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starp 357
# structure for closing control loops. The following is
# the structure for a simple unity gain negative feedback
# system with plant P.
P = 1/makepoly([1,1],"s")
M = consys([0,1;1,-1])*daug(1,P)
# Test this with a Proportional and PI controller
Kp=10
KpInt = makepoly([10,100],"s")/makepoly([1,0],"s")
rifd(starp(M,Kp)) # look at poles and zeros
Poles:
real imaginary frequency damping
(rad/sec) ratio
-1.1000e+01 0.0000e+00 1.1000e+01 1.0000
Zeros:
rifd(starp(M,KpInt))
Poles:
real imaginary frequency damping
(rad/sec) ratio
-5.5000e+00 -8.3516e+00 1.0000e+01 0.5500
-5.5000e+00 8.3516e+00 1.0000e+01 0.5500
Zeros:
real imaginary frequency damping
(rad/sec) ratio