PID compensation in the domain

z = tf('z'); sys = (0.003841*z^2)/((z - 1)*(z - 0.9048)*(z - 0.8187)*(z - 0.7408)*(z - 0.6703)); rlocus(sys)
axis([-0.7 1.2 -0.7 0.7])
zeta = 0.456;
zgrid(zeta,-1)

z domain root locus

z = tf('z');
sys = (0.0173*z)/((z - 0.9048)*(z - 0.8187));
rlocus(sys)
axis([-1 1 -1 1])
zeta = 0.5;
Wn = 0.2;
zgrid(zeta,Wn)

 http://ctms.engin.umich.edu/CTMS/index.php?aux=Extras_Dsserror

Design a compensator

HW #6

s = tf('s');
k=19.678
sys = (100*k)/(s*(s + 16.8)^2);
sys_cl = feedback(sys,1)
step(sys_cl)