Time Domain and Frequency Domain Representation using Python: A Robotics Lab Experiment, Study notes of Artificial Intelligence

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Algorithm for

Intelligent Systems

Robotics Lab

Experiment 1: Time Domain and frequency Domain

representation using Python

Aim: Implement the Lab with proper explanation on the Transfer Function of the Control library. Explain the

step response function. Finally explain the figures which are formed as an output.

Theory:

 Transfer function: The Transfer Function class is used to represent input/output

transfer functions. To create a transfer function, use the tf() function.

 Step Response function: If the system has multiple inputs or multiple outputs, the

step response is computed for each input/output pair, with all other inputs set to zero.

Code:

from control import * import matplotlib.pyplot as plt import pylab as pl g=tf(1, [1,1,1]) t,y=step_response(g) plt.plot(t,y) plt.xlabel('t') plt.ylabel('y') plt.grid() plt.show()