%closed loop system

N1=50;
N2=250
N3=250;
Ja=0.05
JL=5
Da=0.01
DL=3
Kt=1;
Ra=5;
Kb=1;
kg1=(N1/N2);
kg2=(N2/N3);
J=Ja+JL*(kg1)^2
Dm=Da+DL*(kg1)^2
a=100;
k=3;
k1=100;
kpotout=1.5;
kpotin=2;
km=Kt/(J*Ra)
am=(Dm*Ra+Kb*Kt)/(J*Ra)
G=(kpotin*k*k1*km*kg1);
C=tf([G],conv([1 0],conv([1 am],[1 a])));
F=tf([kpotout*kg2/kpotin],[1]);
closedloop=feedback(C,F,-1)
step(closedloop)

Step Response
1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (seconds)

%S_S error zero

N1=50;
N2=250
N3=250;
Ja=0.05
JL=5
Da=0.01
DL=3
Kt=1;
Ra=5;
Kb=1;
kg1=(N1/N2);
kg2=(N2/N3);
J=Ja+JL*(kg1)^2
Dm=Da+DL*(kg1)^2
a=100;
k=3;
k1=100;
kpotout=1;
kpotin=1;
km=Kt/(J*Ra)
am=(Dm*Ra+Kb*Kt)/(J*Ra)
G=(kpotin*k*k1*km*kg1);
C=tf([G],conv([1 0],conv([1 am],[1 a])));
F=tf([kpotout*kg2/kpotin],[1]);
closedloop=feedback(C,F,-1)
step(closedloop)

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 2 4 6 8 10 12
Time (seconds)

%CS vs OS
N1=50;
N2=250
N3=250;
Ja=0.05
JL=5
Da=0.01
DL=3
Kt=1;
Ra=5;
Kb=1;
kg1=(N1/N2);
kg2=(N2/N3);
J=Ja+JL*(kg1)^2
Dm=Da+DL*(kg1)^2
a=100;
k=3;
k1=100;
kpotout=1.5;
kpotin=2;
km=Kt/(J*Ra)
am=(Dm*Ra+Kb*Kt)/(J*Ra)
G=(kpotin*k*k1*km*kg1);
C=tf([G],conv([1 0],conv([1 am],[1 a])));
F=tf([kpotout*kg2/kpotin],[1]);
closedloop=feedback(C,F,-1)
%step(closedloop)
%parameters ouwww hell of a life
Os=1.68; % over shoot
Ts=5; % settling time
pi=3.141592654; % pi
x1=Os*0.01;
zt=-1*log(x1)/((pi*pi)+(log(x1)^2))^0.5 % zeta
wn=4/(Ts*zt) % natural frequency
sd=complex(-zt*wn,wn*(1-zt^2)^0.5) % dominant pole
D=abs(sd) % absolute value of dominant pole
E=sd+am % value of the denominator of gsd
E1=0.2526; % real value of E
y1=0.6150; % imaginary value of sd and all other roots
F=sd+a % second value of the denominator of sd
F1=49.2; % real value of F
EE=(atand(y1/E1)); % finding angle of E
FF=(atand(y1/F1)); % finding angle of F
beta=180-(atand(wn*(1-zt^2)^0.5/(zt*wn))) % the value of phase angle
Ad=G/((D)*abs(E)*abs(F)) % magnitude
OD=0-beta-EE-FF
kp= -1*sind( beta+ OD)/(Ad*sind(beta)) % the value of kp
kd=sind(OD)/(Ad*D*sind(beta)) % the value of kd
sdkp=sd+(kp/kd);
sdkpabs=abs(sdkp);
GCSGSD=kd*sdkpabs*Ad % proving that the point is a root locus
%PD controller, this is entertaining it had me sweat...
figure(1)
CC=tf(G*[kd kp],conv([1 0],conv([1 1.053],[1 50])));
Fd=tf([1],[1]);
T=feedback(CC,Fd,-1)
step (T,closedloop);
 Step Response
1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (seconds)

%ST is 6 sec
N1=50;
N2=250
N3=250;
Ja=0.05
JL=5
Da=0.01
DL=3
Kt=1;
Ra=5;
Kb=1;
kg1=(N1/N2);
kg2=(N2/N3);
J=Ja+JL*(kg1)^2
Dm=Da+DL*(kg1)^2
a=100;
k=3;
k1=100;
kpotout=1.5;
kpotin=2;
km=Kt/(J*Ra)
am=(Dm*Ra+Kb*Kt)/(J*Ra)
G=(kpotin*k*k1*km*kg1);
C=tf([G],conv([1 0],conv([1 am],[1 a])));
F=tf([kpotout*kg2/kpotin],[1]);
closedloop=feedback(C,F,-1)
step(closedloop)
%parameters ouwww hell of a life
Os=1.68; % over shoot
Ts=6; % settling time
pi=3.141592654; % pi
x1=Os*0.01;
zt=-1*log(x1)/((pi*pi)+(log(x1)^2))^0.5 % zeta
wn=4/(Ts*zt) % natural frequency
sd=complex(-zt*wn,wn*(1-zt^2)^0.5) % dominant pole
D=abs(sd) % absolute value of dominant pole
E=sd+am % value of the denominator of gsd
E1=0.3860; % real value of E
y1=0.5125; % imaginary value of sd and all other roots
F=sd+a % second value of the denominator of sd
F1=49.3333; % real value of F
EE=(atand(y1/E1)); % finding angle of E
FF=(atand(y1/F1)); % finding angle of F
beta=180-(atand(wn*(1-zt^2)^0.5/(zt*wn))) % the value of phase angle
Ad=G/((D)*abs(E)*abs(F)) % magnitude
OD=0-beta-EE-FF
kp= -1*sind( beta+ OD)/(Ad*sind(beta)) % the value of kp
kd=sind(OD)/(Ad*D*sind(beta)) % the value of kd
sdkp=sd+(kp/kd);
sdkpabs=abs(sdkp);
GCSGSD=kd*sdkpabs*Ad % proving that the point is a root locus
%PD controller, this is entertaining it had me sweat...
figure(1)
CC=tf(G*[kd kp],conv([1 0],conv([1 1.053],[1 50])));
Fd=tf([1],[1]);
T=feedback(CC,Fd,-1)
step (T,closedloop);

Step Response
1.4

1.2

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (seconds)