>> sys=tf([10],conv([1 0],conv([1 1],[1 4])));

>> rlocus(sys)

>> axis([-4.5 0.5 -4 4])

>> axis([-4.5 0.5 -3 3])

>> [k,s]=rlocfind(sys)

Select a point in the graphics window

selected_point =

-0.3827 + 0.7174i

k=

0.2838

s=

-4.2100

-0.3950 + 0.7197i

-0.3950 - 0.7197i

>> wn=abs(s(2))

wn =
 0.8210

>> zeta=abs(real(s(2)))/wn

zeta =

0.4811

>> mp=exp(-zeta*pi/sqrt(1-zeta^2))*100

mp =

17.8326

>> tr=(pi-atan(sqrt(1-zeta^2)/zeta))/(wn*sqrt(1-zeta^2))

tr =

2.8798

>> %misal mp=10% dan tr=1,8

>> mp=0.1;tr=1.8;

>> zeta=sqrt((log(mp))^2/(pi^2+(log(mp))^2))

zeta =

0.5912
>> wn=(pi-atan(sqrt(1-zeta^2)/zeta))/(tr*sqrt(1-zeta^2))

wn =

1.5176

>> s1=-zeta*wn+wn*sqrt(1-zeta^2)*i

s1 =

-0.8971 + 1.2240i

>> sudut_sistem=-angle(s1-0)-angle(s1-(-1))-angle(s1-(-4))

sudut_sistem =

-4.0660

>> sudut_sistem=(-angle(s1-0)-angle(s1-(-1))-angle(s1-(-4)))*180/pi

sudut_sistem =

-232.9648

>> sudut_kontroler=-180-sudut_sistem
sudut_kontroler =

52.9648

>> a=abs(real(s1))+imag(s1)/tan(sudut_kontroler*pi/180)

a=

1.8207

>> sys_PD=tf([10 10*a],conv([1 0],conv([1 1],[1 4])));

>> figure(2)

>> rlocus(sys_PD)

>> axis([-4.5 0.5 -3 3])

>> [kd,s2]=rlocfind(sys_PD)

Select a point in the graphics window

selected_point =

-0.8922 + 1.2019i

kd =

0.3963
s2 =

-3.2245

-0.8878 + 1.2039i

-0.8878 - 1.2039i

>> KP=a*kd

KP =

0.7215

Root Locus
3

1
Imaginary Axis

-1

-2

-3
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
 Root Locus
3

1
Imaginary Axis

-1

-2

-3
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis

>> h=tf([1],[1]);

>> gc=tf([kd k],[1])

Transfer function:

0.3963 s + 0.2838

>> gc=tf([kd KP],[1])

Transfer function:

0.3963 s + 0.7215

>> sys_controller_PD=series(gc,sys);

>> sys_total=feedback(sys_controller_PD,h);

>> sys_uncontroller=feedback(sys,h);

>> [y,t]=step(sys_uncontroller);
>> [y1,t1]=step(sys_total);

>> figure(3)

>> plot(t,y,t1,y1)

>> legend('Sistem tanpa kontroler','sistem dengan kontrol PD')

1.8
Sistem tanpa kontroler
1.6 sistem dengan kontrol PD

1.4

1.2

0.8

0.6

0.4

0.2

0
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