30/04/18 01:34 AM C:\Users\Tere\Downloads\econtrol3.

m 1 of 1

%ejercicio 4
n=[1];
d=conv([1 3], [1 9]);
g=tf(n,d)
rlocus(g)
sp=20/100;
zetha=-log(sp)/sqrt(pi^2+log(sp)^2);
theta=acos(zetha);
p1=0;
p2=-30*cos(theta)+i*30*sin(theta);
p=[p1 p2];

hold on
plot(p);
%utilizando rlocfind(g)
selected_point =

-6.0000 +11.7119i

ans =

146.1683

%declarando el punto de diseño

s0=-8+15.6159*i
%proponiendo el valor de zc=-3
zc=-3
vzc=s0-(-zc)
v1=s0-(-3)
v2=s0-(-9)

thetap1=angle(v1);
thetap2=angle(v2);
thetazc=angle(vzc);
thetapc=thetazc-thetap1-thetap2+pi;

pc=(15.6159/tan(thetapc))+8

pc =

1.9834
vpc=s0-(-pc);
k=(abs(v1)*abs(v2)*abs(vpc))/abs(vzc)

k =

224.7900

nc=[1 -zc];
dc=[1 pc];
gc=tf(k*nc,dc);
gca=gc*g;
glc=feedback(gca,1)
step(glc)