使用Matlab实现PID控制器对系统进行改进并分析动态性能

%% task1
s = tf('s');
G = (s+2)/((s^2 + s + 7.5)*(s+5));
Ks = 1; %the dynamic part of the controller is set to 1.
Q = Ks*G;
figure(1);
rlocus(Q);
sys_c= feedback(Q,1);
figure(2);
step(sys_c);
s = tf('s');
G1 = (0.3253*s+0.6505)/(s^2 + 4.392*s + 12.85);
Ks = 1; %the dynamic part of the controller is set to 1.
Q = Ks*G1;
figure(3);
rlocus(Q);
k=1;
sys_c= feedback(Q*k,1);
figure(4);
step(sys_c);
%% task2
s = tf('s');
G = (s+2)/( (s^2 + s + 7.5)*(s+5));
Ks = (s+7.634); %type the value of z1 you have calculated.
Q = Ks*G;
figure(2);
rlocus(Q);
sys_c = feedback(Q*6.84,1);
%type the value of k you have calculated to form closed loop transfer function with unity (1) feedback.
figure(3);
step(sys_c); %this is to plot the step response.
%% task3
clear;
s = tf('s');
G = (s+2)/( (s^2 + s + 7.5)*(s+5));
Ks = (s+6.2235)*(s+2)/s; %type the value of z1 you have calculated.
Q = Ks*G;
figure(4);
rlocus(Q);
hold on;
sys_c = feedback(Q*9.1072,1); %type the value of k you have calculated to form closed loop transfer function with unity (1) feedback.
figure(5);
step(sys_c); % this is to plot the step response.
hold on ;
%% task4
s = tf('s');
G = (s+2)/( (s^2 + s + 7.5)*(s+5));
Ks = (s+7.634); %type the value of z1 you have calculated.
Q = Ks*G;
figure(4);
rlocus(Q);
sys_c = feedback(Q*20,1);
%type the value of k you have calculated to form closed loop transfer function with unity (1) feedback.
figure(5);
step(sys_c); %this is to plot the step response.
s = tf('s');
G = (s+2)/((s^2 + s + 7.5)*(s+5));
Ks = 9.96; %the dynamic part of the controller is set to 1.
Q = Ks*G;
figure(4);
rlocus(Q);
k=1;
sys_c = feedback(Q*k,1);
figure(5);
step(sys_c); % this is to plot the step response