2018-EE-183
LAB 6: SIMULATION OF IMPULSE AND STEP
RESPONSE OF THE INVERTED PENDULUM
TABLE OF CONTENTS
Defining the Transfer Functioin
Defining the System in State Space
Poles and Zeros of the System
Impulse Response of the System
Step Response of the System
DEFINING THE TRANSFER FUNCTION
M = 0.5
M = 0.5000
m = 0.2
m = 0.2000
b = 0.1
b = 0.1000
i = 0.006
i = 0.0060
g = 9.8
g = 9.8000
l = 0.3
l = 0.3000
q = (M+m)*(i+m*l^2)-(m*l)^2
q = 0.0132
s = tf('s')
s =
s
Continuous-time transfer function.
P_disp = (((i+m*l^2)/q)*s^2- (m*g*l/q)/(s^4 + (b*(i+m*l^2))*s^3/q-
((M+m)*m*g*l)*s^2/q - b*m*g*l*s/q))
P_disp =
4.182e-06 s^6 + 7.603e-07 s^5 - 0.0001304 s^4 - 1.863e-05 s^3 - 0.0001025
-------------------------------------------------------------------------
2.3e-06 s^4 + 4.182e-07 s^3 - 7.172e-05 s^2 - 1.025e-05 s
Continuous-time transfer function.
P_pend = (m*l*s/q)/(s^3 + (b*(i + m*l^2))*s^2/q - ((M + m)*m*g*l)*s/q -
b*m*g*l/q)
P_pend =
1.045e-05 s
-----------------------------------------------------
2.3e-06 s^3 + 4.182e-07 s^2 - 7.172e-05 s - 1.025e-05
Continuous-time transfer function.
sys_tf = [P_disp ;P_pend]
sys_tf =
From input to output...
4.182e-06 s^6 + 7.603e-07 s^5 - 0.0001304 s^4 - 1.863e-05 s^3 - 0.0001025
1: -------------------------------------------------------------------------
2.3e-06 s^4 + 4.182e-07 s^3 - 7.172e-05 s^2 - 1.025e-05 s
1.045e-05 s
2: -----------------------------------------------------
2.3e-06 s^3 + 4.182e-07 s^2 - 7.172e-05 s - 1.025e-05
Continuous-time transfer function.
inputs = {'u'}
inputs = 1×1 cell array
{'u'}
outputs = {'x';'phi'}
outputs = 2×1 cell array
{'x' }
{'phi'}
set(sys_tf,'Inputname',inputs)
set(sys_tf,'Outputname',outputs)
sys_tf
sys_tf =
From input "u" to output...
4.182e-06 s^6 + 7.603e-07 s^5 - 0.0001304 s^4 - 1.863e-05 s^3 - 0.0001025
x: -------------------------------------------------------------------------
2.3e-06 s^4 + 4.182e-07 s^3 - 7.172e-05 s^2 - 1.025e-05 s
1.045e-05 s
phi: -----------------------------------------------------
2.3e-06 s^3 + 4.182e-07 s^2 - 7.172e-05 s - 1.025e-05
Continuous-time transfer function.
DEFINING THE SYSTEM IN STATE SPACE
p = i*(M+m)+M*m*l^2
p = 0.0132
A = [0 1 0 0;
0 -(i+m*l^2)*b/p (m^2*g*l^2)/p 0;
0 0 0 1;
0 -(m*l*b)/p m*g*l*(M+m)/p 0]
A = 4×4
0 1.0000 0 0
0 -0.1818 2.6727 0
0 0 0 1.0000
0 -0.4545 31.1818 0
B = [ 0;
(i+m*l^2)/p;
0;
(m*l)/p]
B = 4×1
1.8182
4.5455
C = [1 0 0 0;
0 0 1 0]
C = 2×4
1 0 0 0
0 0 1 0
D = [0;0]
D = 2×1
states = {'x' 'x_dot' 'phi' 'phi_dot'}
states = 1×4 cell array
{'x'} {'x_dot'} {'phi'} {'phi_dot'}
inputs = {'u'}
inputs = 1×1 cell array
{'u'}
outputs = {'x';'phi'}
outputs = 2×1 cell array
{'x' }
{'phi'}
sys_ss = ss(A,B,C,D, 'statename', states,
'inputname',inputs,'outputname',outputs)
sys_ss =
A =
x x_dot phi phi_dot
x 0 1 0 0
x_dot 0 -0.1818 2.673 0
phi 0 0 0 1
phi_dot 0 -0.4545 31.18 0
B =
x 0
x_dot 1.818
phi 0
phi_dot 4.545
C =
x x_dot phi phi_dot
x 1 0 0 0
phi 0 0 1 0
D =
x 0
phi 0
Continuous-time state-space model.
sys_tf = tf(sys_ss)
sys_tf =
From input "u" to output...
1.818 s^2 + 1.615e-15 s - 44.55
x: --------------------------------------
s^4 + 0.1818 s^3 - 31.18 s^2 - 4.455 s
4.545 s - 1.277e-16
phi: ----------------------------------
s^3 + 0.1818 s^2 - 31.18 s - 4.455
Continuous-time transfer function.
POLES AND ZEROS OF THE SYSTEM
[pole zero] = zpkdata(P_disp,'v')
pole = 6×1 complex
-5.6064 + 0.0000i
5.5673 + 0.0000i
-0.6980 + 0.6690i
-0.6980 - 0.6690i
0.6266 + 0.6687i
0.6266 - 0.6687i
zero = 4×1
0
5.5651
-5.6041
-0.1428
[pole zero] = zpkdata(P_pend,'v')
pole = 0
zero = 3×1
5.5651
-5.6041
-0.1428
IMPULSE RESPONSE OF THE SYSTEM
t = 0:0.01:1
t = 1×101
0 0.0100 0.0200 0.0300 0.0400 0.0500 0.0600 ⋯
impulse(sys_tf,t)
title ('Open Loop Impulse Response')
STEP RESPONSE OF THE SYSTE M
t = 0:0.05:10
t = 1×201
0 0.0500 0.1000 0.1500 0.2000 0.2500 0.3000 ⋯
u = ones(size(t))
u = 1×201
1 1 1 1 1 1 1 1 1 1 1 1 ⋯
[y,t] = lsim(sys_tf,u,t);
plot(t,y)
title('Open Loop Step Response')
axis([0 3 0 50])
legend('x' , 'phi')
THE END
