四章 根轨迹法.pptVIP

实验四 利用根轨迹法控制的MATLAB实现 The root locus of an (open-loop) transfer function H(s) is a plot of the locations (locus) of all possible closed loop poles with proportional gain k and unity feedback: The closed-loop transfer function The root locus function Example: 1 (How to use rlocus to draw your root locus) help rlocus RLOCUS Evans root locus. RLOCUS(SYS) computes and plots the root locus of the single-input, single-output LTI model SYS. The root locus plot is used to analyze the negative feedback loop +-----+ ----O-----| SYS |----+---- -| +-----+ | | | | +---+ | +------| K |---------+ +---+ and shows the trajectories of the closed-loop poles when the feedback gain K varies from 0 to Inf. RLOCUS automatically generates a set of positive gain values that produce a smooth plot. Example: 1 (How to use rlocus to draw your root locus) RLOCUS(SYS,K) uses a user-specified vector K of gain values. RLOCUS(SYS1,SYS2,...) draws the root loci of multiple LTI models SYS1, SYS2,... on a single plot. You can specify a color, line style, and marker for each model, as in rlocus(sys1,r,sys2,y:,sys3,gx). [R,K] = RLOCUS(SYS) or R = RLOCUS(SYS,K) returns the matrix R of complex root locations for the gains K. R has LENGTH(K) columns and its j-th column lists the closed-loop roots for the gain K(j). See also sisotool, pole, issiso, ltimodels. Overloaded methods: lti/rlocus num=[1]; den=conv(conv([1 0],[1 2.73]), [1 2 2]); rlocus(num,den) Example: 1 (How to use rlocus to draw your root locus) 2. Plotting the root locus of a transfer function How do we design a feed-back controller for the system by using the root locus method? Say our design criteria are 5% overshoot and 1 second rise time. num=[1 7]; d