21 Program 7.5 OGATA 4edition (Parallel compensator, velocity-feedback compensator)

We will draw a response to a step input for the values of y by Scilab, the closed-loop system is:

Program in Scilab: s=%s; k1=0.4490; g1=20/(s*(s+1)*(s+4)+20*(1+k1*s)); k2=1.4130; g2=20/(s*(s+1)*(s+4)+20*(1+k2*s)); t=0:0.1:10; y1=csim('step',t,g1); y2=csim('step',t,g2); clf; plot(t,y1,'k'); plot(t,y2,'b'); xgrid; xtitle('Response to unit-step','t','Output'); legend(['K=0.4490';'K=1.4130'],style=4);