Nyquist Criterion

Controller

Transfer Function

T=ss(A-B*K,B,C,D); Kr=1/dcgain(T);
Integral Controller

RLC Parallel
Transfer Function
Matlab: MAG=bode(G,w)
Ay=MAG*Au
RLC Series

Nx=end
Electric Motor

Y=minreal(); Ys=minreal(s*Y);
Sensivity Yinf=bode(Ys,0);
Overall Controller syms t
Observer laplace(function)

X0=a*randn(N,M)
Initial cond. Integr.

Linearizatio
n
Mo=obsv(A,C)
O=ss(A-L*C,[L B],eye(),D)
 Derivative

Integrative

CT-System

DT-System