Mupad, Symbolic Ilaplace, "High" order transfer function to time domain
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Iam trying to get the same plot of the step response as you would get using matlab/simulink. But i want a symbolic solution solution correct for all of the variables.
I am stuck at the last step. I'm guessing my problem has something to do with range.
Using Mupad.
Open Loop plant ol := 1/(m*s^2+b*s+k)
Proportional integral controler K := 1*(1+0.5*1/s)
Cloosed loop system cl := K*ol/(K*ol+1)
Step intput U := 1/s
Apply Step input sdomain := U*cl
Convert s to t domain tdomain := ilaplace(sdomain,s,t) Error: The second argument must be a range specification, such as 'k=a..b' or 'x in RootOf(...)'. [numeric::sum]
1 Comment
Deepak Ramaswamy
on 23 Jun 2014
Edited: Deepak Ramaswamy
on 23 Jun 2014
Update: My attachments are not going through. so I've just C&P the MuPAD code below:
reset()
ol := 1/(m*s^2+b*s+k)
Note: 0.5 converted to 1/2 below to keep calculations symbolic
K := 1*(1+1/2*1/s)
cl := simplify(K*ol/(K*ol+1))
U := 1/s
sdomain := U*cl
tdomain := simplify(ilaplace(sdomain,s,t))
float(tdomain | b=1 | m = 1 | k = 1)
Original: Not sure if this helps: See attached file. I converted '0.5' to a rational form to make sure you're performing symbolic calculations and for specific parameter values, you can extract an expression
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