clear

clc

Mrdb=1.2

BW=3

Mr=10^(Mrdb/20)

rzeta=roots([-4 0 4 0 (-1/(Mr^2))])

zeta=rzeta(4)

wn=BW/sqrt((1-2*zeta^2)+sqrt(zeta^4-4*zeta^2+2))

K1=wn^2

K2=2*zeta*wn-1

num=K1

den=[1 (K2+1) K1]

T=tf(num,den)

ltiview(T)

clear

clc

b1=conv([1 3],[11 4])-[0 38 2]

c1=conv([11 -1 10],[38 2])-conv([40 5],[1 6 9])

rb1=roots(b1)

rc1=roots(c1)

num=[1 11 38 40]

den=[1 3 4 2 5]

G=tf(num,den)

sisotool(G)

K=rc1(1)

ps=[(11*K^2-K+10) 0 (40*K+5)*(K+3)]

rps=roots(ps)

w=imag(rps(1))

Tosc=2*pi/w

Kp=0.6*K

Ti=Tosc/2

Td=Tosc/8