For Pole Placed at (S+6) + 4 With Equilibrium State at 0

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Que. (5)
For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = 0

A = [0 1;12 -4];
B = [0;1];
C = eye(2,2);
D = [0 ; 0];
ecl = [-6+4j, -6-4j]; %Closed loop eigenvalues
g = acker(A,B,ecl)
g = place(A,B,ecl)
For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = 0

A = [0 1;12 -4];
B = [0;1];
C = eye(2,2);
D = [0 ; 0];
ecl = [-8, -10]; %Closed loop eigenvalues
g = acker(A,B,ecl)
g = place(A,B,ecl)
For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = π
A = [0 1;-12 -4];
B = [0;1];
C = eye(2,2);
D = [0 ; 0];
ecl = [-6+4j, -6-4j]; %Closed loop eigenvalues
g = acker(A,B,ecl)
g = place(A,B,ecl)
For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = π

A = [0 1;-12 -4];
B = [0;1];
C = eye(2,2);
D = [0 ; 0];
ecl = [-8, -10]; %Closed loop eigenvalues
g = acker(A,B,ecl)
g = place(A,B,ecl)
Que. (6)
For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = 0

A=[0 1;12 -4];


B=[0;1];
C=[1 0];
G=[64 8];
Ac=A-B*G
Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
E=[0;6];
G0=Bnum*E

Key: Dotted line graph shows the steady state error goes to zero.
For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = 0

A=[0 1;12 -4];


B=[0;1];
C=[1 0];
G=[92 14];
Ac=A-B*G
Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
E=[0;6];
G0=Bnum*E

function dx = ipend(u,x)
%#codegen
dx1=x(2);
dx2=12*sin(x(1))-4*x(2)+u;
dx = [dx1;dx2];
For pole placed at (S+6)2 + 42 with equilibrium state at 𝛉 = π

A=[0 1;-12 -4];


B=[0;1];
C=[1 0];
G=[40 8];
Ac=A-B*G
Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
E=[0;6];
G0=Bnum*E
For pole placed at (S2 + 18S + 80) with equilibrium state at 𝛉 = π

A=[0 1;-12 -4];


B=[0;1];
C=[1 0];
G=[68 14];
Ac=A-B*G
Bnum=inv(C*inv(Ac)*B)*C*inv(Ac)
E=[0;6];
G0=Bnum*E

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