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The matlab code is: function prob_2_7b() % sys = tf(1,[1 0 4]); a = 3; a1 = 0.15; b = 150; sysd = tf([1 a],[1 b])*tf([1 a1],[1 0]); figure(1) OL = sys*sysd; margin(OL) figure(2) % subplot(211) k = 0:10:3000; rlocus(OL,k),axis([-10,0,0,4]) w = 0.25; z = 0.6; k = rlocfind(OL,-z*w+w*sqrt(1-z*z)*i); figure(3) % k = 220; OL = k*OL; margin(OL) figure(4) sysCL = feedback(OL,1); y = step(sysCL); ymax = max(y); Mp = (ymax/y(end)-1)*100; step(sysCL) title(['step with [Mp,k] = ',num2str([Mp,k])]) figure(5) sysDist = feedback(sys,sysd); step(sysDist)

Solution for Take Home Exam 1  

, a) Design feedback assuming you have access to all the state elements. Place the closed- loop system poles at s = [-1 +- 1j, -0.5 +- 5j]....

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