Scilab Manual for

Control Systems and Simulation

by Prof Kiran Babu
Electrical Engineering
Vignan’s Institute of Technology &
Aeronautical Engg.1

Solutions provided by
Prof Kiran Babu
Electrical Engineering
Vignan’sInstituteOfTechnologyAndAeronauticalEngg.

November 16, 2018

1 Funded by a grant from the National Mission on Education through ICT,

http://spoken-tutorial.org/NMEICT-Intro. This Scilab Manual and Scilab codes
written in it can be downloaded from the ”Migrated Labs” section at the website
http://scilab.in
1
Contents

List of Scilab Solutions 3

1 Linear System Analysis (Time domain analysis, Error anal-

ysis) 5

2 Stability analysis (Bode, Root Locus, Nyquist) of Linear

Time Invariant System 8

3 State space model for classical transfer function - Verifica-

tion 11

2
List of Experiments

Solution 1.1 Linear System Analysis . . . . . . . . . . . . . . . 5

Solution 2.2 Stability Analysis . . . . . . . . . . . . . . . . . . 8
Solution 3.3 Statespace model for Classical transfer function . 11

3
List of Figures

1.1 Linear System Analysis . . . . . . . . . . . . . . . . . . . . . 7

2.1 Stability Analysis . . . . . . . . . . . . . . . . . . . . . . . . 9

4
 Experiment: 1

Linear System Analysis (Time

domain analysis, Error
analysis)

Scilab code Solution 1.1 Linear System Analysis

1 // C r e a t e d u s i n g Ubuntu 1 4 . 0 4 and S c i l a b 5 . 5 . 0
2 // Time Domain A n a l y s i s
3 clear
4 num = poly ([12.811 18 6.3223] , ” s ” ,” c o e f f ” ) ; //
D e f i n e s the numerator o f the t r a n s f e r f u n c t i o n
5 den = poly ([12.811 18 11.3223 6 1] , ” s ” ,” c o e f f ” ) ; //
Defines the denominator of the t r a n s f e r f u n c t i o n
6 sl = syslin ( ’ c ’ ,num , den ) ; //
Defines the t r a n s f e r function
7 t =[0:0.001:25]; // The
t i m e o f s i m u l a t i o n i s s e t from 0 t o 25 s e c o n d s
8 plot2d (t , csim ( ’ s t e p ’ ,t , sl ) ) // I t
p l o t s the step response of the t r a n s f e r function
sl
9 xgrid (5 ,1 ,7)
10 xtitle ( ’ Time Domain A n a l y s i s ’ , ’ Time ( s e c ) ’ , ’ C ( t ) ’ )
11

5
12
13
14 // E r r o r A n a l y s i s
15 clear
16 clc
17 num = poly ([240 120] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
n u m e r a t o r o f G( s )
18 den = poly ([12 7 1] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
d e n o m i n a t o r o f G( s )
19 G = num / den ; // D e f i n e s G( s )
20 Ess =1/(1+ horner (G ,0) ) ; // E v a l u a t e s S t e a d y
state error for step input
21 mprintf ( ’ The s t e a d y s t a t e e r r o r i s ’ )
22 disp ( Ess )

6
Figure 1.1: Linear System Analysis

7
 Experiment: 2

Stability analysis (Bode, Root

Locus, Nyquist) of Linear Time
Invariant System

Scilab code Solution 2.2 Stability Analysis

1 // C r e a t e d u s i n g Ubuntu 1 4 . 0 4 and S c i l a b 5 . 5 . 0
2 // Bode P l o t
3 clear
4 num = poly ([9 1.8 9] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
n u m e r a t o r o f G( s )
5 den = poly ([0 9 1.2 1] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
d e n o m i n a t o r o f G( s )
6 sl = syslin ( ’ c ’ ,num , den ) ; // D e f i n e s G( s )
7 subplot (2 ,2 ,1)
8 bode ( sl ,0.01 ,100) // I t p l o t s t h e
Bode p l o t from 0 . 0 1 Hz t o 100 Hz
9
10
11 // Root L o c u s
12 clear

8
Figure 2.1: Stability Analysis

9
13 num =1; // D e f i n e s t h e
n u m e r a t o r o f G( s )
14 den = poly ([0 -1 -2] , ” s ” ,” r o o t s ” ) ; // D e f i n e s t h e
d e n o m i n a t o r o f G( s )
15 sl = syslin ( ’ c ’ ,num , den ) ; // D e f i n e s G( s )
16 subplot (2 ,2 ,2)
17 evans ( sl ,100) // P l o t s t h e r o o t
l o c u s f o r a maximum g a i n o f 100
18 sgrid ()
19
20
21 // N y q u i s t P l o t
22 clear
23 num = poly ([0.5 1] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
n u m e r a t o r o f G( s )
24 den = poly ([1 0 1 1] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
d e n o m i n a t o r o f G( s )
25 sl = syslin ( ’ c ’ ,num , den ) ; // D e f i n e s G( s )
26 subplot (2 ,2 ,3)
27 nyquist ( sl ) // P l o t s t h e N y q u i s t
p l o t f o r G( s )

10
 Experiment: 3

State space model for classical

transfer function - Verification

Scilab code Solution 3.3 Statespace model for Classical transfer function

1 // C r e a t e d u s i n g Ubuntu 1 4 . 0 4 and S c i l a b 5 . 5 . 0
2 clear
3 clc
4 num = poly ([10 10] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
numerator o f the t r a n s f e r f u n c t i o n
5 den = poly ([10 5 6 1] , ” s ” ,” c o e f f ” ) ; // D e f i n e s t h e
denominator of the t r a n s f e r f u n c t i o n
6 sl = syslin ( ’ c ’ ,num , den ) ; // D e f i n e s t h e
transfer function
7 sys = tf2ss ( sl ) ; // C o n v e r t s
t r a n s f e r f u n c t i o n t o s p a c e model and s t o r e s t h e
r e s u l t in ” sys ”
8 disp ( sys )

11