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Differential equations of a DC motor model:
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The numeric values of the model parameters are as follows:
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Transfer function
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| (1) |
Extract a subsystem with the desired output (position ):
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| (2) |
Design a position controller with a settling time of 2 seconds (time constant is about 0.7 s):
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| (4) |
The controller system is designed according to the following expression:
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| (5) |
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| (6) |
Calculate the feedback system with the original system to observe all the closed-loop system transfer functions. The controller output is also included using the augment_output option.
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| (7) |
Plot the step response for the position output, :
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