ISTANBUL AYDIN UNIVERSITY

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

EEE376 – CONTROL SYSTEMS

Assist. Prof. Dr. Mohammed ALKRUNZ

MATLAB – Control System Toolbox

Before starting this simple tutorial, I need you to check your Matlab version if it contains
the “Control System Toolbox” or not. To check that, write the following command on your
Matlab command window:

This toolbox should

appear in the given list

 Open-loop System:
𝟏𝟖
Consider the following transfer function: 𝑮(𝒔) = 𝒔𝟐 𝟐𝒔 𝟗

 How to define a transfer function on Matlab:

 Finding the step response of the open-loop transfer function:

Step Response
3

2.5

1.5

0.5

0
0 1 2 3 4 5 6 7
Time (seconds)

 Finding the transient response performance from the plot of the step response:

Step Response
3

2.5 System: sys

Peak amplitude: 2.66
Overshoot (%): 32.9 System: sys System: sys
At time (seconds): 1.11 Settling time (seconds):Final
3.7 value: 2
2

1.5

0.5

Just one right-click on the figure, and then 0

0 1 2 3 4 5 6 7
Time (seconds)

you can select the required information

from the “Characteristics” menu.

 Finding the transient response performance from Matlab Command:

 Finding the final value of the open-loop system, 𝒚𝒔𝒔

 Finding the poles of the open-loop transfer function:

 Showing the pole-zero plot of the open-loop system as a map in the s-plane:

 Finding the damping ratio “𝝃” and the natural frequency “𝝎𝒏”:
  Ploting the root locus of the open-loop system.

Root Locus
15

10

-5

-10

-15
-2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis (seconds-1)

 Plot the Bode plot of the open-loop system.

 Ploting the Bode plot of the open-loop system.

Nyquist Diagram
4

-1

-2

-3

-4
-1.5 -1 -0.5 0 0.5 1 1.5 2 2.5
Real Axis
Closed-loop System:

If you have the following general feedback closed-loop control system block diagram:

𝑌 (𝑠)
𝑅 (𝑠 ) 𝑠 + 0.2 46
+ 𝐶 (𝑠 ) = 𝐺 (𝑠 ) =
𝑠 + 0.01 𝑠2 + 7 𝑠
−

𝐻(𝑠 ) = 1

 How to define the closed-loop system.

[Here, you can consider each transfer function as a separate one]

 Finding the step response of the closed-loop system:

Step Response
1.4

1.2

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)

 Finding the transient response performance of the closed-loop system:

 How to define the State Space Model on Matlab:
0 1 0 7
𝑥̇ = 0 0 1 𝑥+ 8 𝑢
−9 −8 −7 9
𝑦 = [2 3 4] 𝑥 + [0] 𝑢

 Finding the step response of the open-loop transfer function:

 Conversion of the State Space to Transfer Function:

 Conversion of the Transfer Function to State Space: