1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
|
// A procedure to design lead controllers, as explained in Fig. 7.12 on page 257.
// 7.4
exec('tf.sci',-1)
w = linspace(0.001,%pi,1000);
a = linspace(0.001,0.999,100);
lena = length(a);
omega = []; lead = [];
for i = 1:lena,
zero = a(i);
pole = 0.9*zero;
sys = tf([1 -zero],[1 -pole],-1);
frq = w/(2*%pi);
[frq,repf]=repfreq(sys, frq);
[db,phase] =dbphi(repf);
[y,j] = max(phase);
omega = [omega w(j)];
lead = [lead y];
comega = (pole+zero)/(pole*zero+1);
clead = zero-pole;
clead1 = sqrt((1-zero^2)*(1-pole^2));
clead = clead/clead1;
// [w(j) acos(comega) y atan(clead)*180/pi]
end
subplot(2,1,1), plot(lead,omega)
xtitle('','','Frequency, in radians'), xgrid;
halt;
subplot(2,1,2), plot(lead,a)
xtitle('','Lead generated, in degrees','Zero location'), xgrid;
|
