TEMPAT KEDUDUKAN AKAR (Praktikum Sistem Kendali)
MATERI PRAKTIKUM TKA
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhrf3VziZDhNWaskdeROHZ5QTFi5rIZLEjpJg9ei7c9wPfy6Zhyphenhyphenbu9d0hM9qU6QXG9ZbegnQjt6UKAqpTkV-xTc0XxBSOC3j6UJvUkobf3kDoNyVnkr5C7FVF3deGuirXP3KfS9YaubOQ/s400/soal.png)
Penyelesaian :
A. Mencari asimtot
>> G1=zpk([-4],[0 -2 -6],[1])
Zero/pole/gain:
(s+4)
-------------
s (s+2) (s+6)
>> rltool(G1)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6N7RZX0nQ9BEhrn6_J2PzJWjmMPCEQnm3UOgYAPTxTLrpkh8Jb4w71_8zUIIfwwJS-ILZBN6ro3NFh4JUFzsNEkUMStXP1DFTgQ_6OEDoq67k8Yb19Dbw5-vG4WkX33Zhy-pAr_q5jw/s400/tka+1.png)
B. Mencari nilai K kritis dan break away dan/atau break in point
>> G2=tf([1 -4 8],[1 8 12])
Transfer function:
s^2 - 4 s + 8
--------------
s^2 + 8 s + 12
>> rltool(G2)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEinW7rb5RR1hX6TCxiW8hrDm8U5JOGI-Bp6hVIWTCkSsTWbGBEkILbXW6LEutQDEmwd3qDOTUE7h9VjNwW8dOrQJ4MzDH0Fb7b-PU7PBP_Yc-EkmsgH5lJrpVOZmBscOUPwm_poiUokbQ/s400/tka+2.png)
C. Mencari sudut kedatangan (Angles of Departure and Arrival)
>> G31=tf([1],[1 4 13])
Transfer function:
1
--------------
s^2 + 4 s + 13
>> G32=zpk([],[0 -1],[1])
Zero/pole/gain:
1
-------
s (s+1)
>> G3=G31*G32
Zero/pole/gain:
1
------------------------
s (s+1) (s^2 + 4s + 13)
>> rltool (G3)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhrf3VziZDhNWaskdeROHZ5QTFi5rIZLEjpJg9ei7c9wPfy6Zhyphenhyphenbu9d0hM9qU6QXG9ZbegnQjt6UKAqpTkV-xTc0XxBSOC3j6UJvUkobf3kDoNyVnkr5C7FVF3deGuirXP3KfS9YaubOQ/s400/soal.png)
Penyelesaian :
A. Mencari asimtot
>> G1=zpk([-4],[0 -2 -6],[1])
Zero/pole/gain:
(s+4)
-------------
s (s+2) (s+6)
>> rltool(G1)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh6N7RZX0nQ9BEhrn6_J2PzJWjmMPCEQnm3UOgYAPTxTLrpkh8Jb4w71_8zUIIfwwJS-ILZBN6ro3NFh4JUFzsNEkUMStXP1DFTgQ_6OEDoq67k8Yb19Dbw5-vG4WkX33Zhy-pAr_q5jw/s400/tka+1.png)
B. Mencari nilai K kritis dan break away dan/atau break in point
>> G2=tf([1 -4 8],[1 8 12])
Transfer function:
s^2 - 4 s + 8
--------------
s^2 + 8 s + 12
>> rltool(G2)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEinW7rb5RR1hX6TCxiW8hrDm8U5JOGI-Bp6hVIWTCkSsTWbGBEkILbXW6LEutQDEmwd3qDOTUE7h9VjNwW8dOrQJ4MzDH0Fb7b-PU7PBP_Yc-EkmsgH5lJrpVOZmBscOUPwm_poiUokbQ/s400/tka+2.png)
C. Mencari sudut kedatangan (Angles of Departure and Arrival)
>> G31=tf([1],[1 4 13])
Transfer function:
1
--------------
s^2 + 4 s + 13
>> G32=zpk([],[0 -1],[1])
Zero/pole/gain:
1
-------
s (s+1)
>> G3=G31*G32
Zero/pole/gain:
1
------------------------
s (s+1) (s^2 + 4s + 13)
>> rltool (G3)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEidY2-_qZYtuG6WKxAuU4hI5j9YPKhvqUTOW4RLzO84J-HDZVsGn1I_SOUg1-TleIkUKz1pwOfUpURCpLnE1RWtBTF3mW0Si95BmGOkWv6jnWJcqE94D4N0XfqqDheOlScdfLHcMyJwBA/s400/tka+3.png)