频域角度改善系统，超前滞后补偿

%%频域角度改善系统，超前滞后补偿
%% task5
s = tf('s');
G = 4/(0.9*s^2 + s+1);
Ks = 1;
Q = Ks*G;
figure(1);
bode(Q); %to produce Bode diagrams for G(s)*K(s)

%% task6
s = tf('s');
G = 4/(0.9*s^2 + s+1);
tau=0.06924;
a=5.551;
k=3.5305;
Ks = k*(a*tau*s+1)/(tau*s+1);
%type your own value of k, a = 𝛼 and tau = 𝜏 values
Q = Ks*G;
figure(2);
hold on;
bode(Q); %to produce Bode diagrams for G(s)*K(s)
sys_c = feedback(Q,1); % to form closed loop transfer function with unity feedback
figure(3);
hold on;
step(sys_c, 10)

 

%%task7.2
s = tf('s');
G = 4/(0.9*s^2 + s+1);
tau=0.06924;
a=5.551;
k=3.5305;
Klead = k*(a*tau*s+1)/(tau*s+1);
Qlead = Klead*G; %type your own value of a = 𝛼 and tau = 𝜏 values determined previously
sys_lead = feedback(Qlead,1);
Klag = 1/0.1426*(0.1426*4.319*s+1)/(4.319*s+1);
Klead_lag = Klead*Klag;
Qlead_lag = Klead_lag*G;
figure(2);
bode(Qlead,Qlead_lag);
legend('lead','lead_lag');
sys_lead_lag = feedback(Qlead_lag,1);
figure(3);
step(sys_lead,sys_lead_lag, 10)
legend('lead','lead_lag');

 

%% task7.3
s = tf('s');
G = 4/(0.9*s^2 + s+1);
Ks = 0.1;
Q = Ks*G;
figure(2);
bode(Q); %to produce Bode diagrams for G(s)*K(s)
sys_c = feedback(Q,1);
%to form closed loop transfer function with unity feedback
figure(3);
step(sys_c, 10) %this is to plot the step response covering the first 10 s