_FUNCTION" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="STEP_FUNCTION"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="85.0" y="85.0" width="40.0" height="40.0"/> + <SuperBlockDiagram as="child" background="-1" gridEnabled="1" title=""> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGraphModel as="model"> + <root> + <mxCell id="3ae06065:15fd4914b85:-7fad"/> + <mxCell id="3ae06065:15fd4914b86:-7fad" parent="3ae06065:15fd4914b85:-7fad"/> + <BasicBlock id="3ae06065:15fd4914b84:-7fa1" parent="3ae06065:15fd4914b86:-7fad" interfaceFunctionName="STEP" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="step_func" simulationFunctionType="C_OR_FORTRAN" style=""> + <ScilabString as="exprs" height="3" width="1"> + <data line="0" column="0" value="1"/> + <data line="1" column="0" value="0"/> + <data line="2" column="0" value="40"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="2"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="40.0"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" 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target="3ae06065:15fd4914b84:-7fa8" style="CommandControlLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="0.0" y="0.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </CommandControlLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/> +</XcosDiagram>
\ No newline at end of file diff --git a/3885/CH3/EX3.3/Ex3_3.sci b/3885/CH3/EX3.3/Ex3_3.sci new file mode 100644 index 000000000..8570f5e49 --- /dev/null +++ b/3885/CH3/EX3.3/Ex3_3.sci @@ -0,0 +1,19 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.3
+
+clc;
+clear;
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c', 600/(s^2+70*s+600))//the closed loop transfer function
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=sqrt(600)//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=70/(2*w)//damping ratio
+disp(zeta,'damping ratio')
diff --git a/3885/CH3/EX3.4/Ex3_4.sci b/3885/CH3/EX3.4/Ex3_4.sci new file mode 100644 index 000000000..c973cba99 --- /dev/null +++ b/3885/CH3/EX3.4/Ex3_4.sci @@ -0,0 +1,24 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.4
+
+clc;
+clear;
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c',100/(s^2+10*s+100))//the value of k is 100
+k=100
+zeta=0.5//given damping ratio
+disp(k,'the value of k is')
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=sqrt(k)//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
diff --git a/3885/CH3/EX3.6/Ex3_6.sci b/3885/CH3/EX3.6/Ex3_6.sci new file mode 100644 index 000000000..08434469b --- /dev/null +++ b/3885/CH3/EX3.6/Ex3_6.sci @@ -0,0 +1,34 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.6
+
+clc;
+clear;
+s=poly(0,'s')
+// the input is unit step signal
+h=syslin('c',16/(s^2+4*s+16))//the value of k is 0.2
+zeta=0.5//given damping ratio
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=4//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+k=(2*zeta*w-(0.8))/16
+disp(k,'the value of k is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
+//constructing a right angle triangle with zeta and sqrt(1-zeta^2)
+theta=atan(0.866/0.5)//(1-zeta^2)/zeta
+disp(theta,'the value of theta is')
+tr=(%pi- theta)/(w*sqrt(1-(zeta)^2))
+disp(tr,'the rise time in seconds')
+t=1/(zeta*w)//time constant
+ts1=3*t//settling time for 5% error
+disp(ts1,'settling time for 5% error in seconds')
+ts2=4*t//settling time for 2% error
+disp(ts2,'settling time for 2% error in seconds')
diff --git a/3885/CH3/EX3.6/Ex3_6.xcos b/3885/CH3/EX3.6/Ex3_6.xcos new file mode 100644 index 000000000..4fdb52d8c --- /dev/null +++ b/3885/CH3/EX3.6/Ex3_6.xcos @@ -0,0 +1,363 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex3_6"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="-11a2a13d:15fdd4f79ed:-7fed" parent="0:2:0" interfaceFunctionName="CSCOPE" blockType="c" dependsOnU="1" dependsOnT="0" simulationFunctionName="cscope" simulationFunctionType="C_OR_FORTRAN" style="CSCOPE"> + <ScilabString as="exprs" height="10" width="1"> + <data line="0" 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source="-11a2a13d:15fdd4f79ed:-7fe6" target="-11a2a13d:15fdd4f79ed:-7fec" style="ExplicitLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="0.0" y="0.0"/> + <Array as="points"> + <mxPoint x="470.0" y="190.0"/> + </Array> + <mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </ExplicitLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/> +</XcosDiagram>
\ No newline at end of file diff --git a/3885/CH3/EX3.7/Ex3_7.sci b/3885/CH3/EX3.7/Ex3_7.sci new file mode 100644 index 000000000..7eb252a33 --- /dev/null +++ b/3885/CH3/EX3.7/Ex3_7.sci @@ -0,0 +1,28 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.7
+
+clc;
+clear;
+s=%s
+p=poly([1 0.4 0 ],'s','coeff')
+q=poly([0 0.6 1],'s','coeff')
+g=p./q
+disp(g,'the given transfer function is')
+c=g/(1+g)
+disp(c,'the closed loop transfer function is')
+u=c/s
+disp(u,'the in put is unit step signal')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=1//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=1/(2*w)
+disp(zeta,'the damping ratio is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot
+disp(mp,'percentage peak overshoot in percentage')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
diff --git a/3885/CH3/EX3.7/Ex3_7.xcos b/3885/CH3/EX3.7/Ex3_7.xcos new file mode 100644 index 000000000..c7d460bad --- /dev/null +++ b/3885/CH3/EX3.7/Ex3_7.xcos @@ -0,0 +1,361 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex3_7"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="-52c5eb75:15fe2536431:-7ff5" parent="0:2:0" interfaceFunctionName="STEP_FUNCTION" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="STEP_FUNCTION"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble 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\ No newline at end of file diff --git a/3885/CH3/EX3.9/Ex3_9.sci b/3885/CH3/EX3.9/Ex3_9.sci new file mode 100644 index 000000000..6b421b145 --- /dev/null +++ b/3885/CH3/EX3.9/Ex3_9.sci @@ -0,0 +1,35 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 3.9
+
+clc;
+clear;
+s=poly(0,'s')
+// the input is 12 unit step signal
+h=syslin('c',10/(s^2+2*s+10))
+disp(h,'the closed loop transfer function')
+//standard form od second order system is w^2/s^2+2*zeta*w*s+w^2
+//compaing h with the standard form
+w=3.162//natural frequency of oscillation
+disp(w,'natural frequency of oscillation in rad/sec')
+zeta=2/(2*w)
+disp(zeta,' damping ratio is')
+mp=exp((-zeta*%pi)/sqrt(1-(zeta)^2))*100//percentage peak overshoot
+disp(mp,'percentage peak overshoot in percentage')
+po=(mp/100)*12//peak over shoot for 12 units
+disp(po,'peak over shoot for 12 units')
+tp=%pi/(w*sqrt(1-(zeta)^2))
+disp(tp,'peak time in seconds')
+//constructing a right angle triangle with zeta and sqrt(1-zeta^2)
+theta=atan(0.866/0.5)//(1-zeta^2)/zeta
+disp(theta,'the value of theta is')
+tr=(%pi- theta)/(w*sqrt(1-(zeta)^2))
+disp(tr,'the rise time in seconds')
+t=1/(zeta*w)//time constant
+ts1=3*t//settling time for 5% error
+disp(ts1,'settling time for 5% error in seconds')
+ts2=4*t//settling time for 2% error
+disp(ts2,'settling time for 2% error in seconds')
diff --git a/3885/CH4/EX4.1/Ex4_1.sce b/3885/CH4/EX4.1/Ex4_1.sce new file mode 100644 index 000000000..391fddcc0 --- /dev/null +++ b/3885/CH4/EX4.1/Ex4_1.sce @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A +//Edition 3 +//Year of publication 2015 +//Scilab version 6.0.0 +//operating systems windows 10 +// Example 4.1 +clc; +clear; +s=poly(0,'s')//defines s as poly nomial variable +h=syslin('c',(s^2)/((1+0.2*s)*(1+0.02*s)))//the given transfer function assigned to variable h .Assume the value of K as 1 +scf(1) +bode(h,0.1,100)//frequency range +show_margins(h) +//calculation of system gain K +K=10^(-28/20)//value of K is calculated by equating 20logK to -28db +disp(K,'the value of gain') diff --git a/3885/CH4/EX4.2/Ex4_2.sce b/3885/CH4/EX4.2/Ex4_2.sce new file mode 100644 index 000000000..a308fe880 --- /dev/null +++ b/3885/CH4/EX4.2/Ex4_2.sce @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A +//Edition 3 +//Year of publication 2015 +//Scilab version 6.0.0 +//operating systems windows 10 +// Example 4.2 +clc; +clear; +s=poly(0,'s')//defines s as poly nomial variable +h=syslin('c',(75*(1+0.2*s))/(s*(s^2+16*s+100)))//the given transfer function assigned to variable h +scf(1) +bode(h,0.1,100)//frequency range +show_margins(h) +a=g_margin(h) +b=p_margin(h) +disp(a,b,'the gain margin and phase margin are') diff --git a/3885/CH4/EX4.3/Ex4_3.sce b/3885/CH4/EX4.3/Ex4_3.sce new file mode 100644 index 000000000..cabb1b9ee --- /dev/null +++ b/3885/CH4/EX4.3/Ex4_3.sce @@ -0,0 +1,18 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 4.3
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(%e*(0.2*s)/(s*(s+2)*(s+8))))//the given transfer function assiganed to variable h assume K=1
+scf(1)
+bode(h,0.1,100)//frequency range
+show_margins(h)
+//calculation of K
+K1=10^(30/20)
+disp(K1 ,'when gain margin =2db ' )
+K2=10^(24/20)
+disp(K2,'the value of K when phase margin is 45')
diff --git a/3885/CH4/EX4.4/Ex4_4.sce b/3885/CH4/EX4.4/Ex4_4.sce new file mode 100644 index 000000000..b2e71f434 --- /dev/null +++ b/3885/CH4/EX4.4/Ex4_4.sce @@ -0,0 +1,14 @@ +//control systems by Nagoor Kani A +//Edition 3 +//Year of publication 2015 +//Scilab version 6.0.0 +//operating systems windows 10 +// Example 4.4 +clc; +clear; +s=poly(0,'s')//defines s as poly nomial variable +h=syslin('c',(10)/(s*(1+0.4*s)*(1+0.1*s)))//the given transfer function assigned to variable h +scf(1) +bode(h,0.1,100)//frequency range +show_margins(h) + diff --git a/3885/CH4/EX4.5/Ex4_5.sce b/3885/CH4/EX4.5/Ex4_5.sce new file mode 100644 index 000000000..5a0abd24a --- /dev/null +++ b/3885/CH4/EX4.5/Ex4_5.sce @@ -0,0 +1,15 @@ +//control systems by Nagoor Kani A +//Edition 3 +//Year of publication 2015 +//Scilab version 6.0.0 +//operating systems windows 10 +// Example 4.5 +clc; +clear; +s=poly(0,'s')////defines s as poly nomial variable +h=syslin('c',(20)/(s*(1+3*s)*(1+4*s)))//the given transfer function assigned to variable h +scf() +bode(h,0.1,100) +show_margins(h) +//calculation of gain cross over frequency +disp('from the plot the value of gain cross over frequency is :1.1rad/sec') diff --git a/3885/CH4/EX4.6/Ex4_6.sce b/3885/CH4/EX4.6/Ex4_6.sce new file mode 100644 index 000000000..df075b610 --- /dev/null +++ b/3885/CH4/EX4.6/Ex4_6.sce @@ -0,0 +1,13 @@ +//control systems by Nagoor Kani A +//Edition 3 +//Year of publication 2015 +//Scilab version 6.0.0 +//operating systems windows 10 +// Example 4.6 +clc; +clear; +s=poly(0,'s')//defines s as poly nomial variable +h=syslin('c',(5*(1+2*s))/(1+4*s)*(4+0.25*s))//the given transfer function assigned to variablr h +scf(1) +bode(h,0.1,100)//frequency range +show_margins(h) diff --git a/3885/CH5/EX5.1/Ex5_1.sci b/3885/CH5/EX5.1/Ex5_1.sci new file mode 100644 index 000000000..15a526685 --- /dev/null +++ b/3885/CH5/EX5.1/Ex5_1.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.1
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^4)+(8*s^3)+(18*s^2)+(16*s)+5
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('since there is no sign change the system is stable')
+disp('all the four roots lie left half of the s plane')
diff --git a/3885/CH5/EX5.12/Ex5_12.sci b/3885/CH5/EX5.12/Ex5_12.sci new file mode 100644 index 000000000..c670d7cf1 --- /dev/null +++ b/3885/CH5/EX5.12/Ex5_12.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.12
+
+clc;
+clear;
+s=poly(0,'s')
+//the close loop tranfer function is K(1-s)/s*(s^2+5s+9)+K(1-s)
+a=(s^3)+(5*s^2)+(8*s)+1//the charater stic equation is assuming K=1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the valus of K lies between 0 to7.5 for the system to be stable')
diff --git a/3885/CH5/EX5.13/Ex5_13.sci b/3885/CH5/EX5.13/Ex5_13.sci new file mode 100644 index 000000000..342823134 --- /dev/null +++ b/3885/CH5/EX5.13/Ex5_13.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.13
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(230/(s*(s+2)*(s+10))))//the value of K lies between 0 to 240 .the given transfer function assigned to variable h
+nyquist(h)
+show_margins(h,'nyquist')
+//calculation of K
+//when -0.00417K=-1the contour passes through -1+j0 and the corrospondig value of K is the limiting value of k for stabilty
+K=1/0.00417
+disp(K,'the value of K is')
diff --git a/3885/CH5/EX5.14/Ex5_14.sci b/3885/CH5/EX5.14/Ex5_14.sci new file mode 100644 index 000000000..bc9317727 --- /dev/null +++ b/3885/CH5/EX5.14/Ex5_14.sci @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.14
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(0.6*(1+s)^2/(s^3)))//the system is stable for K vlaue greater than 0.5. the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+//when K>0.5 -1+j0 is encircled in both clockwise and anticlockwise direction one time. so the system is stable
+disp('the system is stable for K vlaue greater than 0.5.')
diff --git a/3885/CH5/EX5.15/Ex5_15.sci b/3885/CH5/EX5.15/Ex5_15.sci new file mode 100644 index 000000000..f4eef5eed --- /dev/null +++ b/3885/CH5/EX5.15/Ex5_15.sci @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.15
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(1+4*s)/(s*(1+s)*(1+2*s)))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+disp('the closed loop system is unstable ')
+disp('two poles of closed loop system are lying on right half of s plane')
diff --git a/3885/CH5/EX5.16/Ex5_16.sci b/3885/CH5/EX5.16/Ex5_16.sci new file mode 100644 index 000000000..25d98515e --- /dev/null +++ b/3885/CH5/EX5.16/Ex5_16.sci @@ -0,0 +1,21 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.16
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(7*(1+0.5*s)*(1+s)/(1+10*s)*(s-1)))//system is stable for K>6.....the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+//calculation of K
+//when -0.01667K=-1the contur passes through -1=j0and the corrospong value of K is the limiting value of k for stabilty
+K=1/0.1667
+disp(K,'the value of K is')
+disp('the open loop system is unstable')
+disp('for stability of closed loop system K>6')
+
diff --git a/3885/CH5/EX5.17/Ex5_17.sci b/3885/CH5/EX5.17/Ex5_17.sci new file mode 100644 index 000000000..3eb81997a --- /dev/null +++ b/3885/CH5/EX5.17/Ex5_17.sci @@ -0,0 +1,15 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.17
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(5/(s*(1-s))))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+disp('both open loop and closed loop system are unstable)
diff --git a/3885/CH5/EX5.18/Ex5_18.sci b/3885/CH5/EX5.18/Ex5_18.sci new file mode 100644 index 000000000..d5327b765 --- /dev/null +++ b/3885/CH5/EX5.18/Ex5_18.sci @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.28
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(s+2)/(s+1)*(s-1))//the given transfer function assigned to variable h
+scf()
+nyquist(h)
+show_margins(h,'nyquist')
+disp('open loop system is unstable')
+disp('closed loop system is stable;' )
diff --git a/3885/CH5/EX5.2/Ex5_2.sci b/3885/CH5/EX5.2/Ex5_2.sci new file mode 100644 index 000000000..7e9f4d97c --- /dev/null +++ b/3885/CH5/EX5.2/Ex5_2.sci @@ -0,0 +1,20 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.2
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^6)+(2*s^5)+(8*s^4)+(12*s^3)+(20*s^2)+(16*s)+16
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+ap=s^4+6*s^2+8
+r=roots(ap)
+disp(r,'the roots of auxilary polynomial;')
+disp('the system is marginally stable;')
+disp('four roots lying in imaginary axis ;')
diff --git a/3885/CH5/EX5.22/Ex5_22.sci b/3885/CH5/EX5.22/Ex5_22.sci new file mode 100644 index 000000000..a411018c2 --- /dev/null +++ b/3885/CH5/EX5.22/Ex5_22.sci @@ -0,0 +1,19 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.22
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+G=syslin('c',(1/(s*(s^2+4*s+13))))//the given transfer function assigned to variable G assume K=1
+scf()
+evans(G)
+//calculation of K
+disp('the characterstic equation is given by : s^2+4*s^2+13*s+K')
+//put s=jw and equate real and imaginary parts
+//K=4*w^2
+K=4*13
+disp(K,'the value of K is ')
diff --git a/3885/CH5/EX5.23/Ex5_23.sci b/3885/CH5/EX5.23/Ex5_23.sci new file mode 100644 index 000000000..feea17484 --- /dev/null +++ b/3885/CH5/EX5.23/Ex5_23.sci @@ -0,0 +1,19 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.23
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(48/(s*(s+2)*(s+4))))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//calculation of K
+disp('the characterstic equation is given by : s^3+6*s^2+8*s+K')
+//put s=jw and equate real and imaginary parts
+//K=4*w^2
+K=6*8
+disp(K,'the value of K is ')
diff --git a/3885/CH5/EX5.24/Ex5_24.sci b/3885/CH5/EX5.24/Ex5_24.sci new file mode 100644 index 000000000..91800d858 --- /dev/null +++ b/3885/CH5/EX5.24/Ex5_24.sci @@ -0,0 +1,22 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.24
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(s+9)/(s*(s^2+4*s+11)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+4s^2+11s)+Ks+9K
+//put s=jw and equating real and imaginary parts to calculate K
+K=(4*(4.4)^2)/9//the value of w is 4.4
+disp(K,'the value of K is;')
+
+
+
+
+
diff --git a/3885/CH5/EX5.25/Ex5_25.sci b/3885/CH5/EX5.25/Ex5_25.sci new file mode 100644 index 000000000..f3c7eb9d1 --- /dev/null +++ b/3885/CH5/EX5.25/Ex5_25.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.25
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(1/(s*(s+4)*(s^2+4*s+20))))// the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^4+8s^3+36s^2+80s)+K
+//put s=jw and equating real and imaginary parts to calculate K
+K=-(3.2)^4+36*(3.2)^2//the value of w is 3.2
+disp(K,'yhe value of K is;')
diff --git a/3885/CH5/EX5.26/Ex5_26.sci b/3885/CH5/EX5.26/Ex5_26.sci new file mode 100644 index 000000000..d8e13f3b9 --- /dev/null +++ b/3885/CH5/EX5.26/Ex5_26.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.26
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(s+15)/(s*(s+1)*(s+5)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+6s^2+5s)+Ks+15K
+//put s=jw and equating real and imaginary parts to calculate K
+K=30/(-4.5)
+disp(K,'yhe value of K is;')
diff --git a/3885/CH5/EX5.27/Ex5_27.sci b/3885/CH5/EX5.27/Ex5_27.sci new file mode 100644 index 000000000..36f588de1 --- /dev/null +++ b/3885/CH5/EX5.27/Ex5_27.sci @@ -0,0 +1,18 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.27
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+K=poly(0,'K')
+h=syslin('c',(s^2+6*s+25)/(s*(s+1)*(s+2)))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+(3+K)s^2+(2+6K)s)25K
+//put s=jw and equating real and imaginary parts to calculate K
+a=roots((-6*K^2)+5*K-6)
+disp(a,'the value of K is')
diff --git a/3885/CH5/EX5.28/Ex5_28.sci b/3885/CH5/EX5.28/Ex5_28.sci new file mode 100644 index 000000000..64e45a9dd --- /dev/null +++ b/3885/CH5/EX5.28/Ex5_28.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.28
+
+clc;
+clear;
+s=poly(0,'s')//defines s as poly nomial variable
+h=syslin('c',(1/(s*(s^2+6*s+10))))//the given transfer function assigned to variable h assume K=1
+scf()
+evans(h)
+//the characterstic equation is (s^3+6s^2+10s)+K
+//put s=jw and equating real and imaginary parts to calculate K
+K=6*(3.2)^2//the valuw of w is 3.2
+disp(K,'the value of K is ')
diff --git a/3885/CH5/EX5.3/Ex5_3.sci b/3885/CH5/EX5.3/Ex5_3.sci new file mode 100644 index 000000000..b295151fd --- /dev/null +++ b/3885/CH5/EX5.3/Ex5_3.sci @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.3
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^5)+(s^4)+(2*s^3)+(2*s^2)+(3*s)+5
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the system is unstable')
diff --git a/3885/CH5/EX5.4/Ex5_4.sci b/3885/CH5/EX5.4/Ex5_4.sci new file mode 100644 index 000000000..972e7e18d --- /dev/null +++ b/3885/CH5/EX5.4/Ex5_4.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.4
+
+clc;
+clear;
+s=poly(0,'s')
+a=(9*s^5)-(20*s^4)+(10*s^3)-(s^2)-(9*s)-10
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('there are 3 sign changes in first column of routh array ')
+disp('three roots lie on right side of s plane so the system is unstable')
diff --git a/3885/CH5/EX5.5/Ex5_5.sci b/3885/CH5/EX5.5/Ex5_5.sci new file mode 100644 index 000000000..78c85847f --- /dev/null +++ b/3885/CH5/EX5.5/Ex5_5.sci @@ -0,0 +1,21 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.5
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^7)+(9*s^6)+(24*s^5)+(24*s^4)+(24*s^3)+(24*s^2)+(23*s)+15
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('there is sign change in first column of routh array so ths system is unstable;')
+ae=s^4+s^2+1
+r=roots(ae)
+disp(r,'the roots of auxilary equation are')
+disp('two roots lie on right half of splane five roots lie on left half of s plane')
+
diff --git a/3885/CH5/EX5.6/Ex5_6.sci b/3885/CH5/EX5.6/Ex5_6.sci new file mode 100644 index 000000000..d5134347f --- /dev/null +++ b/3885/CH5/EX5.6/Ex5_6.sci @@ -0,0 +1,27 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.6
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^7)+(5*s^6)+(9*s^5)+(9*s^4)+(4*s^3)+(20*s^2)+(36*s)+36
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+//divide characterstic equation by auxilary polynomial to get quotient polynomial
+//routh table for quotient poly nomial
+a1=(s^3)+(5*s^2)+(9*s)+9 //quotient poly nomial
+b1=coeff(a1)
+n1=length(b1)
+R1=routh_t(a1)
+disp(R1,'the routh array for quotient poly nomial is;')
+ap=s^4+4 //auxillary polynomial
+r=roots(ap)
+disp(r,'the roots are')
+disp('the system is unstable')
+disp('two roots on right half of s plane and five roots lie in left half of s plane')
diff --git a/3885/CH5/EX5.7/Ex5_7.sci b/3885/CH5/EX5.7/Ex5_7.sci new file mode 100644 index 000000000..6111bfe21 --- /dev/null +++ b/3885/CH5/EX5.7/Ex5_7.sci @@ -0,0 +1,20 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.7
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^5)+(4*s^4)+(8*s^3)+(8*s^2)+(7*s)+4
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+ap=s^2+1
+r=roots(ap)
+disp(r,'the roots are')
+disp ('the roots of auxillary equation are in imagianry axis so the system is marginally stable')
+disp('three roots lie in left half of s plane')
diff --git a/3885/CH5/EX5.8/Ex5_8.sci b/3885/CH5/EX5.8/Ex5_8.sci new file mode 100644 index 000000000..9de51e2a7 --- /dev/null +++ b/3885/CH5/EX5.8/Ex5_8.sci @@ -0,0 +1,28 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.8
+
+clc;
+clear;
+s=poly(0,'s')
+a=(s^6)+(s^5)+(3*s^4)+(3*s^3)+(3*s^2)+(2*s)+1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+//characterstic polynomial can be expressed as product of auxillary polynomial and quotient polynomial
+//divide characterstic equation by auxilary polynomial to get quotient polynomial
+//routh table for quotient poly nomial
+a1=(s^4)+(s^3)+(2*s^2)+(2*s)+1 //quotient poly nomial
+b1=coeff(a1)
+n1=length(b1)
+R1=routh_t(a1)
+disp(R1,'the routh array for quotient poly nomial is;')
+ap=s^2+1
+r=roots(ap)
+disp(r,'the roots are')
+disp('the system is unstable')
+disp('two roota on imaginary axis ,two roots on right half of s plane and two roots lie in left half of s plane')
diff --git a/3885/CH5/EX5.9/Ex5_9.sci b/3885/CH5/EX5.9/Ex5_9.sci new file mode 100644 index 000000000..d9b5660bd --- /dev/null +++ b/3885/CH5/EX5.9/Ex5_9.sci @@ -0,0 +1,17 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 5.9
+
+clc;
+clear;
+s=poly(0,'s')
+//the close loop tranfer function is K/s*(s+1)*(s+2)+K
+a=(s^3)+(3*s^2)+(2*s)+1//the characterstic equation assuming K=1
+b=coeff(a)
+n=length(b)
+R=routh_t(a)
+disp(R,'the routh array is;')
+disp('the valus of K lies between 0 to6 for the system to be stable')
diff --git a/3885/CH6/EX6.1/Ex6_1.sci b/3885/CH6/EX6.1/Ex6_1.sci new file mode 100644 index 000000000..a11b65857 --- /dev/null +++ b/3885/CH6/EX6.1/Ex6_1.sci @@ -0,0 +1,47 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.1
+
+clc;
+clear;
+s=poly(0,'s')
+//calculation of gain K
+//for ramp input ess(steady state error ) is0.2
+ess=0.2
+kv=1/ess
+// open loop transfer function G(s)=K/s*(1+2*s)
+//by definition of velocity error constant applying limit s=0 in G(s)
+disp('the value of K is 5;')
+h=syslin('c',5/(s*(1+2*s)))
+bode(h)
+show_margins(h)
+xtitle("uncompensated system")
+//from the plot the phase margin of uncompensated system is 18
+//but the system requires phase margin of 40 so lag compensation required
+pm=45//choose PM of compensated system is 45 degree
+phigcn=45-180// phase of G(s) at new gain cross over frequency
+wgcn=0.5//the frequency corrosponding to phase of -135 is 0.5 rad/sec
+agcn=20//db magnitude at wgcn
+//20log betaa=20
+betaa=10^(agcn/20)
+disp(betaa,'the value for betaa is')
+zc=wgcn/10//zero of lag compensator
+t=10/wgcn
+disp(t,'the value for t is')
+pc=1/(betaa*t)
+disp(pc,'pole of lag compensator is')
+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))
+hc=syslin('c', (10*(1+20*s))/(1+200*s))
+disp(hc,'the transfer function of lag compensator is;')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c',h*hc)
+disp(hcmp,'open loop transfer function of compensated system is')
+figure()
+bode(hcmp)
+show_margins(hcmp)
+xtitle("compensated system")
+
+
diff --git a/3885/CH6/EX6.11/Ex6_11.sci b/3885/CH6/EX6.11/Ex6_11.sci new file mode 100644 index 000000000..2d6ae51eb --- /dev/null +++ b/3885/CH6/EX6.11/Ex6_11.sci @@ -0,0 +1,26 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.11
+
+clc;
+clear;
+s=poly(0,'s')
+//given tranfer function g(s)=10/(s*(1+2*s)*(1+s))
+h=syslin('c',10/(s*(1+2*s)*(1+s)))
+pm=30//given phase margin
+w=6.2//given gain cross over frequency in rad/sec
+//put s=jw in G(s) magnitude of G(jw) gives A1 and angle of G(jw) gives phi1 at w
+A1=2.052
+phi=-207.5//in degrees
+theta=30-(-27.5)//desired pm -pm of uncompensated system
+kd=sind(theta)/w*A1//derivative constant
+kp=cosd(theta)/A1//proportional constant
+disp(kd,kp,'the values of derivative constant and proportional constant are')
+//transfer function of PD controller is (kp+kd*s)
+hc=syslin('c', s*((0.343/s)+0.262))
+disp(hc,'the transfer function of PD controller is')
+hcmp=syslin('c', h*hc)
+disp(hcmp,'the transfer function of compensated system is')
diff --git a/3885/CH6/EX6.12/Ex6_12.sci b/3885/CH6/EX6.12/Ex6_12.sci new file mode 100644 index 000000000..b76533c30 --- /dev/null +++ b/3885/CH6/EX6.12/Ex6_12.sci @@ -0,0 +1,26 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.12
+
+clc;
+clear;
+s=poly(0,'s')
+//given tranfer function g(s)=100/(s+1)*(s+2)*(s+5)
+h=syslin('c',100/(s+1)*(s+2)*(s+5))
+pm=60//given phase margin
+w=0.5//given gain cross over frequency in rad/sec
+//put s=jw in G(s) magnitude of G(jw) gives A1 and angle of G(jw) gives phi1 at w
+A1=8.63
+phi=-46//in degrees
+theta=pm-134//desired pm -pm of uncompensated system
+ki=(-w)*sind(theta)/A1//integral constant
+kp=cosd(theta)/A1//proportional constant
+disp(ki,kp,'the values of integral constant and proportional constant are')
+//transfer function of PI controller is (kp+ki/s)
+hc=syslin('c', 0.056*(1+0.57*s)/s)
+disp(hc,'the transfer function of PD controller is')
+hcmp=syslin('c', h*hc)
+disp(hcmp,'the transfer function of compensated system is')
diff --git a/3885/CH6/EX6.13/Ex6_13.sci b/3885/CH6/EX6.13/Ex6_13.sci new file mode 100644 index 000000000..71b989efc --- /dev/null +++ b/3885/CH6/EX6.13/Ex6_13.sci @@ -0,0 +1,31 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.13
+
+clc;
+clear;
+s=poly(0,'s')
+//given tranfer function g(s)=100/(s+1)*(s+2)*(s+10)
+h=syslin('c',100/(s+1)*(s+2)*(s+10))
+pm=45//given phase margin
+w=4//given gain cross over frequency in rad/sec
+//put s=jw in G(s) magnitude of G(jw) gives A1 and angle of G(jw) gives phi1 at w
+A1=0.5
+phi=-161//in degrees
+theta=pm-19//desired pm -pm of uncompensated system
+ess=0.1//steady state error for ramp input
+kv=1/ess//velocity errpr constant
+//the transfer function of PID controller is Gc(s)=kp+kd*s+ki/s
+//by definition of velocity error constant applying s=0 in S*Gc(s)*G(s)
+ki=2//integeral constant
+disp(ki,'the value of integral constant')
+kd=((sind(theta)/(w*A1))+(ki/w^2))//derivative constant
+kp=cosd(theta)/A1//proportional constant
+disp(kd,kp,'the values of proportional constant and derivative constant are')
+hc=syslin('c',0.344*(s^2+5.23*s+5.81)/s)
+disp(hc,'the transfer function of PID controller is')
+hcmp=syslin('c',h*hc)
+disp(hcmp,'the transfer function of compensated system is')
diff --git a/3885/CH6/EX6.14/Ex6_14.sci b/3885/CH6/EX6.14/Ex6_14.sci new file mode 100644 index 000000000..e1257acc2 --- /dev/null +++ b/3885/CH6/EX6.14/Ex6_14.sci @@ -0,0 +1,34 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.14
+
+clc;
+clear;
+s=poly(0,'s')
+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)
+zeta=0.8//damping ratio
+w=2//natural frequency of osciilation in rad/sec
+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))
+disp(sd,'the dominennt pole is')
+d=abs(sd)
+disp(d,'the value of d is ')
+betaa=phasemag(sd)
+disp(betaa,'the value of betaa is;')
+h=syslin('c',20/s*(s+2)*(s+4))//given tranfer function G(s)
+//find magnitude and phase of G(s) at s=sd
+a=20/(sd*(2+sd)*(4+sd))
+ad=abs(a)
+disp(ad,'the value of ad is')
+phid=phasemag(a)
+disp(phid,'the value of phid is')
+kd=sind(phid)/(d*ad*sind(betaa))//derivative constant
+disp(kd,'the derivative constant is')
+kp=(-sind(betaa+phid))/(ad*sind(betaa))//proportional constant
+disp(kp,'the integral constant is')
+hc=syslin('c', s*((0.243/s)+0.557))//transfer function of PD controller is kpof +kd*s
+disp(hc,'transfer function of PD controller is')
+hcmp=syslin('c',h*hc)//transfer function compensated system
+disp(hcmp,'transfer function compensated system ')
diff --git a/3885/CH6/EX6.15/Ex6_15.sci b/3885/CH6/EX6.15/Ex6_15.sci new file mode 100644 index 000000000..1f1088532 --- /dev/null +++ b/3885/CH6/EX6.15/Ex6_15.sci @@ -0,0 +1,34 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.15
+
+clc;
+clear;
+s=poly(0,'s')
+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)
+zeta=0.9//damping ratio
+w=2.5//natural frequency of osciilation in rad/sec
+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))
+disp(sd,'the dominennt pole is')
+d=abs(sd)
+disp(d,'the value of d is ')
+betaa=phasemag(sd)
+disp(betaa,'the value of betaa is;')
+h=syslin('c',4/(s+1)*(s+5))//given tranfer function G(s)
+//find magnitude and phase of G(s) at s=sd
+a=4/((1+sd)*(5+sd))
+ad=abs(a)
+disp(ad,'the value of ad is')
+phid=phasemag(a)
+disp(phid,'the value of phid is')
+ki=-(d*sind(phid))/(ad*sind(betaa))//integral constant
+disp(ki,'the integral constant is')
+kp=(-sind(betaa+phid))/(ad*sind(betaa))-(2*ki*cosd(betaa))/d //proportional constant
+disp(kp,'the proportional constant is')
+hc=syslin('c', 2.02*(s+1.19)/s)//transfer function of PD controller is kpof +kd*s
+disp(hc,'transfer function of PI controller is')
+hcmp=syslin('c',h*hc)//transfer function compensated system
+disp(hcmp,'transfer function compensated system ')
diff --git a/3885/CH6/EX6.16/Ex6_16.sci b/3885/CH6/EX6.16/Ex6_16.sci new file mode 100644 index 000000000..1b0933b5f --- /dev/null +++ b/3885/CH6/EX6.16/Ex6_16.sci @@ -0,0 +1,39 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.15
+
+clc;
+clear;
+s=poly(0,'s')
+//dominent pole sd=-zeta*w=%i*w*sqrt(1-zeta^2)
+zeta=0.8//damping ratio
+w=2.5//natural frequency of osciilation in rad/sec
+sd=(-zeta*w)+((%i*w)*sqrt(1-zeta^2))
+disp(sd,'the dominennt pole is')
+d=abs(sd)
+disp(d,'the value of d is ')
+betaa=phasemag(sd)
+disp(betaa,'the value of betaa is;')
+h=syslin('c',75/(s+1)*(s+3)*(s+8))//given tranfer function G(s)
+//find magnitude and phase of G(s) at s=sd
+a=75/((1+sd)*(3+sd)*(8+sd))
+ad=abs(a)
+disp(ad,'the value of ad is')
+phid=phasemag(a)
+disp(phid,'the value of phid is')
+ess=0.08//steady state error
+kv=1/ess//velocity error constant
+//the transfer function of PID controller is Gc(s)=kp+kd*s+ki/s
+//by definition of velocity error constant applying s=0 in S*Gc(s)*G(s)
+ki=12.5/3.125//integeral constant
+kd=sind(phid)/(d*ad*sind(betaa))+(ki/(d^2)) //derivative constant
+disp(kd,'the derivative constant is')
+kp=(-sind(betaa+phid))/(ad*sind(betaa))-(2*ki*cosd(betaa))/d //proportional constant
+disp(kp,'the proportional constant is')
+hc=syslin('c', 0.68*(s^2+4.26*s+5.88)/s)//transfer function of PID controller is kpof +kd*s
+disp(hc,'transfer function of PI controller is')
+hcmp=syslin('c',h*hc)//transfer function compensated system
+disp(hcmp,'transfer function compensated system ')
diff --git a/3885/CH6/EX6.2/Ex6_2.sce b/3885/CH6/EX6.2/Ex6_2.sce new file mode 100644 index 000000000..a413259da --- /dev/null +++ b/3885/CH6/EX6.2/Ex6_2.sce @@ -0,0 +1,45 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.2
+
+clc;
+clear;
+s=poly(0,'s')
+//calculation of gain K
+kv=30//velocity error constant is 30sec^-1
+// open loop transfer function G(s)=K/s*(s+4)*(s+80)
+//by definition of velocity error constant applying limit s=0 in G(s)
+disp('the value of K is 9600;')
+h=syslin('c',9600/(s*(s+4)*(s+80)))
+bode(h)
+show_margins(h)
+xtitle("uncompensated system")
+//from the plot the phase margin of uncompensated system is 12
+//but the system requires phase margin of 33 so lag compensation required
+pm=38//choose PM of compensated system is 38 degree
+phigcn=38-180// phase of G(s) at new gain cross over frequency
+wgcn=4.7//the frequency corrosponding to phase of -142 is 4.7 rad/sec
+agcn=16//db magnitude at wgcn
+//20log betaa=16
+betaa=10^(agcn/20)
+disp(betaa,'the value for betaa is')
+zc=wgcn/10//zero of lag compensator
+t=10/wgcn
+disp(t,'the value for t is')
+pc=1/(betaa*t)
+disp(pc,'pole of lag compensator is')
+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))
+hc=syslin('c', (6.3*(1+2.13*s))/(1+13.419*s))
+disp(hc,'the transfer function of lag compensator is;')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c',h*hc)
+disp(hcmp,'open loop transfer function of compensated system is')
+figure()
+bode(hcmp)
+show_margins(hcmp)
+xtitle("compensated system")
+
+
diff --git a/3885/CH6/EX6.3/Ex6_3.sci b/3885/CH6/EX6.3/Ex6_3.sci new file mode 100644 index 000000000..331501dd3 --- /dev/null +++ b/3885/CH6/EX6.3/Ex6_3.sci @@ -0,0 +1,45 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.3
+
+clc;
+clear;
+s=poly(0,'s')
+K=20//the value of K
+h=syslin('c',20/(s*(s+2)*(s+8)))
+evans(h)
+xtitle("uncompensated system")
+//given ramp input ess(steady state error ) is0.125
+ess=0.125
+kvd=1/ess//desired velocity error constant
+// transfer function of un compessated system G(s)=20/s*(s+2)*(s+8)
+//by definition of velocity error constant applying limit s=0 in G(s)
+kvu=1.25
+disp(kvu,'The velocity error constant of un compensated system is')
+disp(kvd,'desired velocity error constant')
+A=kvd/kvu//A is the factor by which velocity error constant increases
+betaa=A*1.2
+disp(betaa,'the value of betaa is')
+zc=0.1*(-2)//zero of lag compensator=0.1* second pole
+t=(-1/zc)
+disp(t,'the value for t is')
+pc=(-1)/(betaa*t)//pole of lag compensator
+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))
+hc=syslin('c',(s+0.2*s)/(s+0.026*s))
+disp(hc,'transfer function of lag compensation is')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c', h*hc)
+disp(hcmp,'open loop transfer function of compensated system is')
+figure()
+evans(hcmp)
+xtitle("compensated system")
+//by definition of velocity error constant applying limit s=0 in hcmp
+kvc=9.165//velocity error constant of compensated system
+essc=1/kvc//steady state error for compensated system
+disp(essc,'steady state error for compensated system')
+disp('since the steady state error of compensated system is less than 0.125 the design is acceptable')
+
+
diff --git a/3885/CH6/EX6.4/Ex6_4.sci b/3885/CH6/EX6.4/Ex6_4.sci new file mode 100644 index 000000000..c67536baf --- /dev/null +++ b/3885/CH6/EX6.4/Ex6_4.sci @@ -0,0 +1,39 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.4
+
+clc;
+clear;
+s=poly(0,'s')
+K=240//the value of K
+h=syslin('c',240/(s*(s+10)^2))
+evans(h)
+xtitle("uncompensated system")
+kvd=20//given desired velocity error constant
+// transfer function of un compessated system G(s)=20/s*(s+2)*(s+8)
+//by definition of velocity error constant applying limit s=0 in G(s)
+kvu=2.4
+disp(kvu,'The velocity error constant of un compensated system is')
+disp(kvd,'desired velocity error constant')
+A=kvd/kvu//A is the factor by which velocity error constant increases
+betaa=A*1.2
+disp(betaa,'the value of betaa is')
+zc=0.1*(-10)//zero of lag compensator=0.1* second pole
+t=(-1/zc)
+disp(t,'the value for t is')
+pc=(-1)/(betaa*t)//pole of lag compensator
+//transfer function of lag compensation is (s+1/t)/(s+1/betaa*t))
+hc=syslin('c',(s+1)/(s+0.1))
+disp(hc,'transfer function of lag compensation is')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c', h*hc)
+disp(hcmp,'open loop transfer function of compensated system is')
+figure()
+evans(hcmp)
+xtitle("compensated system")
+//by definition of velocity error constant applying limit s=0 in hcmp
+kvc=24//velocity error constant of compensated system
+disp('since the velocity error constant of compensated system is greater than specified value the design is acceptable')
diff --git a/3885/CH6/EX6.5/Ex6_5.sci b/3885/CH6/EX6.5/Ex6_5.sci new file mode 100644 index 000000000..caff6d671 --- /dev/null +++ b/3885/CH6/EX6.5/Ex6_5.sci @@ -0,0 +1,41 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.5
+
+clc;
+clear;
+s=poly(0,'s')
+//calculation of gain K
+//given for ramp input ess(steady state error ) is 1/15
+ess=1/15
+kv=1/ess
+// open loop transfer function G(s)=K/s*(s+1)
+//by definition of velocity error constant applying limit s=0 in G(s)
+disp('the value of K is 15;')
+h=syslin('c',15/(s*(s+1)))
+bode(h)
+show_margins(h)
+xtitle("uncompensated system")
+//from the plot the phase margin of uncompensated system is 13
+//but the system requires phase margin of 45 so lead compensation required
+pm=45//choose PM of compensated system is 45 degree
+phim=37//maximum lead angle
+alpha=(1-(sind(phim)))/(1+(sind(phim)))
+disp(alpha,'the vale of alpha is')
+wmdb=-20*log(1/sqrt(alpha))////db magnitude
+wm=5.6//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -6db is 5.6rad/sec
+t=1/(wm*sqrt(alpha))
+disp(t,'the value of t is')
+//transfer function of lead compensator is (s+1/t)/(s+1/alpha*t)
+hc=syslin('c',(0.25*(1+0.36*s))/(1+0.09*s))
+disp(hc,' transfer function of lead compensator is')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c',h*hc)
+disp(hcmp,'open loop transfer function of compensated system is ')
+figure()
+bode(hcmp)
+show_margins(hcmp)
+xtitle("compensated system")
diff --git a/3885/CH6/EX6.6/Ex6_6.sci b/3885/CH6/EX6.6/Ex6_6.sci new file mode 100644 index 000000000..40a0f476d --- /dev/null +++ b/3885/CH6/EX6.6/Ex6_6.sci @@ -0,0 +1,40 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.6
+
+clc;
+clear;
+s=poly(0,'s')
+//calculation of gain K
+kv=50//given velocity error constant
+// open loop transfer function G(s)=K/s*(s+1)(s+5)
+//by definition of velocity error constant applying limit s=0 in G(s)
+disp('the value of K is 250;')
+h=syslin('c',250/(s*(s+1)*(s+5)))
+bode(h)
+show_margins(h)
+xtitle("uncompensated system")
+//from the plot the phase margin of uncompensated system is -44
+//but the system requires phase margin of 20 so lead compensation required
+pm=20//choose PM of compensated system is 20 degree
+//since the lead angle required is greater than 60 we have to realise lead compensator as cascade of two compensators with each compensator providing half of required phase
+phim=69/2//maximum lead angle
+alpha=(1-sind(phim))/(1+sind(phim))
+disp(alpha,'the vale of alpha is')
+wmdb=-20*log(1/sqrt(alpha))////db magnitude
+wm=7.8//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -6db is 5.6rad/sec
+t=1/(wm*sqrt(alpha))
+disp(t,'the value of t is')
+//transfer function of lead compensator is (s+1/t)/(s+1/alpha*t)
+hc=syslin('c',(0.0784*(1+0.024*s)^2)/(1+0.067*s)^2)
+disp(hc,' transfer function of lead compensator is')
+//open loop transfer function of compensated system is h*hc
+hcmp=syslin('c',h*hc)
+disp(hcmp,'open loop transfer function of compensated system is ')
+figure()
+bode(hcmp)
+show_margins(hcmp)
+xtitle("compensated system")
diff --git a/3885/CH6/EX6.9/Ex6_9.sci b/3885/CH6/EX6.9/Ex6_9.sci new file mode 100644 index 000000000..b4e38f2cc --- /dev/null +++ b/3885/CH6/EX6.9/Ex6_9.sci @@ -0,0 +1,54 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 6.9
+
+clc;
+clear;
+s=poly(0,'s')
+//calculation of gain K
+kv=80//given velocity error constant
+// open loop transfer function G(s)=K/s*(s+3)(s+6)
+//by definition of velocity error constant applying limit s=0 in G(s)
+disp('the value of K is 1440;')
+h=syslin('c',1440/(s*(s+3)*(s+6)))
+bode(h)
+show_margins(h)
+xtitle("uncompensated system")
+//from the plot the phase margin of uncompensated system is -46
+pm=40//choose PM of compensated system is 40 degree
+phigcn=40-180// phase of G(s) at new gain cross over frequency
+wgcn=1.8//the frequency corrosponding to phase of -140 is 1.8 rad/sec
+wgcl=4//choose gain cross over frequency of lag compensator as 4rad/sec
+agcl=23//db magnitude at egcl is 23db
+//agcl=20log*betaa
+betaa=10^(agcl/20)
+disp(betaa,'the value of betaa is')
+zc1=wgcl/10//zero of lag compensator
+t1=10/wgcl
+disp(t1,'the value of t1 is ')
+pc1=1/(betaa*t1)
+disp(pc1,'pole of lag compensator is')
+//transfer function of lag section is (betaa*1+st1)/(1+s*betaa*t1)
+hc1=syslin('c',(14*(1+2.5*s))/(1+35*s))
+disp(hc1,'transfer function of lag section')
+alpha=1/betaa
+disp(alpha,'the value of alpha is')
+wmdb=-20*log(1/sqrt(alpha))////db magnitude
+wm=17//from the bode plot of uncompensated system the frequency wm corrosponding to db gain of -12db is 17rad/sec
+t2=1/(wm*sqrt(alpha))
+//transfer function of lead section is (alpha*1+st2)/(1+s*alpha*t2)
+hc2=syslin('c',(0.07*(1+0.22*s))/(1+0.0154*s))
+disp(hc2,'transfer function of lead section')
+hc3=syslin('c',hc1*hc2)
+disp(hc3,'the tansfer function of lag lead compensation system is')
+//open loop transfer function of compensated system is h*hc3
+hcmp=syslin('c',h*hc3)
+disp(hcmp,'the overll transfer function of compensated system')
+figure()
+bode(hcmp)
+show_margins(hcmp)
+xtitle("compensated system")
+
diff --git a/3885/CH7/EX7.10/Ex7_10.sci b/3885/CH7/EX7.10/Ex7_10.sci new file mode 100644 index 000000000..f4ed6fb6d --- /dev/null +++ b/3885/CH7/EX7.10/Ex7_10.sci @@ -0,0 +1,14 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.10
+
+clc;
+clear;
+s=%s
+p=poly([10],'s','coeff')
+q=poly([1 2 4 1],'s','coeff')
+sm=cont_frm(p,q)
+disp(sm,'the state model in matrix form is')
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dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandPort id="28c792fb:15ff6784ce1:-7fc4" parent="28c792fb:15ff6784ce1:-7fc7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="1.0" style=""/> + <ExplicitOutBlock id="28c792fb:15ff6784ce1:-7fc3" parent="28c792fb:15ff6784ce3:-7fd5" interfaceFunctionName="OUT_f" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="output" simulationFunctionType="DEFAULT" style=""> + <ScilabString as="exprs" height="1" width="1"> + <data line="0" column="0" value="1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabInteger as="integerParameters" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="1"/> + </ScilabInteger> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="80.0" y="10.0" width="20.0" height="20.0"/> + </ExplicitOutBlock> + <ExplicitInputPort id="28c792fb:15ff6784ce1:-7fc2" parent="28c792fb:15ff6784ce1:-7fc3" ordering="1" initialState="0.0" style=""/> + <ExplicitLink id="28c792fb:15ff6784ce1:-7fc1" parent="28c792fb:15ff6784ce3:-7fd5" source="28c792fb:15ff6784ce1:-7fc6" target="28c792fb:15ff6784ce1:-7fc2" style="" value=""> + <mxGeometry as="geometry"> + <Array as="points"></Array> + </mxGeometry> + </ExplicitLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fc0" parent="28c792fb:15ff6784ce3:-7fd5" source="28c792fb:15ff6784ce1:-7fc4" target="28c792fb:15ff6784ce1:-7fc5" style="" 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as="exprs" height="10" width="1"> + <data line="0" column="0" value="1 3 5 7 9 11 13 15"/> + <data line="1" column="0" value="-1"/> + <data line="2" column="0" value="[]"/> + <data line="3" column="0" value="[600;400]"/> + <data line="4" column="0" value="-15"/> + <data line="5" column="0" value="15"/> + <data line="6" column="0" value="30"/> + <data line="7" column="0" value="20"/> + <data line="8" column="0" value="0"/> + <data line="9" column="0" value=""/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="4"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="-15.0"/> + <data line="0" column="2" realPart="15.0"/> + <data line="0" column="3" realPart="30.0"/> + </ScilabDouble> + <ScilabInteger as="integerParameters" height="1" width="15" intPrecision="sci_int32"> + <data line="0" column="0" value="-1"/> + <data line="0" column="1" value="1"/> + <data line="0" column="2" value="20"/> + <data line="0" column="3" value="1"/> + <data 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scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="335.0" y="105.0" width="40.0" height="40.0"/> + </BasicBlock> + <ExplicitInputPort id="28c792fb:15ff6784ce1:-7fd1" parent="28c792fb:15ff6784ce1:-7fd2" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="-1" initialState="0.0" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0"/> + <ControlPort id="28c792fb:15ff6784ce1:-7fd0" parent="28c792fb:15ff6784ce1:-7fd2" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ControlPort;align=center;verticalAlign=top;spacing=10.0;rotation=90"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fce" parent="0:2:0" interfaceFunctionName="CLOCK_c" blockType="h" dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="CLOCK_c"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="335.0" y="25.0" width="40.0" height="40.0"/> + <SuperBlockDiagram as="child" background="-1" gridEnabled="1" title=""> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGraphModel as="model"> + <root> + <mxCell id="28c792fb:15ff6784ce2:-7fce"/> + <mxCell id="28c792fb:15ff6784ce3:-7fce" parent="28c792fb:15ff6784ce2:-7fce"/> + <EventOutBlock id="28c792fb:15ff6784ce1:-7fbf" parent="28c792fb:15ff6784ce3:-7fce" interfaceFunctionName="CLKOUT_f" blockType="d" dependsOnU="0" dependsOnT="0" simulationFunctionName="output" simulationFunctionType="DEFAULT" style=""> + <ScilabString as="exprs" height="1" width="1"> + <data line="0" column="0" value="1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabInteger as="integerParameters" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="1"/> + </ScilabInteger> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="399.0" y="162.0" width="20.0" height="20.0"/> + </EventOutBlock> + <ControlPort id="28c792fb:15ff6784ce1:-7fbe" parent="28c792fb:15ff6784ce1:-7fbf" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fbd" parent="28c792fb:15ff6784ce3:-7fce" interfaceFunctionName="EVTDLY_c" blockType="d" dependsOnU="0" dependsOnT="0" simulationFunctionName="evtdly4" simulationFunctionType="C_OR_FORTRAN" style=""> + <ScilabString as="exprs" height="2" width="1"> + <data line="0" column="0" value="0.1"/> + <data line="1" column="0" value="0.1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="2"> + <data line="0" column="0" realPart="0.1"/> + <data line="0" column="1" realPart="0.1"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="320.0" y="232.0" width="40.0" height="40.0"/> + </BasicBlock> + <ControlPort id="28c792fb:15ff6784ce1:-7fbc" parent="28c792fb:15ff6784ce1:-7fbd" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandPort id="28c792fb:15ff6784ce1:-7fbb" parent="28c792fb:15ff6784ce1:-7fbd" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.1" style=""/> + <SplitBlock id="28c792fb:15ff6784ce1:-7fba" parent="28c792fb:15ff6784ce3:-7fce" interfaceFunctionName="CLKSPLIT_f" blockType="d" dependsOnU="0" dependsOnT="0" simulationFunctionName="split" simulationFunctionType="DEFAULT" style=""> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="380.71066" y="172.0" width="0.3333333333333333" height="0.3333333333333333"/> + </SplitBlock> + <ControlPort id="28c792fb:15ff6784ce1:-7fb9" parent="28c792fb:15ff6784ce1:-7fba" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandPort id="28c792fb:15ff6784ce1:-7fb8" parent="28c792fb:15ff6784ce1:-7fba" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandPort id="28c792fb:15ff6784ce1:-7fb7" parent="28c792fb:15ff6784ce1:-7fba" ordering="2" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fb6" parent="28c792fb:15ff6784ce3:-7fce" source="28c792fb:15ff6784ce1:-7fbb" target="28c792fb:15ff6784ce1:-7fb9" style="" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="340.0" y="226.29"/> + <Array as="points"> + <mxPoint x="340.0" y="172.0"/> + </Array> + <mxPoint as="targetPoint" x="380.71" y="172.0"/> + </mxGeometry> + </CommandControlLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fb5" parent="28c792fb:15ff6784ce3:-7fce" source="28c792fb:15ff6784ce1:-7fb8" target="28c792fb:15ff6784ce1:-7fbe" style="" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="380.71" y="172.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="399.0" y="172.0"/> + </mxGeometry> + </CommandControlLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fb4" parent="28c792fb:15ff6784ce3:-7fce" source="28c792fb:15ff6784ce1:-7fb7" target="28c792fb:15ff6784ce1:-7fbc" style="" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="380.71" y="172.0"/> + <Array as="points"> + <mxPoint x="380.71" y="302.0"/> + <mxPoint x="340.0" y="302.0"/> + </Array> + <mxPoint as="targetPoint" x="340.0" y="277.71"/> + </mxGeometry> + </CommandControlLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="28c792fb:15ff6784ce3:-7fce" parent="28c792fb:15ff6784ce2:-7fce"/> + </SuperBlockDiagram> + </BasicBlock> + <CommandPort id="28c792fb:15ff6784ce1:-7fcd" parent="28c792fb:15ff6784ce1:-7fce" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="CommandPort;align=center;verticalAlign=bottom;spacing=10.0;rotation=90"/> + <ExplicitLink id="28c792fb:15ff6784ce1:-7fd3" parent="0:2:0" source="28c792fb:15ff6784ce1:-7fd4" target="28c792fb:15ff6784ce1:-7fe6" style="ExplicitLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="44.0" y="20.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="-4.0" y="20.0"/> + </mxGeometry> + </ExplicitLink> + <ExplicitLink id="28c792fb:15ff6784ce1:-7fcf" parent="0:2:0" source="28c792fb:15ff6784ce1:-7fe5" target="28c792fb:15ff6784ce1:-7fd1" style="ExplicitLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="84.0" y="20.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="-4.0" y="20.0"/> + </mxGeometry> + </ExplicitLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fcc" parent="0:2:0" source="28c792fb:15ff6784ce1:-7fcd" target="28c792fb:15ff6784ce1:-7fd0" style="CommandControlLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="20.0" y="44.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="20.0" y="-4.0"/> + </mxGeometry> + </CommandControlLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/> +</XcosDiagram>
\ No newline at end of file diff --git a/3885/CH7/EX7.11/Ex7_11.sci b/3885/CH7/EX7.11/Ex7_11.sci new file mode 100644 index 000000000..0ff584531 --- /dev/null +++ b/3885/CH7/EX7.11/Ex7_11.sci @@ -0,0 +1,14 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.11
+
+clc;
+clear;
+s=%s
+p=poly([40 10],'s','coeff')
+q=poly([0 3 4 1],'s','coeff')
+sm=cont_frm(p,q)
+disp(sm,'the state model in matrix form is')
diff --git a/3885/CH7/EX7.11/Ex7_11.xcos b/3885/CH7/EX7.11/Ex7_11.xcos new file mode 100644 index 000000000..c92f6bff7 --- /dev/null +++ b/3885/CH7/EX7.11/Ex7_11.xcos @@ -0,0 +1,372 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex7_11"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fe7" parent="0:2:0" interfaceFunctionName="CLSS" blockType="c" dependsOnU="0" dependsOnT="1" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLSS"> + <ScilabString as="exprs" height="5" width="1"> + <data line="0" 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<mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </ExplicitLink> + <ExplicitLink id="28c792fb:15ff6784ce1:-7fcf" parent="0:2:0" source="28c792fb:15ff6784ce1:-7fe5" target="28c792fb:15ff6784ce1:-7fd1" style="ExplicitLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="0.0" y="0.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </ExplicitLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fcc" parent="0:2:0" source="28c792fb:15ff6784ce1:-7fcd" target="28c792fb:15ff6784ce1:-7fd0" style="CommandControlLink" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="0.0" y="0.0"/> + <Array as="points"></Array> + <mxPoint as="targetPoint" x="0.0" y="0.0"/> + </mxGeometry> + </CommandControlLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="0:2:0" parent="0:1:0"/> +</XcosDiagram>
\ No newline at end of file diff --git a/3885/CH7/EX7.12/Ex7_12.sci b/3885/CH7/EX7.12/Ex7_12.sci new file mode 100644 index 000000000..11e0d08eb --- /dev/null +++ b/3885/CH7/EX7.12/Ex7_12.sci @@ -0,0 +1,16 @@ +//control systems by Nagoor Kani A
+//Edition 3
+//Year of publication 2015
+//Scilab version 6.0.0
+//operating systems windows 10
+// Example 7.12
+
+clc;
+clear;
+s=%s
+h=syslin('c',(2*(s+5))/((s+2)*(s+3)*(s+4)))
+disp(h,'thr transfer function is')
+ss=tf2ss(h)
+disp(ss,'the state space model is')
+[Ac,Bc,U,ind]=canon(ss(2),ss(3))
+disp(Ac,Bc,U,ind)
diff --git a/3885/CH7/EX7.12/Ex7_12.xcos b/3885/CH7/EX7.12/Ex7_12.xcos new file mode 100644 index 000000000..014662dc8 --- /dev/null +++ b/3885/CH7/EX7.12/Ex7_12.xcos @@ -0,0 +1,370 @@ +<?xml version="1.0" ?> +<XcosDiagram debugLevel="0" finalIntegrationTime="30.0" integratorAbsoluteTolerance="1.0E-6" integratorRelativeTolerance="1.0E-6" toleranceOnTime="1.0E-10" maxIntegrationTimeInterval="100001.0" maximumStepSize="0.0" realTimeScaling="0.0" solver="1.0" background="-1" gridEnabled="1" title="Ex7_11"><!--Xcos - 2.0 - scilab-6.0.0 - 20170214 1426--> + <Array as="context" scilabClass="String[]"></Array> + <mxGraphModel as="model"> + <root> + <mxCell id="0:1:0"/> + <mxCell id="0:2:0" parent="0:1:0"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fe7" parent="0:2:0" interfaceFunctionName="CLSS" blockType="c" dependsOnU="0" dependsOnT="1" simulationFunctionName="csslti4" simulationFunctionType="C_OR_FORTRAN" style="CLSS"> + <ScilabString as="exprs" height="5" width="1"> + <data line="0" column="0" value="[-2 0 0;0 -3 0;0 0 -4]"/> + <data line="1" column="0" value="[1;1;1]"/> + <data line="2" column="0" value="[3 -4 1]"/> + <data line="3" column="0" value="0"/> + <data line="4" column="0" value="[0; 0; 1]"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="16"> + <data line="0" column="0" realPart="-2.0"/> + <data line="0" column="1" realPart="0.0"/> + <data line="0" column="2" realPart="0.0"/> + <data line="0" column="3" realPart="0.0"/> + <data line="0" column="4" realPart="-3.0"/> + <data line="0" column="5" realPart="0.0"/> + <data line="0" column="6" realPart="0.0"/> + <data line="0" column="7" realPart="0.0"/> + <data line="0" column="8" realPart="-4.0"/> + <data line="0" column="9" realPart="1.0"/> + <data line="0" column="10" realPart="1.0"/> + <data line="0" column="11" realPart="1.0"/> + <data line="0" column="12" realPart="3.0"/> + <data line="0" column="13" realPart="-4.0"/> + <data line="0" column="14" realPart="1.0"/> + <data line="0" column="15" realPart="0.0"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="1" width="3"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="0.0"/> + <data line="0" column="2" realPart="1.0"/> + </ScilabDouble> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="180.0" y="110.0" width="80.0" height="40.0"/> + </BasicBlock> + <ExplicitInputPort id="28c792fb:15ff6784ce1:-7fe6" parent="28c792fb:15ff6784ce1:-7fe7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0"/> + <ExplicitOutputPort id="28c792fb:15ff6784ce1:-7fe5" parent="28c792fb:15ff6784ce1:-7fe7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fd5" parent="0:2:0" interfaceFunctionName="STEP_FUNCTION" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="STEP_FUNCTION"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="80.0" y="110.0" width="40.0" height="40.0"/> + <SuperBlockDiagram as="child" background="-1" gridEnabled="1" title=""> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGraphModel as="model"> + <root> + <mxCell id="28c792fb:15ff6784ce2:-7fd5"/> + <mxCell id="28c792fb:15ff6784ce3:-7fd5" parent="28c792fb:15ff6784ce2:-7fd5"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fc7" parent="28c792fb:15ff6784ce3:-7fd5" interfaceFunctionName="STEP" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="step_func" simulationFunctionType="C_OR_FORTRAN" style=""> + <ScilabString as="exprs" height="3" width="1"> + <data line="0" column="0" value="1"/> + <data line="1" column="0" value="0"/> + <data line="2" column="0" value="50"/> + </ScilabString> + <ScilabDouble as="realParameters" height="1" width="2"> + <data line="0" column="0" realPart="0.0"/> + <data line="0" column="1" realPart="50.0"/> + </ScilabDouble> + <ScilabDouble as="integerParameters" height="0" width="0"/> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="0.0" y="0.0" width="40.0" height="40.0"/> + </BasicBlock> + <ExplicitOutputPort id="28c792fb:15ff6784ce1:-7fc6" parent="28c792fb:15ff6784ce1:-7fc7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <ControlPort id="28c792fb:15ff6784ce1:-7fc5" parent="28c792fb:15ff6784ce1:-7fc7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style=""/> + <CommandPort id="28c792fb:15ff6784ce1:-7fc4" parent="28c792fb:15ff6784ce1:-7fc7" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="1.0" style=""/> + <ExplicitOutBlock id="28c792fb:15ff6784ce1:-7fc3" parent="28c792fb:15ff6784ce3:-7fd5" interfaceFunctionName="OUT_f" blockType="c" dependsOnU="0" dependsOnT="0" simulationFunctionName="output" simulationFunctionType="DEFAULT" style=""> + <ScilabString as="exprs" height="1" width="1"> + <data line="0" column="0" value="1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabInteger as="integerParameters" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="1"/> + </ScilabInteger> + <Array as="objectsParameters" scilabClass="ScilabList"/> + <ScilabInteger as="nbZerosCrossing" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="80.0" y="10.0" width="20.0" height="20.0"/> + </ExplicitOutBlock> + <ExplicitInputPort id="28c792fb:15ff6784ce1:-7fc2" parent="28c792fb:15ff6784ce1:-7fc3" ordering="1" initialState="0.0" style=""/> + <ExplicitLink id="28c792fb:15ff6784ce1:-7fc1" parent="28c792fb:15ff6784ce3:-7fd5" source="28c792fb:15ff6784ce1:-7fc6" target="28c792fb:15ff6784ce1:-7fc2" style="" value=""> + <mxGeometry as="geometry"> + <Array as="points"></Array> + </mxGeometry> + </ExplicitLink> + <CommandControlLink id="28c792fb:15ff6784ce1:-7fc0" parent="28c792fb:15ff6784ce3:-7fd5" source="28c792fb:15ff6784ce1:-7fc4" target="28c792fb:15ff6784ce1:-7fc5" style="" value=""> + <mxGeometry as="geometry"> + <mxPoint as="sourcePoint" x="0.0" y="0.0"/> + <Array as="points"> + <mxPoint x="20.0" y="-20.0"/> + <mxPoint x="-20.0" y="-20.0"/> + <mxPoint x="-20.0" y="60.0"/> + <mxPoint x="20.0" y="60.0"/> + </Array> + <mxPoint as="targetPoint" x="1.0" y="1.0"/> + </mxGeometry> + </CommandControlLink> + </root> + </mxGraphModel> + <mxCell as="defaultParent" id="28c792fb:15ff6784ce3:-7fd5" parent="28c792fb:15ff6784ce2:-7fd5"/> + </SuperBlockDiagram> + </BasicBlock> + <ExplicitOutputPort id="28c792fb:15ff6784ce1:-7fd4" parent="28c792fb:15ff6784ce1:-7fd5" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ExplicitOutputPort;align=right;verticalAlign=middle;spacing=10.0;rotation=0"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fd2" parent="0:2:0" interfaceFunctionName="CSCOPE" blockType="c" dependsOnU="1" dependsOnT="0" simulationFunctionName="cscope" simulationFunctionType="C_OR_FORTRAN" style="CSCOPE"> + <ScilabString 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scilabClass="ScilabList"/> + <mxGeometry as="geometry" x="335.0" y="105.0" width="40.0" height="40.0"/> + </BasicBlock> + <ExplicitInputPort id="28c792fb:15ff6784ce1:-7fd1" parent="28c792fb:15ff6784ce1:-7fd2" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="-1" initialState="0.0" style="ExplicitInputPort;align=left;verticalAlign=middle;spacing=10.0;rotation=0"/> + <ControlPort id="28c792fb:15ff6784ce1:-7fd0" parent="28c792fb:15ff6784ce1:-7fd2" ordering="1" dataType="REAL_MATRIX" dataColumns="1" dataLines="1" initialState="0.0" style="ControlPort;align=center;verticalAlign=top;spacing=10.0;rotation=90"/> + <BasicBlock id="28c792fb:15ff6784ce1:-7fce" parent="0:2:0" interfaceFunctionName="CLOCK_c" blockType="h" dependsOnU="0" dependsOnT="0" simulationFunctionName="csuper" simulationFunctionType="DEFAULT" style="CLOCK_c"> + <ScilabDouble as="exprs" height="0" width="0"/> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabDouble as="integerParameters" 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intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabInteger as="nmode" height="1" width="1" intPrecision="sci_int32"> + <data line="0" column="0" value="0"/> + </ScilabInteger> + <ScilabDouble as="state" height="0" width="0"/> + <ScilabDouble as="dState" height="0" width="0"/> + <Array as="oDState" scilabClass="ScilabList"/> + <Array as="equations" scilabClass="ScilabList"/> + <mxGraphModel as="model"> + <root> + <mxCell id="28c792fb:15ff6784ce2:-7fce"/> + <mxCell id="28c792fb:15ff6784ce3:-7fce" parent="28c792fb:15ff6784ce2:-7fce"/> + <EventOutBlock id="28c792fb:15ff6784ce1:-7fbf" parent="28c792fb:15ff6784ce3:-7fce" interfaceFunctionName="CLKOUT_f" blockType="d" dependsOnU="0" dependsOnT="0" simulationFunctionName="output" simulationFunctionType="DEFAULT" style=""> + <ScilabString as="exprs" height="1" width="1"> + <data line="0" column="0" value="1"/> + </ScilabString> + <ScilabDouble as="realParameters" height="0" width="0"/> + <ScilabInteger 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\ No newline at end of file |