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Chapter 1 Introduction
© National Instruments Corporation 1-11 Xmath Control Design Module
Because cl_syscomp2 contains an internal pole-zero cancellation, you
can rewrite it in minimal form and then check the closed-loop pole and zero
locations:
cl_syscomp2m = minimal(cl_syscomp2);
The system has 1 uncontrollable state
cl_poles = poles(cl_syscomp2m)
cl_poles (a column vector) =
-0.166518
-1.0325 + 1.16109 j
-1.0325 - 1.16109 j
-37.132
cl_zeros = zeros(cl_syscomp2m)
cl_zeros (a column vector) =
0.25 - 2.4975 j
0.25 + 2.4975 j
-10
Now, examine the step response as shown in Figure 1-5.
vcomp = step(cl_syscomp2m, 0:.1:25);
plot (vcomp, {xlab = "Time",
ylab = "Horizontal Velocity"})