%% Parameter motor DC R = 2.0 % Ohms L = 0.5 % Henrys Km = .015 % torque constant Kb = .015 % emf constant Kf = 0.2 % Nms tau = 0.02 % kg.m^2 %% Construct state space A = [-R/L -Kb/L; Km/tau -Kf/tau]; B = [1/L; 0]; C = [0 1]; D = [0]; %% Create state space motor_dc_SS = ss(A,B,C,D) %% Konversi antar Model % Dari state space ke transfer function motor_dc_TF = tf(motor_dc_SS) % Dari state space ke zero-pole-gain motor_dc_ZPK = zpk(motor_dc_SS) % Dari transfer function ke zero-pole-gain motor_dc_ZPK1 = zpk(motor_dc_TF) % Dari transfer function ke state space motor_dc_SS1 = ss(motor_dc_TF) % Dari zero-pole-gain ke state space motor_dc_SS2 = ss(motor_dc_ZPK) % Dari zero-pole-gain ke transfer function motor_dc_TF1 = tf(motor_dc_ZPK) %% Plot clf [x1,t1] = step(motor_dc_SS); % Step respon plot(t1,x1,'-b','LineWidth', 3) hold on [x2,t2] = step(motor_dc_TF); plot(t2,x2,'-.g','LineWidth', 3) hold on [x3,t3] = step(motor_dc_ZPK); plot(t3,x3,'.k','LineWidth', 3) legend({'State Space','Transfer Function', 'Zero Pole Gain'})