Problema A9.3 pag650 OGATA

Vamos calcular el diagrama de bode del sistema.

s=%s;
g=10*(s+0.1)/((s+0.5)*s*(s+1));
gs=syslin('c',g);
w=[0.01 0.1 0.5 1 1.1387 10];
gr=horner(gs,%i*w);
[phi,db]=phasemag(gr)
[w;db;phi]

Resultados:

-->[w;db;phi]
 ans  =
 
    0.01         0.1          0.5          1.           1.1387      
 10.        
    46.061643    28.817353    22.211533    16.063814    14.528555  
- 20.053623  
  - 86.008108  - 62.020526  - 82.874984  - 114.14554  - 120.02324  
- 171.99994

s=%s/(2*%pi);
g=10*(s+0.1)/((s+0.5)*s*(s+1));
gs=syslin('c',0.13*g);
gs2=syslin('c',0.188*g);
clf;
bode([gs;gs2],['libro';'calculado']);

s=%s;
g=10*(s+0.1)/((s+0.5)*s*(s+1));
w=0.5:0.01:1.15;
gs=syslin('c',0.13*g);
gs2=syslin('c',0.188*g);
gr=horner(gs,%i*w);
gr2=horner(gs2,%i*w);
theta=atan(imag(gr),real(gr));
theta2=atan(imag(gr2),real(gr2));
ro=abs(gr);
ro2=abs(gr2);
clf;
k=0:0.01:2*%pi;
nr=cos(k)+%i*sin(k);
theta3=atan(sin(k),cos(k));
ro3=abs(nr);
polarplot([theta3 theta2],[ro3 ro2]);