User`s guide

feedback
11-75
Examples Example 1
To connect the plant
with the controller
using negative feedback, type
G = tf([2 5 1],[1 2 3],'inputname','torque',...
'outputname','velocity');
H = zpk(–2,–10,5)
Cloop = feedback(G,H)
and MATLAB returns
Zero/pole/gain from input "torque" to output "velocity":
0.18182 (s+10) (s+2.281) (s+0.2192)
-----------------------------------
(s+3.419) (s^2 + 1.763s + 1.064)
The result is a zero-pole-gain model as expected from the precedence rules.
Note that
Cloop inherited the input and output names from G.
–
+
G
H
velocity
torque
Gs()
2s
2
5s 1++
s
2
2s3++
-------------------------------=
Hs()
5s 2
+()
s10+
--------------------=