Code covered by the BSD License

# Feedback Control of Dynamic Systems, 4th Ed., G. F. Franklin, J. D. Powell, A. Emami-Naeini

### Abbas Emami-Naeini (view profile)

25 Apr 2003 (Updated )

.m and .mdl files for Feedback Control of Dynamic Systems

fig9_35.m
```%  Figure 9.35      Feedback Control of Dynamic Systems, 4e
%                        Franklin, Powell, Emami
%
% Fig. 9.35  Script for computation of the yaw damper rootlocus
% with feedback through a washout circuit.

clf;
% the equations of the aircraft:

f =[-0.0558   -0.9968    0.0802    0.0415;
0.5980   -0.1150   -0.0318         0 ;
-3.0500    0.3880   -0.4650         0 ;
0    0.0805    1.0000         0] ;
g =[0.0073;
-0.4750;
0.1530;
0];
h = [0     1     0     0];
j =[0];
% the equations of the actuator:

na=[0 10];
da=[1 10];
[fa,ga,ha,ja]=tf2ss(na,da);

% the equations of the aircraft with actuator:

[fp,gp,hp,jp]=series(fa,ga,ha,ja,f,g,h,j);
% the washout circuit
nw=[1 0];dw=[1 1/3];
[fw,gw,hw,jw]=tf2ss(nw,dw);
%  Open loop equations with washout
[fpw,gpw,hpw,jpw]=series(fp,gp,hp,jp,fw,gw,hw,jw);
% the washout compensated rootlocus
hold off; clf
axis([-11, 1, -4.5, 4.5]);
rlocus(fpw,gpw,-hpw,-jpw)
title('Fig. 9.35 Rootlocus for a/c with washout')
```