控制系统的matlab仿真与设计答案,matlab与控制系统仿真部分习题答案

matlab与控制系统仿真部分习题答案

【4.2】 程序：num=[5,0];den=conv([1,1],conv([1,2],[1,3]));[numc,denc]=cloop(num,den);[z,p,k]=tf2zp(numc,denc);[A,B,C,D]=tf2ss(numc,denc);g_zp=zpk(z,p,k)g_tf=tf(numc,denc)g_ss=ss(A,B,C,D)运行结果：Zero/pole/gain:5 s----------------------------------(s+0.4432) (s^2 + 5.557s + 13.54)Transfer function:5 s----------------------s^3 + 6 s^2 + 16 s + 6a = x1 x2 x3x1 -6 -16 -6x2 1 0 0 x3 0 1 0b = u1x1 1x2 0 x3 0c = x1 x2 x3y1 0 5 0d = u1y1 0【4.3】程序：A=[0 0 0 -1;1 0 0 -2;0 1 0 -3;0 0 1 -4];B=[0;0;0;1];C=[1 0 0 0];g_ss=ss(A,B,C,D)[num,den]=ss2tf(A,B,C,D);g_tf=tf(num,den)[z,p,k]=ss2zp(A,B,C,D);g_zpk=zpk(z,p,k)运行结果：a = x1 x2 x3 x4x1 0 0 0 -1x2 1 0 0 -2x3 0 1 0 -3x4 0 0 1 -4b = u1x1 0 x2 0 x3 0 x4 1c = x1 x2 x3 x4y1 1 0 0 0d = u1y1 0Continuous-time model.Transfer function:-3.109e-015 s^3 - s^2 - 3.331e-015 s - 4.441e-016-------------------------------------------------s^4 + 4 s^3 + 3 s^2 + 2 s + 1Zero/pole/gain:- s^2----------------------------------------------(s+0.6724) (s+3.234) (s^2 + 0.0936s + 0.4599)【5.1】(1) 程序num=[0,10];den=conv([1,0],[1,7,17]);[numc,denc]=cloop(num,den,-1);G=tf(numc,denc)[y,t]=step(G);plot(t,y, b- )C=dcgain(G);n=1;while y(n)0.98*C)endsettlingtime=t(i)运行结果：Transfer function:10-----------------------s^3 + 7 s^2 + 17 s + 10risetime =2.7312percentovershoot =-0.4399settlingtime =5.1372图：0 1 2 3 4 5 6 700.10.20.30.40.50.60.70.80.91(2) 程序k=[10,100,1000];t=linspace(1,20,200);num=1;den=conv([1,0],[1,7,17]);for j=1:3;s1=tf(num*k(j),den);sys=feedback(s1,1)y(:,j)=step(sys,t);endplot(t,y(:,1), r ,t,y(:,2), b ,t,y(:,3), g )gtext( k=10 );gtext( k=100 );gtext( k=1000 )运行结果：Transfer function:10-----------------------s^3 + 7 s^2 + 17 s + 10Transfer function:100------------------------s^3 + 7 s^2 + 17 s + 100Transfer function:1000-------------------------s^3 + 7 s^2 + 17 s + 1000图：0 2 4 6 8 10 12 14 16 18 200.20.40.60.811.21.41.61.8图：0 2 4 6 8 10 12 14 16 18 20-3-2-101234x 1022【6.1】程序：(1)num1=[1,1];den1=conv([1,0,0],conv([1,2],[1,4]));sys1=tf(num1,den1)rlocus(sys1)运行结果：-12 -10 -8 -6 -4 -2 0 2 4-8-6-4-202468 Root LocusReal AxisImaginaryAxis(2)num2=[1,1];den2=conv([1,0],conv([1,-1],[1,4,16]));sys2=tf(num2,den2)rlocus(sys2)运行结果：-10 -8 -6 -4 -2 0 2 4-8-6-4-202468 Root LocusReal AxisImaginaryAxis(3)num3=[1,8];den3=conv([1,0,0],conv([1,3],conv([1,5],conv([1,7],[1,15]))));sys3=tf(num3,den3)rlocus(sys3)运行结果：