Draw Bode plot and phase and amplitude margins

 

 

 s domain:

No lag:

num=[122.0501]

den=[0.8190 1]

g = tf (num, den);

margin(g);

grid on;

With lag:

>> num=[106.9389];

>> den=[0.176 1];

>> g=tf(num,den,'iodelay',0.088)

                            106.9

  exp(-0.088*s) * -----------

                         0.176 s + 1

Continuous-time transfer function.

>> margin(g);

>> grid on;

z domain:

Ts=0.1

dnum = [1]

attract = [1, -1]

Zk=tf(dnum,dden,Ts)

margin(Zk)